tethys Path

trajectory

20231017T025712 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20231017T025712 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20231017T025712 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20231017T025712 [SBIT]:Express linearApproximation height_above_sea_floor 5.000000 meter;#

20231017T025712 [SBIT]:Sonardyne_Nano.loadAtStartup=1 bool;#

20231017T025712 [SBIT]:VerticalControl.buoyancyNeutral=290.651577 cubic_centimeter;#

20231017T025712 [SBIT]:VerticalControl.massDefault=21.667588 millimeter;#

20231017T025712 [MissionManager]:Started mission Startup

20231017T025815 [MissionManager]:Started mission DefaultWithUndock

20231017T025857 [DAT]:No response from remote modem.

20231017T025911 [DAT]:#Rx 1: Read range message, but no direction.

20231017T025914 [DAT]:#Rx 1: Read range message, but no direction.

20231017T025922 [DAT]:#Rx 1: Read range message, but no direction.

20231017T025935 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231017T025939 [DAT]:No response from remote modem.

20231017T030048 [PowerOnly]:loadControl LCB fault: LCB Watchdog Reset. Invalid Command.

20231017T030048 [PowerOnly]:Hardware Fault

20231017T030048 [CBIT]:Hardware Fault in component: PowerOnly

20231017T030652 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 8.613511 min

20231017T031205 [CommandExec]:got command show stack

20231017T031205 [CommandExec]:Behavior Stack:#

20231017T031205 [DefaultWithUndock:SurfaceDefault]:Priority 0: DefaultWithUndock:SurfaceDefault:A.GoToSurface

20231017T031205 [DefaultWithUndock:SurfaceDefault:CheckIn]:Priority 1: DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait

20231017T031217 [CommandExec]:got command show variable dockingStepper

20231017T031217 [CommandExec]:DockingStepper.loadAtStartup (bool)

20231017T031217 [CommandExec]:DockingStepper.simulateHardware (bool)

20231017T031217 [CommandExec]:DockingStepper.openValue (count)

20231017T031217 [CommandExec]:DockingStepper.closedValue (count)

20231017T031217 [CommandExec]:DockingStepper.slideValue (count)

20231017T031217 [CommandExec]:DockingStepper.deviationValue (count)

20231017T031217 [CommandExec]:DockingStepper.currLimit (percent)

20231017T031217 [CommandExec]:DockingStepper.velocity (none)

20231017T031217 [CommandExec]:DockingStepper.powerOnTimeout (second)

20231017T031217 [CommandExec]:DockingStepper.loadControl (none)

20231017T031217 [CommandExec]:DockingStepper.uart (none)

20231017T031217 [CommandExec]:DockingStepper.baud (bit_per_second)

20231017T031218 [CommandExec]:DockingStepper.enableBroadcast (bool)

20231017T031218 [CommandExec]:DockingStepper.component_voltage (volt)

20231017T031218 [CommandExec]:DockingStepper.component_avgVoltage (volt)

20231017T031218 [CommandExec]:DockingStepper.component_current (milliampere)

20231017T031218 [CommandExec]:DockingStepper.component_avgCurrent (milliampere)

20231017T031218 [CommandExec]:DockingStepper.armValue (count)

20231017T031218 [CommandExec]:DockingStepper.cableValue (count)

20231017T031235 [CommandExec]:got command report mod DockingStepper.armValue

20231017T031237 [CommandExec]:got command docking arm

20231017T031237 [CommandExec]:Switching docking moudle to ARM.

20231017T031239 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 14.397578 min

20231017T031256 [CommandExec]:got command docking standby

20231017T031256 [CommandExec]:Switching docking moudle to STANDBY.

20231017T031314 [CommandExec]:got command docking unrequest

20231017T031314 [CommandExec]:Setting data request false.

