tethys Path

trajectory

20231029T030734 [SBIT]:Beginning Startup BIT

20231029T030734 [CBIT]:Beginning ground fault scan

20231029T030814 [SBIT]:Control surface position failure.

20231029T030816 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -4..00#

20231029T030828 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20231029T030828 [SBIT]:DockingStepper.slideValue=11710 count;#

20231029T030828 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20231029T030828 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20231029T030828 [SBIT]:Express linearApproximation height_above_sea_floor 5.000000 meter;#

20231029T030828 [SBIT]:LineCapture.rolloutSpeed=0 meter_per_second;#

20231029T030828 [SBIT]:LineCapture.rolloutTimeout=10 minute;#

20231029T030828 [SBIT]:LineCapture.searchTimeout=15 minute;#

20231029T030828 [SBIT]:LineCapture.shortFinalRange=10 meter;#

20231029T030828 [SBIT]:Sonardyne_Nano.loadAtStartup=1 bool;#

20231029T030828 [SBIT]:VerticalControl.buoyancyNeutral=311.989620 cubic_centimeter;#

20231029T030828 [SBIT]:VerticalControl.massDefault=20.662059 millimeter;#

20231029T030828 [CommandExec]:Scheduling is paused

20231029T030828 [MissionManager]:Started mission Startup

20231029T030931 [MissionManager]:Started mission DefaultWithUndock

20231029T031013 [DAT]:No response from remote modem.

20231029T031018 [CommandExec]:got command schedule "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.Latitude 36.771 degree;set transit.Longitude -121.860001 degree;run"

20231029T031018 [CommandExec]:Scheduled #1: "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.Latitude 36.771 degree;set transit.Longitude -121.860001 degree;run", AFTER MISSION

20231029T031018 [CommandExec]:Scheduling was paused by an error at 2023-10-29T03:08:28Z

20231029T031023 [DAT]:No response from remote modem.

20231029T031033 [DAT]:No response from remote modem.

20231029T031050 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231029T031302 [CommandExec]:got command schedule resume

20231029T031302 [CommandExec]:Scheduling is resumed

20231029T031302 [CommandExec]:got command load ./Missions/Transport/transit.tl

20231029T031302 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20231029T031302 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231029T031303 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231029T031303 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231029T031303 [CommandExec]:Loaded ./Missions/Transport/transit.tl

20231029T031313 [CommandExec]:got command set transit.MissionTimeout 30 minute

20231029T031313 [CommandExec]:got command set transit.Latitude 36.771 degree

20231029T031313 [CommandExec]:got command set transit.Longitude -121.860001 degree

20231029T031313 [CommandExec]:got command run

20231029T031313 [CommandExec]:Running

20231029T031313 [MissionManager]:Started mission transit

20231029T031315 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20231029T031716 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231029T033238 [RDI_Pathfinder]:DVL uart error: serial timeout

20231029T033238 [RDI_Pathfinder]:Communications Fault

20231029T033238 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231029T033240 [RDI_Pathfinder]:Expecting PD13 message format

20231029T033412 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231029T033609 [MissionManager]:Started mission DefaultWithUndock

20231029T033650 [DAT]:#Rx 1: Read range message, but no direction.

20231029T033653 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231029T033658 [DAT]:#Rx 1: Read range message, but no direction.

20231029T033710 [DAT]:#Rx 1: Read range message, but no direction.

20231029T033728 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231029T033904 [CommandExec]:got command run ./Missions/underIce/DefaultWithUndock.tl

20231029T033904 [MissionManager]:Loading Compiled TethysL script from file ./Missions/underIce/DefaultWithUndock.tx

20231029T033904 [CommandExec]:Running ./Missions/underIce/DefaultWithUndock.tl

20231029T033904 [MissionManager]:Started mission DefaultWithUndock

20231029T033936 [DockingStepper]:Initialization uart error serial timeout

20231029T033936 [DockingStepper]:Failed to initialize

20231029T034023 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231029T034024 [CommandExec]:got command schedule pause

20231029T034024 [CommandExec]:Scheduling is paused

20231029T034212 [CommandExec]:got command schedule "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.NeedCommsTime 3 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.WaitOnDockTimeout 5 min" 31jkc 1 5.000000

20231029T034212 [CommandExec]:Scheduling command #1 of 5 with id=31jkc

20231029T034212 [CommandExec]:Scheduled #2 (#1 of 5 with id='31jkc'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.NeedCommsTime 3 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.WaitOnDockTimeout 5 min", AFTER MISSION

