tethys Path

trajectory

20231026T162512 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20231026T162512 [SBIT]:DockingStepper.slideValue=11710 count;#

20231026T162512 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20231026T162512 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20231026T162512 [SBIT]:Express linearApproximation height_above_sea_floor 5.000000 meter;#

20231026T162512 [SBIT]:LineCapture.rolloutSpeed=0 meter_per_second;#

20231026T162512 [SBIT]:LineCapture.rolloutTimeout=10 minute;#

20231026T162512 [SBIT]:LineCapture.shortFinalRange=10 meter;#

20231026T162512 [SBIT]:Sonardyne_Nano.loadAtStartup=1 bool;#

20231026T162512 [SBIT]:VerticalControl.buoyancyNeutral=311.989620 cubic_centimeter;#

20231026T162512 [SBIT]:VerticalControl.massDefault=20.662059 millimeter;#

20231026T162512 [CommandExec]:Scheduling is paused

20231026T162513 [MissionManager]:Started mission Startup

20231026T162615 [MissionManager]:Started mission DefaultWithUndock

20231026T162657 [DAT]:No response from remote modem.

20231026T162707 [DAT]:No response from remote modem.

20231026T162718 [DAT]:No response from remote modem.

20231026T162734 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231026T162825 [CommandExec]:got command load ./Missions/Transport/transit.tl

20231026T162825 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20231026T162826 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231026T162826 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231026T162826 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231026T162826 [CommandExec]:Loaded ./Missions/Transport/transit.tl

20231026T162834 [CommandExec]:got command set transit.MissionTimeout 75 minute

20231026T162834 [CommandExec]:got command set transit.Latitude 36.771 degree

20231026T162834 [CommandExec]:got command set transit.Longitude -121.860001 degree

20231026T162834 [CommandExec]:got command run

20231026T162834 [CommandExec]:Running

20231026T162834 [MissionManager]:Started mission transit

20231026T162836 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20231026T163423 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231026T164516 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231026T164516 [RDI_Pathfinder]:Communications Fault

20231026T164517 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231026T164518 [RDI_Pathfinder]:Expecting PD13 message format

20231026T164646 [RDI_Pathfinder]:only read 2 of 4 data items for bottom velocity. Device response is::BS, -60,00#

20231026T165242 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231026T165337 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231026T165832 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231026T165832 [RDI_Pathfinder]:Communications Fault

20231026T165832 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231026T165833 [RDI_Pathfinder]:Expecting PD13 message format

20231026T165945 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231026T171639 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231026T171724 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231026T171800 [MissionManager]:Started mission DefaultWithUndock

20231026T171858 [DAT]:#Rx 1: Read range message, but no direction.

20231026T171913 [DockingStepper]:uart error: serial timeout

20231026T171913 [DockingStepper]:Communications Fault

20231026T171914 [CBIT]:Communications Fault in component: DockingStepper

20231026T171925 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231026T171932 [DAT]:#Rx 1: Read range message, but no direction.

20231026T172455 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,0001 0.00#

20231026T172545 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 7.734089 min

20231026T172715 [CommandExec]:got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 4 h;set keepstation.NeedCommsTime 15 min;set keepstation.ApproachDepth 25 m;set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 300 m" 2x1r6 1 2.000000

20231026T172715 [CommandExec]:Scheduling command #1 of 2 with id=2x1r6

20231026T172715 [CommandExec]:Scheduled #1 (#1 of 2 with id='2x1r6'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 4 h;set keepstation.NeedCommsTime 15 min;set keepstation.ApproachDepth 25 m;set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 300 m", ASAP

20231026T172726 [CommandExec]:got command schedule asap "set keepstation:StandardEnvelopes.MinAltitude 9 m;run" 2x1r6 2 2.000000

20231026T172726 [CommandExec]:Scheduling command #2 of 2 with id=2x1r6

20231026T172726 [CommandExec]:Scheduled #2 (#2 of 2 with id='2x1r6'): "set keepstation:StandardEnvelopes.MinAltitude 9 m;run", ASAP

20231026T172726 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20231026T172726 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20231026T172726 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231026T172726 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231026T172726 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231026T172727 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl

20231026T172739 [CommandExec]:got command set keepstation.MissionTimeout 4 hour

20231026T172739 [CommandExec]:got command set keepstation.NeedCommsTime 15 minute