20231017T031600 [CommandExec]:got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 1.9 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.Repeat 4 count" 2faee 1 4.000000

20231017T031600 [CommandExec]:Scheduling command #1 of 4 with id=2faee

20231017T031600 [CommandExec]:Scheduled #1 (#1 of 4 with id='2faee'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 1.9 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.Repeat 4 count", ASAP

20231017T031612 [CommandExec]:got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 3 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 0.001 m" 2faee 2 4.000000

20231017T031612 [CommandExec]:Scheduling command #2 of 4 with id=2faee

20231017T031612 [CommandExec]:Scheduled #2 (#2 of 4 with id='2faee'): "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 3 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 0.001 m", ASAP

20231017T031624 [CommandExec]:got command schedule asap "set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m" 2faee 3 4.000000

20231017T031624 [CommandExec]:Scheduling command #3 of 4 with id=2faee

20231017T031624 [CommandExec]:Scheduled #3 (#3 of 4 with id='2faee'): "set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m", ASAP

20231017T031634 [CommandExec]:got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 2faee 4 4.000000

20231017T031634 [CommandExec]:Scheduled #4 (#4 of 4 with id='2faee'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", ASAP

20231017T031634 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231017T031634 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231017T031634 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231017T031636 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231017T031636 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231017T031636 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231017T031637 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231017T031637 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231017T031638 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231017T031639 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231017T031653 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 2 hour

20231017T031653 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 1.9 hour

20231017T031653 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20231017T031653 [CommandExec]:got command set lineCaptureHoming.Repeat 4 count

20231017T031713 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20231017T031713 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 3 second

20231017T031713 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20231017T031713 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 0.001 meter

20231017T031729 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231017T031729 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 20 minute

20231017T031729 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231017T031729 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231017T031729 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231017T031738 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20231017T031738 [CommandExec]:got command run

20231017T031738 [CommandExec]:Running

20231017T031738 [MissionManager]:Started mission lineCaptureHoming

20231017T032141 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231017T032532 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231017T032703 [DAT]:No response from remote modem.

20231017T032748 filter is initialized with decay: 0.30.

20231017T032757 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 30.450857 deg.

20231017T032939 new target range. Approach rate out of bounds.# range: 242.699997 m,# deltaT: 4.035134 s,# deltaX: -32.400009 m,# approachRate: -8.029475 m/s,# rangeRepo size: 4

20231017T033020 [RDI_Pathfinder]:DVL BIT error. See manual. Result code: 1494#Device respsone is::TS,000,75,35.0, +11.4, 0.0,1494.8, 0#

20231017T033141 new target range. Approach rate out of bounds.# range: 134.699997 m,# deltaT: 4.032233 s,# deltaX: -30.000000 m,# approachRate: -7.440046 m/s,# rangeRepo size: 4

20231017T033338 approach. Armed for intercept at range: 30.00 m.

20231017T033438 missed at range: 10.70 m. Rolling out.

20231017T033442 [DAT]:Requesting device enable set for address 50.

20231017T033613 rollout at range: 164.00 m. Resuming terminal guidance.

20231017T033614 [DAT]:Requesting device enable clr for address 50.

20231017T033756 approach. Armed for intercept at range: 40.90 m.

20231017T033818 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, +7.55, 3.00, 0.00#

20231017T033854 REINIT: LOS rate is -11.782426 deg/s. Setting heading cmd to target acoustic bearing of 175.163229 deg.

20231017T033855 REINIT: LOS rate is -28.873476 deg/s. Setting heading cmd to target acoustic bearing of 175.163229 deg.

20231017T033855 REINIT: LOS rate is -75.734368 deg/s. Setting heading cmd to target acoustic bearing of 175.163229 deg.

20231017T033916 missed at range: 12.40 m. Rolling out.

20231017T033919 [DAT]:Requesting device enable set for address 50.

20231017T034040 [DAT]:Requesting device enable clr for address 50.

20231017T034201 rollout at range: 127.40 m. Resuming terminal guidance.

20231017T034426 approach. Armed for intercept at range: 43.50 m.

20231017T034445 [DAT]:Requesting device enable set for address 50.

20231017T034542 sequence complete at range 1.40 m. Cable present.

20231017T034722 [DockingStepper]:Initialization uart error serial timeout

20231017T034722 [DockingStepper]:Failed to initialize

20231017T035049 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 1.100000 m .

