tethys Path

trajectory

20231017T232157 [CommandExec]:got command restart logs

20231017T232235 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231017T232331 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231017T232331 [RDI_Pathfinder]:Communications Fault

20231017T232331 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231017T232332 [RDI_Pathfinder]:Expecting PD13 message format

20231017T232606 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231017T232923 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231017T232923 [RDI_Pathfinder]:Communications Fault

20231017T232923 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231017T232924 [RDI_Pathfinder]:Expecting PD13 message format

20231017T233630 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 18.690295 min

20231017T233657 [CommandExec]:got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 2 h;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.77016 degree;set keepstation.Longitude -121.85361 degree;set keepstation.ApproachDepth 25 m" 2guty 1 2.000000

20231017T233657 [CommandExec]:Scheduling command #1 of 2 with id=2guty

20231017T233657 [CommandExec]:Scheduled #5 (#1 of 2 with id='2guty'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 2 h;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.77016 degree;set keepstation.Longitude -121.85361 degree;set keepstation.ApproachDepth 25 m", ASAP

20231017T233719 [CommandExec]:got command schedule asap "set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 300 m;run" 2guty 2 2.000000

20231017T233719 [CommandExec]:Scheduling command #2 of 2 with id=2guty

20231017T233719 [CommandExec]:Scheduled #6 (#2 of 2 with id='2guty'): "set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 300 m;run", ASAP

20231017T233719 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20231017T233719 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20231017T233719 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231017T233719 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231017T233719 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231017T233720 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl

20231017T233736 [CommandExec]:got command set keepstation.MissionTimeout 2 hour

20231017T233736 [CommandExec]:got command set keepstation.NeedCommsTime 30 minute

20231017T233736 [CommandExec]:got command set keepstation.Latitude 36.77016 degree

20231017T233736 [CommandExec]:got command set keepstation.Longitude -121.85361 degree

20231017T233736 [CommandExec]:got command set keepstation.ApproachDepth 25 meter

20231017T233742 [CommandExec]:got command set keepstation.DepthDeadband 10 meter

20231017T233742 [CommandExec]:got command set keepstation.Speed 0.8 meter_per_second

20231017T233742 [CommandExec]:got command set keepstation.Radius 300 meter

20231017T233742 [CommandExec]:got command run

20231017T233742 [CommandExec]:Running

20231017T233743 [MissionManager]:Started mission keepstation

20231017T233925 [keepstation:TransitToStation:Wpt1.Waypoint]:Navigating to waypoint: 36.770161,-121.853607

20231017T235803 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231018T000028 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached waypoint: 36.770161,-121.853607

20231018T000216 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231018T000311 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231018T010214 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00010700294508,35.0, 0.00#

20231018T010450 [RDI_Pathfinder]:only read -1 of 1 data item for water mass range. Device response is::WD, -97.30, +1416.31, -4.65, #

20231018T011441 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231018T011607 [CommandExec]:got command stop

20231018T011607 [CommandExec]:Scheduling is paused

20231018T011608 [MissionManager]:Started mission DefaultWithUndock

20231018T011649 [DAT]:No response from remote modem.

20231018T011700 [DAT]:No response from remote modem.

20231018T011708 [DAT]:No response from remote modem.

20231018T011728 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231018T012326 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 7.304784 min

20231018T012726 [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" 2h016 1 4.000000

20231018T012726 [CommandExec]:Scheduling command #1 of 4 with id=2h016

20231018T012726 [CommandExec]:Scheduled #7 (#1 of 4 with id='2h016'): "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

20231018T012735 [CommandExec]:got command schedule asap "set lineCaptureHoming.WaitOnDockTimeout 3 min;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 0.001 m" 2h016 2 4.000000

20231018T012735 [CommandExec]:Scheduling command #2 of 4 with id=2h016

20231018T012735 [CommandExec]:Scheduled #8 (#2 of 4 with id='2h016'): "set lineCaptureHoming.WaitOnDockTimeout 3 min;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 0.001 m", ASAP

20231018T012744 [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" 2h016 3 4.000000

20231018T012744 [CommandExec]:Scheduling command #3 of 4 with id=2h016

20231018T012744 [CommandExec]:Scheduled #9 (#3 of 4 with id='2h016'): "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

20231018T012753 [CommandExec]:got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 2h016 4 4.000000

20231018T012753 [CommandExec]:Scheduled #10 (#4 of 4 with id='2h016'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", ASAP

20231018T012753 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231018T012753 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231018T012753 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231018T012755 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231018T012755 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231018T012755 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231018T012755 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231018T012756 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231018T012756 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231018T012756 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231018T012818 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 2 hour

20231018T012818 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 1.9 hour

20231018T012818 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20231018T012818 [CommandExec]:got command set lineCaptureHoming.Repeat 4 count

20231018T012846 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 3 minute

20231018T012846 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20231018T012846 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20231018T012846 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 0.001 meter

20231018T012906 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231018T012906 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 20 minute

20231018T012906 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231018T012906 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231018T012906 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231018T012912 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20231018T012912 [CommandExec]:got command run

20231018T012912 [CommandExec]:Running

20231018T012912 [MissionManager]:Started mission lineCaptureHoming

20231018T013704 [RDI_Pathfinder]:only read 1 of 4 data items for bottom velocity. Device response is::BS, -107 -567.48, +1700.74, -1.32, 10.05, 0.00#

20231018T014540 filter is initialized with decay: 0.30.

