tethys Path

trajectory

20221207T034822 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20221207T034822 [SBIT]:DAT.ignoreElevationAngle=0 bool;#

20221207T034822 [SBIT]:DAT.surfaceThreshold=-1 meter;#

20221207T034822 [SBIT]:DAT.verbosity=3 count;#

20221207T034822 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5 meter;#

20221207T034822 [SBIT]:HorizontalControl.kiwpHeading=0 radian_per_second_per_meter;#

20221207T034822 [SBIT]:HorizontalControl.rudDeadband=0.1 degree;#

20221207T034822 [SBIT]:InternalEnvSim.loadAtStartup=0 bool;#

20221207T034822 [SBIT]:LineCapture.acousticTimeout=10 minute;#

20221207T034822 [SBIT]:LineCapture.kiHeadingFinalApproach=0.004 reciprocal_second;#

20221207T034822 [SBIT]:LineCapture.kiHeadingTerminalGuidance=0.004 reciprocal_second;#

20221207T034822 [SBIT]:LineCapture.midcourseDepth=68 meter;#

20221207T034822 [SBIT]:LineCapture.rolloutSpeed=0 meter_per_second;#

20221207T034822 [SBIT]:LineCapture.rolloutTimeout=30 minute;#

20221207T034822 [SBIT]:LineCapture.shortFinalRange=15 meter;#

20221207T034822 [SBIT]:RudderServo.offsetAngle=2 degree;#

20221207T034822 [SBIT]:VerticalControl.buoyancyNeutral=359.350879 cubic_centimeter;#

20221207T034822 [SBIT]:VerticalControl.elevDeadband=0.1 degree;#

20221207T034822 [SBIT]:VerticalControl.kiDepth=0.002 radian_per_second_per_meter;#

20221207T034822 [SBIT]:VerticalControl.kiPitchElevator=0 reciprocal_second;#

20221207T034822 [SBIT]:VerticalControl.massDefault=4.778580 millimeter;#

20221207T034822 [SBIT]:WetLabsSeaOWL_UV_A.loadAtStartup=0 bool;#

20221207T034822 [MissionManager]:Started mission Startup

20221207T034927 [MissionManager]:Started mission DefaultWithUndock

20221207T035002 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221207T035008 [DAT]:No response from remote modem.

20221207T035009 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221207T035014 [DAT]:#Rx 1: Read range message, but no direction.

20221207T035018 [DAT]:#Rx 1: Read range message, but no direction.

20221207T035019 [RDI_Pathfinder]:only read 3 of 4 data items

20221207T035022 [DAT]:#Rx 1: Read range message, but no direction.

20221207T035025 [RDI_Pathfinder]:only read 1 of 4 data items

20221207T035047 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20221207T035047 [DAT]:No response from remote modem.

20221207T035525 [CommandExec]:got command schedule asap "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" 1pepz 1 4.000000

20221207T035525 [CommandExec]:Scheduling command #1 of 4 with id=1pepz

20221207T035525 [CommandExec]:Scheduled #1 (#1 of 4 with id='1pepz'): "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", ASAP

20221207T035534 [CommandExec]:got command schedule asap "set lineCaptureHoming.WaitOnDockTimeout 1 min;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 0.01 m" 1pepz 2 4.000000

20221207T035534 [CommandExec]:Scheduling command #2 of 4 with id=1pepz

20221207T035534 [CommandExec]:Scheduled #2 (#2 of 4 with id='1pepz'): "set lineCaptureHoming.WaitOnDockTimeout 1 min;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 0.01 m", ASAP

20221207T035542 [CommandExec]:got command schedule asap "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" 1pepz 3 4.000000

20221207T035542 [CommandExec]:Scheduling command #3 of 4 with id=1pepz

20221207T035542 [CommandExec]:Scheduled #3 (#3 of 4 with id='1pepz'): "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", ASAP

20221207T035551 [CommandExec]:got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinAltitude 2 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 1pepz 4 4.000000

20221207T035551 [CommandExec]:Scheduled #4 (#4 of 4 with id='1pepz'): "set lineCaptureHoming:StandardEnvelopes.MinAltitude 2 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", ASAP

20221207T035551 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.xml

20221207T035555 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.xml

20221207T035609 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 2 hour

20221207T035609 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 1.9 hour

20221207T035609 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20221207T035609 [CommandExec]:got command set lineCaptureHoming.Repeat 2 count

20221207T035624 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 6.953161 min

20221207T035627 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 1 minute

20221207T035627 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20221207T035627 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20221207T035627 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 0.01 meter

20221207T035711 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 8 meter

20221207T035711 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 15 minute

20221207T035711 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20221207T035711 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20221207T035711 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20221207T035724 [CommandExec]:got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 2 meter

20221207T035724 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20221207T035724 [CommandExec]:got command run

20221207T035724 [CommandExec]:Running

20221207T035724 [MissionManager]:Started mission lineCaptureHoming

20221207T035843 [RDI_Pathfinder]:only read 2 of 4 data items

20221207T040322 [DAT]:No response from remote modem.