20231026T172739 [CommandExec]:got command set keepstation.ApproachDepth 25 meter

20231026T172739 [CommandExec]:got command set keepstation.DepthDeadband 10 meter

20231026T172739 [CommandExec]:got command set keepstation.Speed 0.8 meter_per_second

20231026T172739 [CommandExec]:got command set keepstation.Radius 300 meter

20231026T172742 [CommandExec]:got command set keepstation:StandardEnvelopes.MinAltitude 9 meter

20231026T172742 [CommandExec]:got command run

20231026T172742 [CommandExec]:Running

20231026T172742 [MissionManager]:Started mission keepstation

20231026T180057 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231026T180559 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231026T180731 [RDI_Pathfinder]:only read 1 of 4 data items for bottom velocity. Device response is::BS,-3276 -17.04, 65.97, 2.00#

20231026T180812 [CommandExec]:got command stop

20231026T180812 [CommandExec]:Scheduling is paused

20231026T180813 [MissionManager]:Started mission DefaultWithUndock

20231026T180932 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231026T181532 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 7.314710 min

20231026T181836 [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.WaitOnDockTimeout 60 min" 2x45g 1 5.000000

20231026T181836 [CommandExec]:Scheduling command #1 of 5 with id=2x45g

20231026T181836 [CommandExec]:Scheduled #3 (#1 of 5 with id='2x45g'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 4 h;set lineCaptureHoming.NeedCommsTime 3.9 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.WaitOnDockTimeout 60 min", ASAP

20231026T181844 [CommandExec]:got command schedule asap "set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideSinkDuration 2 min;set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 1 bool" 2x45g 2 5.000000

20231026T181844 [CommandExec]:Scheduling command #2 of 5 with id=2x45g

20231026T181844 [CommandExec]:Scheduled #4 (#2 of 5 with id='2x45g'): "set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideSinkDuration 2 min;set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 1 bool", ASAP

20231026T181856 [CommandExec]:got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count;set lineCaptureHoming.RangeUSBL 0.001 m;set lineCaptureHoming.DockingAltitude 7.4 m" 2x45g 3 5.000000

20231026T181856 [CommandExec]:Scheduling command #3 of 5 with id=2x45g

20231026T181856 [CommandExec]:Scheduled #5 (#3 of 5 with id='2x45g'): "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count;set lineCaptureHoming.RangeUSBL 0.001 m;set lineCaptureHoming.DockingAltitude 7.4 m", ASAP

20231026T181908 [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" 2x45g 4 5.000000

20231026T181908 [CommandExec]:Scheduled #6 (#4 of 5 with id='2x45g'): "set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m", ASAP

20231026T181917 [CommandExec]:got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 2x45g 5 5.000000

20231026T181917 [CommandExec]:Scheduled #7 (#5 of 5 with id='2x45g'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", ASAP

20231026T181917 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231026T181917 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231026T181918 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231026T181919 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231026T181919 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231026T181920 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231026T181920 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231026T181921 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231026T181922 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231026T181938 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 4 hour

20231026T181938 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 3.9 hour

20231026T181938 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20231026T181938 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 60 minute

20231026T181956 [CommandExec]:got command set lineCaptureHoming.TrySlide 1 bool

20231026T181956 [CommandExec]:got command set lineCaptureHoming.SlideRetries 5 count

20231026T181956 [CommandExec]:got command set lineCaptureHoming.SlideSinkDuration 2 minute

20231026T181956 [CommandExec]:got command set lineCaptureHoming.TryWiggle 0 bool

20231026T181956 [CommandExec]:got command set lineCaptureHoming.TryJog 1 bool

20231026T182013 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20231026T182013 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count

20231026T182013 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 0.001 meter

20231026T182013 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231026T182030 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 20 minute

20231026T182030 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231026T182030 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231026T182030 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231026T182035 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20231026T182035 [CommandExec]:got command run

20231026T182035 [CommandExec]:Running

20231026T182035 [MissionManager]:Started mission lineCaptureHoming

20231026T182637 [DAT]:#Rx 1: Read range message, but no direction.

20231026T182717 [DockingStepper]:uart error: serial timeout

20231026T182717 [DockingStepper]:Communications Fault

20231026T182717 [CBIT]:Communications Fault in component: DockingStepper

20231026T182722 [DockingStepper]:uart error: serial timeout

20231026T182722 [DockingStepper]:Communications Fault

20231026T182722 [CBIT]:Communications Fault in component: DockingStepper

20231026T182736 filter is initialized with decay: 0.30.

