tethys Path

trajectory

20231101T165710 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20231101T165710 [SBIT]:DAT.missionCritical=1 bool;#

20231101T165710 [SBIT]:DockingStepper.slideValue=11710 count;#

20231101T165710 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20231101T165710 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20231101T165710 [SBIT]:Express linearApproximation height_above_sea_floor 5.000000 meter;#

20231101T165710 [SBIT]:IBIT.batteryCapacityThreshold=30 ampere_hour;#

20231101T165710 [SBIT]:IBIT.batteryVoltageThreshold=12 volt;#

20231101T165710 [SBIT]:LineCapture.rolloutSpeed=0 meter_per_second;#

20231101T165710 [SBIT]:LineCapture.rolloutTimeout=10 minute;#

20231101T165710 [SBIT]:LineCapture.searchTimeout=15 minute;#

20231101T165710 [SBIT]:LineCapture.shortFinalRange=10 meter;#

20231101T165710 [SBIT]:Sonardyne_Nano.loadAtStartup=1 bool;#

20231101T165710 [SBIT]:VerticalControl.buoyancyNeutral=311.989620 cubic_centimeter;#

20231101T165710 [SBIT]:VerticalControl.massDefault=20.662059 millimeter;#

20231101T165710 [CommandExec]:Scheduling is paused

20231101T165710 [MissionManager]:Started mission Startup

20231101T165758 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231101T165758 [RDI_Pathfinder]:Communications Fault

20231101T165758 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231101T165801 [RDI_Pathfinder]:Expecting PD13 message format

20231101T165816 [MissionManager]:Started mission DefaultWithUndock

20231101T165851 [DockingStepper]:uart error: serial timeout

20231101T165851 [DockingStepper]:Communications Fault

20231101T165851 [CBIT]:Communications Fault in component: DockingStepper

20231101T165858 [DAT]:No response from remote modem.

20231101T165908 [DAT]:No response from remote modem.

20231101T165919 [DAT]:No response from remote modem.

20231101T165935 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231101T170159 [CommandExec]:got command schedule resume

20231101T170159 [CommandExec]:Scheduling is resumed

20231101T170208 [CommandExec]:got command load ./Missions/Transport/transit.tl

20231101T170208 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20231101T170208 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231101T170208 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231101T170208 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231101T170208 [CommandExec]:Loaded ./Missions/Transport/transit.tl

20231101T170214 [CommandExec]:got command set transit.MissionTimeout 30 minute

20231101T170214 [CommandExec]:got command set transit.Latitude 36.771 degree

20231101T170214 [CommandExec]:got command set transit.Longitude -121.860001 degree

20231101T170214 [CommandExec]:got command run

20231101T170214 [CommandExec]:Running

20231101T170214 [MissionManager]:Started mission transit

20231101T170215 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20231101T171157 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231101T171746 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00012023200585,3.9, 0.0,1503.4, 0#

20231101T171808 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231101T171944 [MissionManager]:Started mission DefaultWithUndock

20231101T172103 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231101T172534 [RDI_Pathfinder]:DVL uart error: serial timeout

20231101T172534 [RDI_Pathfinder]:Communications Fault

20231101T172534 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231101T172534 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231101T172535 [RDI_Pathfinder]:Expecting PD13 message format

20231101T172656 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 7.194003 min

20231101T172803 [CommandExec]:got command run ./Missions/underIce/DefaultWithUndock.tl

20231101T172803 [MissionManager]:Loading Compiled TethysL script from file ./Missions/underIce/DefaultWithUndock.tx

20231101T172803 [CommandExec]:Running ./Missions/underIce/DefaultWithUndock.tl

20231101T172803 [MissionManager]:Started mission DefaultWithUndock

20231101T172841 [DAT]:#Rx 1: Read range message, but no direction.

