tethys Path

trajectory

20231102T000730 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231102T000730 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231102T000731 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231102T000731 [CommandExec]:Loaded ./Missions/Transport/transit.tl

20231102T000745 [CommandExec]:got command set transit.MissionTimeout 60 minute

20231102T000745 [CommandExec]:got command set transit.Latitude 36.771 degree

20231102T000745 [CommandExec]:got command set transit.Longitude -121.860001 degree

20231102T000745 [CommandExec]:got command run

20231102T000745 [CommandExec]:Running

20231102T000753 [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" 38o5j 1 5.000000

20231102T000753 [CommandExec]:Scheduling command #1 of 5 with id=38o5j

20231102T000753 [CommandExec]:Scheduled #1 (#1 of 5 with id='38o5j'): "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

20231102T000753 [CommandExec]:Scheduling was paused by an error at 2023-11-02T00:06:23Z

20231102T000807 [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" 38o5j 2 5.000000

20231102T000807 [CommandExec]:Scheduling command #2 of 5 with id=38o5j

20231102T000807 [CommandExec]:Scheduled #2 (#2 of 5 with id='38o5j'): "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

20231102T000807 [CommandExec]:Scheduling was paused by an error at 2023-11-02T00:06:23Z

20231102T000820 [CommandExec]:got command schedule "set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count;set lineCaptureHoming.NumPingsUSBL 200 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 7.4 m" 38o5j 3 5.000000

20231102T000820 [CommandExec]:Scheduling command #3 of 5 with id=38o5j

20231102T000820 [CommandExec]:Scheduled #3 (#3 of 5 with id='38o5j'): "set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count;set lineCaptureHoming.NumPingsUSBL 200 count;set lineCaptureHoming.RangeUSBL 40 m;set lineCaptureHoming.DockingAltitude 7.4 m", AFTER MISSION

20231102T000820 [CommandExec]:Scheduling was paused by an error at 2023-11-02T00:06:23Z

20231102T000824 [MissionManager]:Started mission transit

20231102T000826 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20231102T000829 [CommandExec]:got command schedule "set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a" 38o5j 4 5.000000

20231102T000829 [CommandExec]:Scheduled #4 (#4 of 5 with id='38o5j'): "set lineCaptureHoming.InvalidAltitudeTimeout 20 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a", AFTER MISSION

20231102T000839 [CommandExec]:got command schedule "run" 38o5j 5 5.000000

20231102T000839 [CommandExec]:Scheduled #5 (#5 of 5 with id='38o5j'): "run", AFTER MISSION

20231102T000849 [CommandExec]:got command schedule "! echo 0 > /dev/loadB6"

20231102T000849 [CommandExec]:Scheduled #6: "! echo 0 > /dev/loadB6", AFTER MISSION

20231102T000859 [CommandExec]:got command schedule "load Engineering/OnDock.tl;set OnDock.MissionTimeout 14 hour; run;"

20231102T000859 [CommandExec]:Scheduled #7: "load Engineering/OnDock.tl;set OnDock.MissionTimeout 14 hour; run;", AFTER MISSION

20231102T001613 [CommandExec]:got command schedule resume

20231102T001613 [CommandExec]:Scheduling is resumed

20231102T001745 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231102T001918 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231102T002100 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231102T002100 [RDI_Pathfinder]:Communications Fault

20231102T002100 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231102T002101 [RDI_Pathfinder]:Expecting PD13 message format

20231102T002453 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231102T002453 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231102T002453 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231102T002456 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231102T002456 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231102T002456 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231102T002456 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231102T002457 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231102T002458 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231102T002459 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231102T002459 [MissionManager]:Started mission DefaultWithUndock

20231102T002514 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 3 hour

20231102T002514 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 3 hour

20231102T002514 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 5 hour

20231102T002514 [CommandExec]:got command set lineCaptureHoming.StayOnDock 1 bool

20231102T002530 [CommandExec]:got command set lineCaptureHoming.TrySlide 0 bool

20231102T002530 [CommandExec]:got command set lineCaptureHoming.TryWiggle 0 bool

20231102T002530 [CommandExec]:got command set lineCaptureHoming.TryJog 0 bool

20231102T002530 [CommandExec]:got command set lineCaptureHoming.TryWhirl 0 bool

20231102T002530 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20231102T002541 [DAT]:No response from remote modem.

20231102T002548 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count

20231102T002548 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 200 count

20231102T002548 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 40 meter

20231102T002548 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231102T002551 [DAT]:No response from remote modem.

20231102T002602 [DAT]:No response from remote modem.

20231102T002612 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 20 minute

20231102T002612 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231102T002612 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231102T002612 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231102T002612 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20231102T002612 [CommandExec]:got command run

20231102T002612 [CommandExec]:Running

20231102T002612 [MissionManager]:Started mission lineCaptureHoming

20231102T003223 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -4.66, +113.65-1.99, 3.00, 0.00#

20231102T003306 filter is initialized with decay: 0.30.

20231102T003310 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 299.164485 deg.

20231102T003448 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231102T004107 [DAT]:#Rx 24: Read range message, but no direction.

20231102T004109 [DAT]:#Rx 28: Read range message, but no direction.