20221207T040835 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221207T041606 filter is initialized with decay: 0.30.

20221207T041610 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 14.987434 deg.

20221207T041714 approach. Armed for intercept at range: 46.90 m.

20221207T041953 [DAT]:Requesting device enable set for address 50.

20221207T042013 [RDI_Pathfinder]:DVL uart error: serial timeout

20221207T042013 [RDI_Pathfinder]:Communications Fault

20221207T042013 [CBIT]:Communications Fault in component: RDI_Pathfinder

20221207T042014 [RDI_Pathfinder]:Expecting PD13 message format

20221207T042026 [DAT]:Requesting device enable clr for address 50.

20221207T042112 missed at range: 156.50 m. Rolling out.

20221207T042112 rollout at range: 156.50 m. Resuming terminal guidance.

20221207T042112 to midcourse guidance. Received last range of 156.500000 m 0.005155 min ago.

20221207T042141 filter is initialized with decay: 0.30.

20221207T042217 [DockingStepper]:uart error: serial timeout

20221207T042217 [DockingStepper]:Communications Fault

20221207T042217 [CBIT]:Communications Fault in component: DockingStepper

20221207T042239 approach. Armed for intercept at range: 39.00 m.

20221207T042339 missed at range: 11.80 m. Rolling out.

20221207T042347 [DAT]:Requesting device enable set for address 50.

20221207T042525 [DAT]:Requesting device enable clr for address 50.

20221207T042556 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20221207T043011 rollout at range: 111.90 m. Resuming terminal guidance.

20221207T043131 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error

20221207T043211 [DockingStepper]:uart error: serial timeout

20221207T043211 [DockingStepper]:Communications Fault

20221207T043211 [CBIT]:Communications Fault in component: DockingStepper

20221207T043214 [DockingStepper]:Initialization uart error serial timeout

20221207T043214 [DockingStepper]:Failed to initialize

20221207T043233 approach. Armed for intercept at range: 47.40 m.

20221207T043436 missed at range: 15.30 m. Rolling out.

20221207T043444 [DAT]:Requesting device enable set for address 50.

20221207T044309 [DAT]:Requesting device enable clr for address 50.

20221207T044945 rollout at range: 113.40 m. Resuming terminal guidance.

20221207T045019 to midcourse guidance. Received last range of 150.600006 m 0.006168 min ago.

20221207T045123 filter is initialized with decay: 0.30.

20221207T045222 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20221207T045627 to midcourse guidance. Received last range of 158.699997 m 0.005966 min ago.

20221207T045841 REINIT: LOS rate is -22.901751 deg/s. Setting heading cmd to target acoustic bearing of 214.196926 deg.

20221207T045841 REINIT: LOS rate is -89.122393 deg/s. Setting heading cmd to target acoustic bearing of 214.196926 deg.

20221207T045842 REINIT: LOS rate is -102.528207 deg/s. Setting heading cmd to target acoustic bearing of 214.196926 deg.

20221207T050328 sequence complete at range 0.90 m. Cable present.

20221207T050436 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 1.500000 m .

20221207T050852 longer in short final. Rolling out. Range: 15.30 m.

20221207T052342 REINIT: LOS rate is 11.863920 deg/s. Setting heading cmd to target acoustic bearing of 352.743907 deg.

20221207T052342 REINIT: LOS rate is 90.426776 deg/s. Setting heading cmd to target acoustic bearing of 352.743907 deg.

20221207T052343 REINIT: LOS rate is 34.308117 deg/s. Setting heading cmd to target acoustic bearing of 352.743907 deg.

20221207T052413 longer in short final. Rolling out. Range: 16.10 m.

20221207T052518 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).

20221207T052731 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20221207T053129 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range.

20221207T053815 sequence complete at range 1.00 m. Cable present.

20221207T053922 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 1.000000 m .

20221207T055724 [MissionManager]:Started mission DefaultWithUndock

20221207T055733 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221207T055845 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20221207T055953 [NAL9602]:Failed to initiate SBD session. Error code: 2

20221207T060019 [NanoDVR]:serial timeout