tethys Path

trajectory

20231025T171300 [SBIT]:Beginning Startup BIT

20231025T171300 [CBIT]:Beginning ground fault scan

20231025T171340 [SBIT]:Control surface position failure.

20231025T171354 [SBIT]:Control surface position failure.

20231025T171354 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20231025T171354 [SBIT]:DockingStepper.slideValue=11710 count;#

20231025T171354 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20231025T171354 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20231025T171354 [SBIT]:Express linearApproximation height_above_sea_floor 5.000000 meter;#

20231025T171354 [SBIT]:LineCapture.rolloutSpeed=0.8 meter_per_second;#

20231025T171354 [SBIT]:LineCapture.rolloutTimeout=10 minute;#

20231025T171354 [SBIT]:LineCapture.shortFinalRange=10 meter;#

20231025T171354 [SBIT]:Sonardyne_Nano.loadAtStartup=1 bool;#

20231025T171354 [SBIT]:VerticalControl.buoyancyNeutral=311.989620 cubic_centimeter;#

20231025T171354 [SBIT]:VerticalControl.massDefault=20.662059 millimeter;#

20231025T171354 [CommandExec]:Scheduling is paused

20231025T171355 [MissionManager]:Started mission Startup

20231025T171457 [MissionManager]:Started mission DefaultWithUndock

20231025T171539 [DAT]:No response from remote modem.

20231025T171550 [DAT]:No response from remote modem.

20231025T171600 [DAT]:No response from remote modem.

20231025T171617 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231025T171623 [CommandExec]:got command show stack

20231025T171623 [CommandExec]:Behavior Stack:#

20231025T171623 [DefaultWithUndock:SurfaceDefault]:Priority 0: DefaultWithUndock:SurfaceDefault:A.GoToSurface

20231025T171623 [DefaultWithUndock:SurfaceDefault:CheckIn]:Priority 1: DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium

20231025T172116 [CommandExec]:got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 4 h;set lineCaptureHoming.NeedCommsTime 3.9 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.Repeat 4 count" 2v6t6 1 5.000000

20231025T172116 [CommandExec]:Scheduling command #1 of 5 with id=2v6t6

20231025T172116 [CommandExec]:Scheduled #1 (#1 of 5 with id='2v6t6'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 4 h;set lineCaptureHoming.NeedCommsTime 3.9 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.Repeat 4 count", ASAP

20231025T172125 [CommandExec]:got command schedule asap "set lineCaptureHoming.WaitOnDockTimeout 60 min;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideSinkDuration 30 min;set lineCaptureHoming.TryWiggle 0 bool" 2v6t6 2 5.000000

20231025T172125 [CommandExec]:Scheduling command #2 of 5 with id=2v6t6

20231025T172125 [CommandExec]:Scheduled #2 (#2 of 5 with id='2v6t6'): "set lineCaptureHoming.WaitOnDockTimeout 60 min;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideSinkDuration 30 min;set lineCaptureHoming.TryWiggle 0 bool", ASAP

20231025T172134 [CommandExec]:got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 0.001 m;set lineCaptureHoming.DockingAltitude 7.4 m" 2v6t6 3 5.000000

20231025T172134 [CommandExec]:Scheduling command #3 of 5 with id=2v6t6

20231025T172134 [CommandExec]:Scheduled #3 (#3 of 5 with id='2v6t6'): "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count;set lineCaptureHoming.RangeUSBL 0.001 m;set lineCaptureHoming.DockingAltitude 7.4 m", ASAP

20231025T172142 [CommandExec]:got command schedule asap "set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m" 2v6t6 4 5.000000

20231025T172142 [CommandExec]:Scheduled #4 (#4 of 5 with id='2v6t6'): "set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m", ASAP

20231025T172151 [CommandExec]:got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 2v6t6 5 5.000000

20231025T172151 [CommandExec]:Scheduled #5 (#5 of 5 with id='2v6t6'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", ASAP

20231025T172151 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231025T172151 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231025T172152 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231025T172154 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231025T172154 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231025T172154 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231025T172154 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231025T172155 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231025T172156 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231025T172156 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231025T172211 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 4 hour

20231025T172211 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 3.9 hour

20231025T172211 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20231025T172211 [CommandExec]:got command set lineCaptureHoming.Repeat 4 count

20231025T172230 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 60 minute

20231025T172230 [CommandExec]:got command set lineCaptureHoming.TrySlide 1 bool

20231025T172230 [CommandExec]:got command set lineCaptureHoming.SlideRetries 5 count

20231025T172230 [CommandExec]:got command set lineCaptureHoming.SlideSinkDuration 30 minute

20231025T172230 [CommandExec]:got command set lineCaptureHoming.TryWiggle 0 bool

20231025T172246 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20231025T172246 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 1 count

20231025T172246 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 0.001 meter

20231025T172246 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231025T172313 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 8.259586 min

20231025T172320 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 20 minute

20231025T172320 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231025T172320 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231025T172320 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231025T172329 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20231025T172329 [CommandExec]:got command run

20231025T172329 [CommandExec]:Running

20231025T172329 [MissionManager]:Started mission lineCaptureHoming

20231025T173922 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00011323500921,35.0, +12.2, 0.041,A#

20231025T173952 filter is initialized with decay: 0.30.