20231102T004114 [DAT]:#Rx 38: Read range message, but no direction.

20231102T004144 missed at range: 3.30 m. Rolling out.

20231102T005417 [RDI_Pathfinder]:only read 1 of 4 data items for beam range. Device response is::RA, 0.00, 74#

20231102T005451 missed at range: 4.10 m. Rolling out.

20231102T010520 new target range. Approach rate out of bounds.# range: 151.699997 m,# deltaT: 0.561001 s,# deltaX: 91.399994 m,# approachRate: 162.923050 m/s,# rangeRepo size: 4

20231102T010522 new target range. Approach rate out of bounds.# range: 150.899994 m,# deltaT: 0.559799 s,# deltaX: 89.499992 m,# approachRate: 159.878799 m/s,# rangeRepo size: 4

20231102T010524 new target range. Approach rate out of bounds.# range: 152.600006 m,# deltaT: 0.559801 s,# deltaX: 89.900009 m,# approachRate: 160.592804 m/s,# rangeRepo size: 4

20231102T010825 missed at range: 3.60 m. Rolling out.

20231102T012831 [RDI_Pathfinder]:only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 76.83, 72.07#

20231102T013158 REINIT: LOS rate is -19.287810 deg/s. Setting heading cmd to target acoustic bearing of 179.949577 deg.

20231102T013225 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -10.76, +1027. 0.00#

20231102T013942 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231102T014336 [DockingStepper]:getADC uart error serial timeout

20231102T014336 [DockingStepper]:uart error - getPosition..serial timeout

20231102T014336 [DockingStepper]:Communications Fault

20231102T014336 [CBIT]:Communications Fault in component: DockingStepper

20231102T015530 [DockingStepper]:only read 3 of 4 ADC values

20231102T015530 [DockingStepper]:Docking arm not reporting position

20231102T015530 [DockingStepper]:Communications Fault

20231102T015530 [CBIT]:Communications Fault in component: DockingStepper

20231102T015531 [RDI_Pathfinder]:only read -1 of 1 data item for water mass range. Device response is::WD,#

20231102T020300 [RDI_Pathfinder]:DVL uart error: serial timeout

20231102T020300 [RDI_Pathfinder]:Communications Fault

20231102T020300 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231102T020301 [RDI_Pathfinder]:Expecting PD13 message format

20231102T020549 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231102T020745 [DockingStepper]:getADC uart error serial timeout

20231102T020745 [DockingStepper]:uart error - getPosition..serial timeout

20231102T020745 [DockingStepper]:Communications Fault

20231102T020745 [CBIT]:Communications Fault in component: DockingStepper

20231102T020751 REINIT: LOS rate is -22.759267 deg/s. Setting heading cmd to target acoustic bearing of 152.851266 deg.

20231102T021430 [RDI_Pathfinder]:only read 0 of 4 data items for beam range. Device response is::RA, 0.00 -52, -51, -8, +66,A#

20231102T022114 [RDI_Pathfinder]:DVL uart error: serial timeout

20231102T022114 [RDI_Pathfinder]:Communications Fault

20231102T022114 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231102T022115 [RDI_Pathfinder]:Expecting PD13 message format

20231102T022219 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00012108222627,35.0, +0.0,1494.4, 0#

20231102T022455 [RDI_Pathfinder]:DVL uart error: serial timeout

20231102T023102 [DockingStepper]:uart error: serial timeout

20231102T023413 [DockingStepper]:uart error: serial timeout

20231102T023423 [DockingStepper]:uart error: serial timeout

20231102T023454 [CommandExec]:Scheduling is paused for 2 commands

20231102T023455 [MissionManager]:Started mission DefaultWithUndock

20231102T023708 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231102T023747 [NanoDVR]:Ack message checksum did not match.

20231102T024253 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231102T025012 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 15.284784 min

20231102T025020 [CommandExec]:got command schedule resume

20231102T025020 [CommandExec]:Scheduling is resumed

20231102T025020 [CommandExec]:got command ! echo 0 > /dev/loadB6

20231102T025020 [CommandExec]:got command load ./Missions/Engineering/OnDock.tl

20231102T025020 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/OnDock.tx

20231102T025020 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231102T025020 [CommandExec]:Loaded ./Missions/Engineering/OnDock.tl

20231102T025023 [CommandExec]:got command set OnDock.MissionTimeout 14 hour

20231102T025023 [CommandExec]:got command run

20231102T025023 [CommandExec]:Running

20231102T025025 [MissionManager]:Started mission OnDock

20231102T025027 [OnDock:G.Docked]:Off dock, depth 0.276177 above surface threshold

20231102T025027 [OnDock:G.Docked]:State switched to DETACHED. Waiting for state timeout to act...

20231102T025027 [OnDock:G.Docked]:DATA AND RANGE TIMEOUT: VEHICLE DETACHED FROM DOCK.

20231102T025028 [MissionManager]:Started mission DefaultWithUndock

20231102T025100 [DockingStepper]:Initialization uart error serial timeout

20231102T025100 [DockingStepper]:Failed to initialize

20231102T025147 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231102T025344 [CommandExec]:got command schedule list

20231102T030041 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 10.220042 min