20231018T014554 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 289.633534 deg.

20231018T015118 new target range. Approach rate out of bounds.# range: 353.100006 m,# deltaT: 4.282774 s,# deltaX: -25.600006 m,# approachRate: -5.977436 m/s,# rangeRepo size: 4

20231018T015146 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -529.7400#

20231018T015223 new target range. Approach rate out of bounds.# range: 328.500000 m,# deltaT: 4.283303 s,# deltaX: 23.600006 m,# approachRate: 5.509768 m/s,# rangeRepo size: 4

20231018T015341 new target range. Approach rate out of bounds.# range: 273.299988 m,# deltaT: 4.034333 s,# deltaX: 31.599991 m,# approachRate: 7.832767 m/s,# rangeRepo size: 4

20231018T015458 new target range. Approach rate out of bounds.# range: 215.399994 m,# deltaT: 4.029775 s,# deltaX: 42.000000 m,# approachRate: 10.422419 m/s,# rangeRepo size: 4

20231018T015724 approach. Armed for intercept at range: 41.80 m.

20231018T015843 [DAT]:#Rx 1: Read range message, but no direction.

20231018T015854 [DAT]:#Rx 1: Read range message, but no direction.

20231018T015906 [DAT]:#Rx 1: Read range message, but no direction.

20231018T015927 sequence complete at range 1.50 m. Cable present. Reached intercept timeout.

20231018T020042 [DockingStepper]:Initialization uart error serial timeout

20231018T020042 [DockingStepper]:Failed to initialize

20231018T020140 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -527.48, +2643.58, -12.36#

20231018T020234 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 1.600000 m .

20231018T020608 [lineCaptureHoming:Lap:Docked:Drift:A]:No post-undock waypoint, drifting for 10.000000 min minutes

20231018T021616 [DockingStepper]:uart error: serial timeout

20231018T021616 [DockingStepper]:Communications Fault

20231018T021616 [CBIT]:Communications Fault in component: DockingStepper

20231018T021621 [DockingStepper]:uart error: serial timeout

20231018T021621 [DockingStepper]:Communications Fault

20231018T021621 [CBIT]:Communications Fault in component: DockingStepper

20231018T021704 filter is initialized with decay: 0.30.

20231018T021741 approach. Armed for intercept at range: 56.30 m.

20231018T021921 missed at range: 9.40 m. Rolling out.

20231018T021924 [DAT]:Requesting device enable set for address 50.

20231018T022921 rollout at range: 19.80 m. Resuming terminal guidance.

20231018T022948 approach. Armed for intercept at range: 22.20 m.

20231018T023053 longer in short final. Rolling out. Range: 11.40 m.

20231018T023148 [RDI_Pathfinder]:only read 1 of 4 data items for bottom velocity. Device response is::BS, 0,A#

20231018T023233 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231018T023340 new target range. Approach rate out of bounds.# range: 38.200001 m,# deltaT: 10.088015 s,# deltaX: -51.499996 m,# approachRate: -5.105067 m/s,# rangeRepo size: 4

20231018T024053 rollout at range: 49.20 m. Resuming terminal guidance.

20231018T024312 REINIT: LOS rate is -14.201388 deg/s. Setting heading cmd to target acoustic bearing of 309.389327 deg.

20231018T024312 REINIT: LOS rate is -56.224117 deg/s. Setting heading cmd to target acoustic bearing of 309.389327 deg.

20231018T024329 missed at range: 10.30 m. Rolling out.

20231018T024542 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231018T025253 [DAT]:Requesting device enable clr for address 50.

20231018T025303 rollout at range: 143.70 m. Resuming terminal guidance.

20231018T025548 missed at range: 11.10 m. Rolling out.

20231018T025552 [DAT]:Requesting device enable set for address 50.

20231018T030007 [DAT]:Requesting device enable clr for address 50.

20231018T030507 to midcourse guidance. Received last range of 50.299999 m 5.003272 min ago.

20231018T030525 filter is initialized with decay: 0.30.

20231018T030723 [RDI_Pathfinder]:only read 1 of 4 data items for water velocity. Device response is::WS,0#

20231018T030737 REINIT: LOS rate is -12.570646 deg/s. Setting heading cmd to target acoustic bearing of 289.832475 deg.

20231018T030800 [DAT]:Requesting device enable set for address 50.

20231018T030923 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00010702365508,35.0, + +16, -136,A#

20231018T031205 [DAT]:Requesting device enable clr for address 50.

20231018T031212 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -541.86, +3125.76, 0.00#

20231018T031354 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -182.71, +3312.1,A#