20231025T173954 [DockingStepper]:Initialization uart error serial timeout

20231025T173954 [DockingStepper]:Failed to initialize

20231025T173956 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 253.306182 deg.

20231025T174219 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231025T174235 [DAT]:#Rx 2: Read range message, but no direction.

20231025T174520 [DAT]:#Rx 1: Read range message, but no direction.

20231025T174607 new target range. Approach rate out of bounds.# range: 274.500000 m,# deltaT: 4.044612 s,# deltaX: -32.399994 m,# approachRate: -8.010655 m/s,# rangeRepo size: 4

20231025T174705 new target range. Approach rate out of bounds.# range: 218.100006 m,# deltaT: 4.032337 s,# deltaX: -22.199997 m,# approachRate: -5.505491 m/s,# rangeRepo size: 4

20231025T174745 new target range. Approach rate out of bounds.# range: 17.000000 m,# deltaT: 4.032052 s,# deltaX: -165.300003 m,# approachRate: -40.996494 m/s,# rangeRepo size: 4

20231025T175100 sequence complete at range 0.60 m. Cable present.

20231025T175108 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 4 to 1

20231025T175442 [CommandExec]:got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh

20231025T175443 [DAT]:failed to set remote address to 0, device returned 50 instead.

20231025T175443 [DAT]:Communications Fault

20231025T175443 [CBIT]:Communications Fault in component: DAT

20231025T175443 [DAT]:LCB fault: LCB Watchdog Reset. Invalid Command. Current Limiter Activated.

20231025T175443 [DAT]:Hardware Fault

20231025T175444 [CommandExec]:udhcpc (v1.11.2) started# Sending discover...# Sending select for 10.89.6.2...# Lease of 10.89.6.2 obtained, lease time 43200# Deleting routers# adding dns 10.89.6.1#

20231025T175504 [DAT]:failed to set remote address to 0, device returned 50 instead.

20231025T175504 [DAT]:Communications Fault

20231025T175505 [CBIT]:Communications Fault in component: DAT

20231025T175509 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Off dock, range timeout exceeded

20231025T175510 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Off dock, range timeout exceeded

20231025T175511 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Off dock, range timeout exceeded

20231025T175526 [DAT]:failed to set remote address to 0, device returned 50 instead.

20231025T175526 [DAT]:Communications Fault

20231025T175526 [CBIT]:Communications Fault in component: DAT

20231025T175608 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done checking for power, continuing with slide

20231025T175608 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 1 to 2

20231025T175608 [DockingStepper]:uart error: serial timeout

20231025T175608 [DockingStepper]:Communications Fault

20231025T175608 [CBIT]:Communications Fault in component: DockingStepper

20231025T175955 [DockingStepper]:only read 0 of 4 ADC values

20231025T175955 [DockingStepper]:Docking arm not reporting position

20231025T175955 [DockingStepper]:Communications Fault

20231025T175955 [CBIT]:Communications Fault in component: DockingStepper

20231025T180104 [DockingStepper]:only read 0 of 4 ADC values

20231025T180104 [DockingStepper]:Docking arm not reporting position

20231025T180104 [DockingStepper]:Communications Fault

20231025T180104 [CBIT]:Communications Fault in component: DockingStepper

20231025T180203 [DockingStepper]:only read 0 of 4 ADC values

20231025T180203 [DockingStepper]:Docking arm not reporting position

20231025T180246 [DAT]:Buffer send receipt timeout failure.

20231025T180318 [DAT]:#Rx 1: Read range message, but no direction.

20231025T180753 [RDI_Pathfinder]:only read 1 of 4 data items for water velocity. Device response is::WS, -121,#

20231025T180823 [RDI_Pathfinder]:only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 69.06, 68. +417, +52,-32768,A#

20231025T182057 [DockingStepper]:LCB fault: LCB Watchdog Reset. Invalid Command.

20231025T182057 [DockingStepper]:Hardware Fault

20231025T182608 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done sinking

20231025T182608 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 2 to 1

20231025T183108 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done checking for power, continuing with slide

20231025T184451 [CommandExec]:got command docking standby

20231025T184451 [CommandExec]:Switching docking moudle to STANDBY.

20231025T184956 [lineCaptureHoming:Lap:Docked:Docked.Docked]:State switched to DOCKED.

20231025T184956 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Docked! At depth of 69.130775

20231025T184956 [DockingStepper]:Invalid EZ Servo response:"\r\n"

20231025T184956 [DockingStepper]:Could not parse cable state. Received:�/0@#

20231025T185108 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 0.600000 m .

20231025T185208 [lineCaptureHoming:Lap:Docked:Drift:A]:No post-undock waypoint, drifting for 10.000000 min minutes

20231025T185337 [DAT]:failed to enter command mode

20231025T190058 [DAT]:failed to enter command mode

20231025T190309 [CommandExec]:got command stop

20231025T190309 [CommandExec]:Scheduling is paused

20231025T190310 [MissionManager]:Started mission DefaultWithUndock

20231025T190344 [DockingStepper]:Command Overflow Error

20231025T190351 [DockingStepper]:Command Overflow Error

20231025T190428 [DockingStepper]:Invalid EZ Servo response:"\r\n"

20231025T190439 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231025T190632 [CommandExec]:Scheduling is paused