20231101T172916 [DockingStepper]:uart error: serial timeout

20231101T172916 [DockingStepper]:Communications Fault

20231101T172916 [CBIT]:Communications Fault in component: DockingStepper

20231101T172928 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231101T172946 [CommandExec]:got command stop

20231101T172946 [CommandExec]:Scheduling is paused

20231101T173017 [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.StayOnDock 1 bool" 385ul 1 4.000000

20231101T173017 [CommandExec]:Scheduling command #1 of 4 with id=385ul

20231101T173017 [CommandExec]:Scheduled #1 (#1 of 4 with id='385ul'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.NeedCommsTime 3 h;set lineCaptureHoming.MicromodemCommsInterval 5 h;set lineCaptureHoming.StayOnDock 1 bool", AFTER MISSION

20231101T173017 [CommandExec]:Scheduling was paused by a command at 2023-11-01T17:29:46Z

20231101T173019 [DockingStepper]:Initialization uart error serial timeout

20231101T173019 [DockingStepper]:Failed to initialize

20231101T173038 [CommandExec]:got command schedule "set lineCaptureHoming.TrySlide 0 bool;set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 0 bool;set lineCaptureHoming.TryWhirl 0 bool;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s" 385ul 2 4.000000

20231101T173038 [CommandExec]:Scheduling command #2 of 4 with id=385ul

20231101T173038 [CommandExec]:Scheduled #2 (#2 of 4 with id='385ul'): "set lineCaptureHoming.TrySlide 0 bool;set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 0 bool;set lineCaptureHoming.TryWhirl 0 bool;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s", AFTER MISSION

20231101T173038 [CommandExec]:Scheduling was paused by a command at 2023-11-01T17:29:46Z

20231101T173041 [RDI_Pathfinder]:only read 3 of 4 data items for bottom velocity. Device response is::BS,-32768,-32768,-3276-2.40, 0.00, 46.00#

20231101T174019 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 10.528084 min

20231101T174051 [CommandExec]:got command schedule "set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count;set lineCaptureHoming.RangeUSBL 0.001 m;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 20 min" 385ul 3 4.000000

20231101T174051 [CommandExec]:Scheduling command #3 of 4 with id=385ul

20231101T174051 [CommandExec]:Scheduled #3 (#3 of 4 with id='385ul'): "set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count;set lineCaptureHoming.RangeUSBL 0.001 m;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 20 min", AFTER MISSION

20231101T174051 [CommandExec]:Scheduling was paused by a command at 2023-11-01T17:29:46Z

20231101T174116 [CommandExec]:got command schedule "set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 385ul 4 4.000000

20231101T174116 [CommandExec]:Scheduled #4 (#4 of 4 with id='385ul'): "set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", AFTER MISSION

20231101T174126 [CommandExec]:got command schedule "load Engineering/OnDock.tl;set OnDock.MissionTimeout 1 hour; run;"

20231101T174126 [CommandExec]:Scheduled #5: "load Engineering/OnDock.tl;set OnDock.MissionTimeout 1 hour; run;", AFTER MISSION

20231101T174711 [CommandExec]:got command schedule "set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count;set lineCaptureHoming.RangeUSBL 0.001 m;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 20 min" 385ul 3 4.000000

20231101T174711 [CommandExec]:Failed to schedule command with id=385ul. Duplicate idIndex.

20231101T174739 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 17.868642 min

20231101T174757 [CommandExec]:got command schedule "schedule resume"

20231101T174757 [CommandExec]:Scheduled #7: "schedule resume", AFTER MISSION

20231101T175347 [RDI_Pathfinder]:only read 0 of 4 data items for beam range. Device response is::RA, 0. +123, +2,A#

20231101T175352 [CommandExec]:got command schedule resume

20231101T175352 [CommandExec]:Scheduling is resumed

20231101T175352 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231101T175352 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231101T175353 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231101T175355 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231101T175355 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231101T175355 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231101T175355 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231101T175356 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231101T175357 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231101T175358 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231101T175415 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 3 hour

20231101T175415 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 3 hour

20231101T175415 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20231101T175415 [CommandExec]:got command set lineCaptureHoming.StayOnDock 1 bool

20231101T175433 [CommandExec]:got command set lineCaptureHoming.TrySlide 0 bool

20231101T175433 [CommandExec]:got command set lineCaptureHoming.TryWiggle 0 bool

20231101T175433 [CommandExec]:got command set lineCaptureHoming.TryJog 0 bool

20231101T175433 [CommandExec]:got command set lineCaptureHoming.TryWhirl 0 bool

20231101T175433 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20231101T175449 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count

20231101T175449 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 0.001 meter

20231101T175449 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231101T175449 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 20 minute

20231101T175507 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231101T175507 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231101T175507 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231101T175507 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20231101T175507 [CommandExec]:got command run

20231101T175507 [CommandExec]:Running

20231101T175508 [MissionManager]:Started mission lineCaptureHoming

20231101T180149 filter is initialized with decay: 0.30.