20231026T182835 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 283.413895 deg.

20231026T183254 new target range. Approach rate out of bounds.# range: 248.800003 m,# deltaT: 4.033926 s,# deltaX: -20.599991 m,# approachRate: -5.106685 m/s,# rangeRepo size: 4

20231026T183717 REINIT: LOS rate is 219.769476 deg/s. Setting heading cmd to target acoustic bearing of 273.530871 deg.

20231026T183718 REINIT: LOS rate is 17.061029 deg/s. Setting heading cmd to target acoustic bearing of 273.530871 deg.

20231026T183734 missed at range: 2.40 m. Rolling out.

20231026T184148 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS35.0, +11.4, 0.0,1494.8, 0#

20231026T184247 to midcourse guidance. Received last range of 20.400000 m 5.004825 min ago.

20231026T184315 filter is initialized with decay: 0.30.

20231026T184627 missed at range: 9.30 m. Rolling out.

20231026T184854 [BuoyancyServo]:getPosition uart error serial timeout

20231026T184854 [BuoyancyServo]:Buoyancy getPosition uart error.serial timeout

20231026T184854 [BuoyancyServo]:Communications Fault

20231026T184854 [CBIT]:Communications Fault in component: BuoyancyServo

20231026T184915 [BuoyancyServo]:getPosition uart error serial timeout

20231026T184915 [BuoyancyServo]:Buoyancy getPosition uart error.serial timeout

20231026T184915 [BuoyancyServo]:Communications Fault

20231026T184915 [CBIT]:Communications Fault in component: BuoyancyServo

20231026T185248 [BuoyancyServo]:getPosition uart error serial timeout

20231026T185248 [BuoyancyServo]:Buoyancy getPosition uart error.serial timeout

20231026T185248 [BuoyancyServo]:Communications Fault

20231026T185248 [CBIT]:Communications Fault in component: BuoyancyServo

20231026T185630 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -40.97, +1671.02, -22.0#

20231026T185813 REINIT: LOS rate is -11.680119 deg/s. Setting heading cmd to target acoustic bearing of 119.902688 deg.

20231026T185813 REINIT: LOS rate is -23.623446 deg/s. Setting heading cmd to target acoustic bearing of 119.902688 deg.

20231026T185814 REINIT: LOS rate is -61.824089 deg/s. Setting heading cmd to target acoustic bearing of 119.902688 deg.

20231026T185829 missed at range: 6.20 m. Rolling out.

20231026T185855 [BuoyancyServo]:LCB fault: Current Limiter Activated.

20231026T185855 [BuoyancyServo]:Hardware Fault

20231026T185958 [DAT]:Buffer send receipt timeout failure.

20231026T190009 [DAT]:Buffer send receipt timeout failure.

20231026T190020 [DAT]:Buffer send receipt timeout failure.

20231026T190224 [DAT]:failed to set remote address to 0, device returned 50 instead.

20231026T190224 [DAT]:Communications Fault

20231026T190224 [CBIT]:Communications Fault in component: DAT

20231026T190245 [DAT]:failed to set remote address to 0, device returned 50 instead.

20231026T190245 [DAT]:Communications Fault

20231026T190246 [CBIT]:Communications Fault in component: DAT

20231026T190307 [DAT]:failed to set remote address to 0, device returned 50 instead.

20231026T190307 [DAT]:Communications Fault

20231026T190307 [CBIT]:Communications Fault in component: DAT

20231026T190345 [BuoyancyServo]:LCB fault: Current Limiter Activated.

20231026T190345 [BuoyancyServo]:Hardware Fault

20231026T190709 to midcourse guidance. Received last range of 8.000000 m 5.003209 min ago.

20231026T191319 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231026T192321 [RDI_Pathfinder]:only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 220.42, 244.25, 260.93#

20231026T192833 [DAT]:failed to enter command mode

20231026T193700 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231026T195723 [RDI_Pathfinder]:only read 1 of 4 data items for beam range. Device response is::RA, 0.00, 274.07#

20231026T200741 [DAT]:failed to initialize, no bytes available on serial interface

20231026T200743 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -92.85, +3.00, 0.00#

20231026T200925 out while executing search pattern around dock waypoint.

20231026T200926 sequence timed out prior to docking.

20231026T201102 [RDI_Pathfinder]:only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 299.63, 261.03#