20231017T035052 [DockingStepper]:uart error: serial timeout

20231017T035052 [DockingStepper]:Communications Fault

20231017T035052 [CBIT]:Communications Fault in component: DockingStepper

20231017T035300 [lineCaptureHoming:Lap:Docked:Drift:A]:No post-undock waypoint, drifting for 5.000000 min minutes

20231017T035535 [RDI_Pathfinder]:only read 1 of 4 data items for bottom velocity. Device response is::BS, -70.00#

20231017T035856 filter is initialized with decay: 0.30.

20231017T035952 [DockingStepper]:only read 2 of 4 ADC values

20231017T035952 [DockingStepper]:Docking arm not reporting position

20231017T035952 [DockingStepper]:Communications Fault

20231017T035952 [CBIT]:Communications Fault in component: DockingStepper

20231017T040153 sequence complete at range 2.10 m. Reached intercept timeout.

20231017T040639 [lineCaptureHoming:Lap:Docked:Docked.Docked]:VEHICLE DETACHED FROM DOCK.

20231017T040640 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 9.600000 m .

20231017T040732 [lineCaptureHoming:Lap:Docked:Drift:A]:No post-undock waypoint, drifting for 5.000000 min minutes

20231017T040749 [RDI_Pathfinder]:only read 2 of 4 data items for water velocity. Device response is::WS, 4, -13,A#

20231017T040903 [NanoDVR]:serial timeout

20231017T041237 [DockingStepper]:Initialization uart error serial timeout

20231017T041237 [DockingStepper]:Failed to initialize

20231017T041319 [DockingStepper]:uart error: serial timeout

20231017T041319 [DockingStepper]:Communications Fault

20231017T041319 [CBIT]:Communications Fault in component: DockingStepper

20231017T041333 filter is initialized with decay: 0.30.

20231017T041554 missed at range: 10.80 m. Rolling out.

20231017T041658 [DAT]:Requesting device enable clr for address 50.

20231017T041717 new target range. Approach rate out of bounds.# range: 152.500000 m,# deltaT: 10.083356 s,# deltaX: 95.400002 m,# approachRate: 9.461136 m/s,# rangeRepo size: 4

20231017T041727 rollout at range: 157.70 m. Resuming terminal guidance.

20231017T041756 new target range. Approach rate out of bounds.# range: 119.199997 m,# deltaT: 3.779206 s,# deltaX: 39.699997 m,# approachRate: 10.504851 m/s,# rangeRepo size: 2

20231017T042047 new target range. Approach rate out of bounds.# range: 6737361.000000 m,# deltaT: 52.192410 s,# deltaX: 6737346.500000 m,# approachRate: 129086.710938 m/s,# rangeRepo size: 4

20231017T042048 to midcourse guidance. Received last range of 6737361.000000 m 0.002456 min ago.

20231017T042053 [DockingStepper]:uart error: serial timeout

20231017T042056 [DockingStepper]:Initialization uart error serial timeout

20231017T042056 [DockingStepper]:Failed to initialize

20231017T042107 new target range. Approach rate out of bounds.# range: 66.599998 m,# deltaT: 15.627619 s,# deltaX: -82.799995 m,# approachRate: -5.298312 m/s,# rangeRepo size: 1

20231017T043120 [RDI_Pathfinder]:only read 0 of 4 data items for bottom velocity. Device response is::BS#

20231017T043723 [ElevatorServo]:getPosition uart error serial timeout

20231017T043723 [ElevatorServo]:Elevator uart error - getPosition.serial timeout

20231017T043723 [ElevatorServo]:Communications Fault

20231017T043724 [CBIT]:Communications Fault in component: ElevatorServo

20231017T044447 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD +2364.16, -56.64, 6.55, 0.00#

20231017T045626 REINIT: LOS rate is 62.349431 deg/s. Setting heading cmd to target acoustic bearing of 80.786897 deg.

20231017T045633 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231017T050118 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, 0.00#

20231017T051131 [RDI_Pathfinder]:only read 0 of 4 data items for water velocity. Device response is::WS, +#

20231017T051407 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -47.0.00#

20231017T051739 [MissionManager]:Started mission DefaultWithUndock

20231017T051903 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231017T052102 [NAL9602]:Failed to initiate SBD session. Error code: 2