20231101T180152 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 1.849117 deg.

20231101T180327 new target range. Approach rate out of bounds.# range: 295.500000 m,# deltaT: 4.032571 s,# deltaX: 24.000000 m,# approachRate: 5.951538 m/s,# rangeRepo size: 4

20231101T180737 [DockingStepper]:uart error: serial timeout

20231101T180737 [DockingStepper]:Communications Fault

20231101T180737 [CBIT]:Communications Fault in component: DockingStepper

20231101T180911 [DAT]:#Rx 1: Read range message, but no direction.

20231101T180918 [DAT]:#Rx 1: Read range message, but no direction.

20231101T180919 missed at range: 7.80 m. Rolling out.

20231101T181137 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, +56.57, +445.20, -14.63#

20231101T181853 [RDI_Pathfinder]:only read -1 of 1 data item for altitude. Device response is::BD, +78.97, #

20231101T182111 missed at range: 9.30 m. Rolling out.

20231101T182235 [RDI_Pathfinder]:only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 84.64, 75.78#

20231101T182559 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, +44.85, +48 -12.29, 7.24, 0.00#

20231101T183342 REINIT: LOS rate is 15.852486 deg/s. Setting heading cmd to target acoustic bearing of 317.245650 deg.

20231101T183343 REINIT: LOS rate is 25.560098 deg/s. Setting heading cmd to target acoustic bearing of 317.245650 deg.

20231101T183343 REINIT: LOS rate is 63.748125 deg/s. Setting heading cmd to target acoustic bearing of 317.245650 deg.

20231101T183357 missed at range: 8.70 m. Rolling out.

20231101T185217 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231101T185635 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231101T185809 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -0.23, +768.#

20231101T191040 [RDI_Pathfinder]:only read -1 of 1 data item for water mass range. Device response is::WD, -93.32, +841.00, #

20231101T191456 [RDI_Pathfinder]:only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 70.03, 77.51, 73.43#

20231101T191717 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -4#

20231101T192308 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -102.06, +973.68, -1400#

20231101T193454 REINIT: LOS rate is -13.693216 deg/s. Setting heading cmd to target acoustic bearing of 285.304303 deg.

20231101T193454 REINIT: LOS rate is -18.133770 deg/s. Setting heading cmd to target acoustic bearing of 285.304303 deg.

20231101T193454 REINIT: LOS rate is -32.873952 deg/s. Setting heading cmd to target acoustic bearing of 285.304303 deg.

20231101T195912 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231101T195925 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231101T195938 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231101T200031 sequence complete at range 2.40 m. Cable present. Reached intercept timeout.

20231101T200540 [CommandExec]:got command load ./Missions/Engineering/OnDock.tl

20231101T200540 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/OnDock.tx

20231101T200540 [MissionManager]:Could not find Arg named "Dock:Dock:Docked.detachTimeout" in value clause.

20231101T200540 [MissionManager]:Invalid value for DefineArg DetachedTimeout in OnDock

20231101T200540 [MissionManager]:Could not find Arg named "Dock:Dock:Docked.rangeTimeout" in value clause.

20231101T200540 [MissionManager]:Invalid value for DefineArg RangeTimeout in OnDock

20231101T200540 [CommandExec]:Scheduling is paused for 1 commands

20231101T200540 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231101T200541 [MissionManager]:Could not find Arg named "DetachedTimeout" in value clause.

20231101T200541 [MissionManager]:Unable to parse value for OnDock:G setting: detachTimeout

20231101T200541 [MissionManager]:Could not find Arg named "RangeTimeout" in value clause.

20231101T200541 [MissionManager]:Unable to parse value for OnDock:G setting: rangeTimeout

20231101T200541 [CommandExec]:Loaded ./Missions/Engineering/OnDock.tl

20231101T200544 [CommandExec]:got command set OnDock.MissionTimeout 1 hour

20231101T200544 [CommandExec]:got command run

20231101T200544 [CommandExec]:Running

20231101T200544 [MissionManager]:Started mission OnDock