20231029T034212 [CommandExec]:Scheduling was paused by a command at 2023-10-29T03:40:24Z

20231029T034221 [CommandExec]:got command schedule "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 3 count;set lineCaptureHoming.SlideSinkDuration 2 min;set lineCaptureHoming.SlideCloseDuration 2 min" 31jkc 2 5.000000

20231029T034221 [CommandExec]:Scheduling command #2 of 5 with id=31jkc

20231029T034221 [CommandExec]:Scheduled #3 (#2 of 5 with id='31jkc'): "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 3 count;set lineCaptureHoming.SlideSinkDuration 2 min;set lineCaptureHoming.SlideCloseDuration 2 min", AFTER MISSION

20231029T034221 [CommandExec]:Scheduling was paused by a command at 2023-10-29T03:40:24Z

20231029T034230 [CommandExec]:got command schedule "set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 0 bool;set lineCaptureHoming.TryWhirl 0 bool;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count" 31jkc 3 5.000000

20231029T034230 [CommandExec]:Scheduling command #3 of 5 with id=31jkc

20231029T034230 [CommandExec]:Scheduled #4 (#3 of 5 with id='31jkc'): "set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 0 bool;set lineCaptureHoming.TryWhirl 0 bool;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count", AFTER MISSION

20231029T034230 [CommandExec]:Scheduling was paused by a command at 2023-10-29T03:40:24Z

20231029T034238 [CommandExec]:got command schedule "set lineCaptureHoming.RangeUSBL 0.001 m;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m" 31jkc 4 5.000000

20231029T034238 [CommandExec]:Scheduled #5 (#4 of 5 with id='31jkc'): "set lineCaptureHoming.RangeUSBL 0.001 m;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m", AFTER MISSION

20231029T034247 [CommandExec]:got command schedule "set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 31jkc 5 5.000000

20231029T034247 [CommandExec]:Scheduled #6 (#5 of 5 with id='31jkc'): "set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", AFTER MISSION

20231029T034607 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 7.040226 min

20231029T034935 [CommandExec]:got command schedule "load Engineering/OnDock.tl;set OnDock.MissionTimeout 10 minute; run"

20231029T034935 [CommandExec]:Scheduled #7: "load Engineering/OnDock.tl;set OnDock.MissionTimeout 10 minute; run", AFTER MISSION

20231029T035217 [CommandExec]:got command schedule resume

20231029T035217 [CommandExec]:Scheduling is resumed

20231029T035228 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 13.394881 min

20231029T035641 [CommandExec]:got command stop

20231029T035641 [CommandExec]:Scheduling is paused for 6 commands

20231029T035641 [CommandExec]:got command schedule resume

20231029T035641 [CommandExec]:Scheduling is resumed

20231029T035642 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231029T035642 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231029T035642 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231029T035644 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231029T035644 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231029T035644 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231029T035645 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231029T035646 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231029T035647 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231029T035647 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231029T035702 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 3 hour

20231029T035702 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 3 hour

20231029T035702 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20231029T035702 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 5 minute

20231029T035746 [CommandExec]:got command set lineCaptureHoming.StayOnDock 1 bool

20231029T035746 [CommandExec]:got command set lineCaptureHoming.TrySlide 1 bool

20231029T035746 [CommandExec]:got command set lineCaptureHoming.SlideRetries 3 count

20231029T035746 [CommandExec]:got command set lineCaptureHoming.SlideSinkDuration 2 minute

20231029T035746 [CommandExec]:got command set lineCaptureHoming.SlideCloseDuration 2 minute

20231029T035812 [CommandExec]:got command set lineCaptureHoming.TryWiggle 0 bool

20231029T035812 [CommandExec]:got command set lineCaptureHoming.TryJog 0 bool

20231029T035812 [CommandExec]:got command set lineCaptureHoming.TryWhirl 0 bool

20231029T035812 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20231029T035812 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count

20231029T035841 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 0.001 meter

20231029T035841 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231029T035841 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 20 minute

20231029T035841 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231029T035841 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231029T035850 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231029T035850 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20231029T035850 [CommandExec]:got command run

20231029T035850 [CommandExec]:Running

20231029T035850 [MissionManager]:Started mission lineCaptureHoming

20231029T040811 [RDI_Pathfinder]:only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 304.81, 270.79, 300.79#

20231029T040817 filter is initialized with decay: 0.30.

20231029T040912 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 44.387821 deg.

20231029T041316 new target range. Approach rate out of bounds.# range: 327.299988 m,# deltaT: 4.283961 s,# deltaX: 27.000000 m,# approachRate: 6.302578 m/s,# rangeRepo size: 4

20231029T041352 new target range. Approach rate out of bounds.# range: 263.399994 m,# deltaT: 4.033397 s,# deltaX: -21.000000 m,# approachRate: -5.206530 m/s,# rangeRepo size: 4

20231029T041400 new target range. Approach rate out of bounds.# range: 291.700012 m,# deltaT: 4.032095 s,# deltaX: 32.000000 m,# approachRate: 7.936321 m/s,# rangeRepo size: 4

20231029T041429 new target range. Approach rate out of bounds.# range: 230.500000 m,# deltaT: 4.032064 s,# deltaX: -41.899994 m,# approachRate: -10.391699 m/s,# rangeRepo size: 4

20231029T041433 new target range. Approach rate out of bounds.# range: 226.800003 m,# deltaT: 8.068181 s,# deltaX: -45.599991 m,# approachRate: -5.651830 m/s,# rangeRepo size: 4

20231029T041648 [DockingStepper]:Could not parse cable state. Received:�/0`163486336,16304#

20231029T041648 [DockingStepper]:Communications Fault

20231029T041648 [CBIT]:Communications Fault in component: DockingStepper

20231029T041913 REINIT: LOS rate is 13.235228 deg/s. Setting heading cmd to target acoustic bearing of 14.620712 deg.

20231029T041913 REINIT: LOS rate is 73.459419 deg/s. Setting heading cmd to target acoustic bearing of 14.620712 deg.

20231029T041914 REINIT: LOS rate is 128.870252 deg/s. Setting heading cmd to target acoustic bearing of 14.620712 deg.

20231029T041931 missed at range: 2.90 m. Rolling out.

20231029T043410 sequence complete at range 1.00 m. Cable present. Reached intercept timeout.

20231029T043417 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 6 to 1

20231029T043617 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done checking for power, continuing with slide

20231029T043617 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 1 to 2

20231029T043618 [DockingStepper]:uart error: serial timeout

20231029T043618 [DockingStepper]:Communications Fault

20231029T043618 [CBIT]:Communications Fault in component: DockingStepper

20231029T043817 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done sinking

20231029T043817 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 2 to 1

20231029T043918 [CommandExec]:got command load ./Missions/Engineering/OnDock.tl

20231029T043918 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/OnDock.tx

20231029T043919 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231029T043919 [CommandExec]:Loaded ./Missions/Engineering/OnDock.tl

20231029T043922 [CommandExec]:got command set OnDock.MissionTimeout 10 minute

20231029T043922 [CommandExec]:got command run

20231029T043922 [CommandExec]:Running

20231029T043922 [MissionManager]:Started mission OnDock

20231029T044147 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231029T044955 [DockingStepper]:Initialization uart error serial timeout

20231029T044955 [DockingStepper]:Failed to initialize

20231029T045135 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, +176 0.00#

20231029T045459 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231029T045539 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231029T050438 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 15.250595 min

20231029T050754 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231029T051130 [CommandExec]:got command load ./Missions/Transport/transit.tl

20231029T051130 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20231029T051130 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231029T051130 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231029T051131 [CommandExec]:Loaded ./Missions/Transport/transit.tl

20231029T051142 [CommandExec]:got command set transit.MissionTimeout 75 minute

20231029T051142 [CommandExec]:got command set transit.NeedCommsTime 60 minute

20231029T051142 [CommandExec]:got command set transit.Latitude 36.77083 degree

20231029T051142 [CommandExec]:got command set transit.Longitude -121.85376 degree

20231029T051142 [MissionManager]:Started mission transit

20231029T051145 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.770828,-121.853760

20231029T051510 [RDI_Pathfinder]:only read -1 of 1 data item for altitude. Device response is::BD, +185.55, #

20231029T052726 [RDI_Pathfinder]:DVL uart error: serial timeout

20231029T052726 [RDI_Pathfinder]:Communications Fault

20231029T052726 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231029T052728 [RDI_Pathfinder]:Expecting PD13 message format

20231029T053343 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, 0.00#

20231029T053937 [RDI_Pathfinder]:only read 1 of 4 data items for bottom velocity. Device response is::BS,-327 2.00#

20231029T054217 [RDI_Pathfinder]:only read -1 of 1 data item for altitude. Device response is::BD, #

20231029T055033 [CommandExec]:got command restart application