tethys Path

trajectory

20231109T180816 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231109T180821 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20231109T180821 [SBIT]:BPC1.batteryMissingStickThreshold=6 count;#

20231109T180821 [SBIT]:DAT.missionCritical=1 bool;#

20231109T180821 [SBIT]:DAT.verbosity=1 count;#

20231109T180821 [SBIT]:DockingStepper.slideValue=11710 count;#

20231109T180821 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20231109T180821 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20231109T180821 [SBIT]:Express linearApproximation height_above_sea_floor 5.000000 meter;#

20231109T180821 [SBIT]:LineCapture.rolloutSpeed=0 meter_per_second;#

20231109T180821 [SBIT]:LineCapture.rolloutTimeout=10 minute;#

20231109T180821 [SBIT]:LineCapture.searchTimeout=15 minute;#

20231109T180821 [SBIT]:LineCapture.shortFinalRange=10 meter;#

20231109T180821 [SBIT]:RudderServo.offsetAngle=2.5 degree;#

20231109T180821 [SBIT]:VerticalControl.buoyancyNeutral=346.601558 cubic_centimeter;#

20231109T180821 [SBIT]:VerticalControl.massDefault=21.981445 millimeter;#

20231109T180821 [CommandExec]:Scheduling is paused

20231109T180822 [MissionManager]:Started mission Startup

20231109T180829 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231109T180841 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231109T180857 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231109T180857 [RDI_Pathfinder]:Communications Fault

20231109T180857 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231109T180858 [RDI_Pathfinder]:Expecting PD13 message format

20231109T180924 [MissionManager]:Started mission DefaultWithUndock

20231109T181006 [DAT]:No response from remote modem.

20231109T181013 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -4.02, +0.88, 2.00#

20231109T181017 [DAT]:No response from remote modem.

20231109T181027 [DAT]:No response from remote modem.

20231109T181033 [DAT]:#Rx 1: Read range message, but no direction.

20231109T181035 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, +3.18, -5.73, -,-32768,-32768,-32768,V#

20231109T181037 [DockingStepper]:uart error: serial timeout

20231109T181037 [DockingStepper]:Communications Fault

20231109T181037 [CBIT]:Communications Fault in component: DockingStepper

20231109T181042 [DAT]:#Rx 1: Read range message, but no direction.

20231109T181048 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231109T181323 [CommandExec]:got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 4 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 60 min" 3n18v 1 4.000000

20231109T181323 [CommandExec]:Scheduling command #1 of 4 with id=3n18v

20231109T181323 [CommandExec]:Scheduled #1 (#1 of 4 with id='3n18v'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 4 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 60 min", ASAP

20231109T181332 [CommandExec]:got command schedule asap "set lineCaptureHoming.StayOnDock 0 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 3 count;set lineCaptureHoming.SlideSinkDuration 5 min;set lineCaptureHoming.SlideCloseDuration 5 min" 3n18v 2 4.000000

20231109T181332 [CommandExec]:Scheduling command #2 of 4 with id=3n18v

20231109T181332 [CommandExec]:Scheduled #2 (#2 of 4 with id='3n18v'): "set lineCaptureHoming.StayOnDock 0 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 3 count;set lineCaptureHoming.SlideSinkDuration 5 min;set lineCaptureHoming.SlideCloseDuration 5 min", ASAP

20231109T181340 [CommandExec]:got command schedule asap "set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 0 bool;set lineCaptureHoming.TryWhirl 1 bool;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count" 3n18v 3 4.000000

20231109T181340 [CommandExec]:Scheduling command #3 of 4 with id=3n18v

20231109T181340 [CommandExec]:Scheduled #3 (#3 of 4 with id='3n18v'): "set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 0 bool;set lineCaptureHoming.TryWhirl 1 bool;set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count", ASAP

20231109T181349 [CommandExec]:got command schedule asap "set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 3n18v 4 4.000000

20231109T181349 [CommandExec]:Scheduled #4 (#4 of 4 with id='3n18v'): "set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", ASAP

20231109T181349 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231109T181349 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231109T181350 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231109T181352 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231109T181352 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231109T181352 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231109T181352 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231109T181353 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231109T181354 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231109T181354 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231109T181410 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 4 hour

20231109T181410 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 4 hour

20231109T181410 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 9 hour

20231109T181410 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 60 minute

20231109T181440 [CommandExec]:got command set lineCaptureHoming.StayOnDock 0 bool

20231109T181440 [CommandExec]:got command set lineCaptureHoming.TrySlide 1 bool

20231109T181440 [CommandExec]:got command set lineCaptureHoming.SlideRetries 3 count

20231109T181440 [CommandExec]:got command set lineCaptureHoming.SlideSinkDuration 5 minute

20231109T181440 [CommandExec]:got command set lineCaptureHoming.SlideCloseDuration 5 minute

20231109T181507 [CommandExec]:got command set lineCaptureHoming.TryWiggle 0 bool

20231109T181507 [CommandExec]:got command set lineCaptureHoming.TryJog 0 bool

20231109T181507 [CommandExec]:got command set lineCaptureHoming.TryWhirl 1 bool

20231109T181507 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20231109T181507 [CommandExec]:got command set lineCaptureHoming.TrackingNumFixesLowPassFilter 7 count

20231109T181525 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231109T181525 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231109T181525 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231109T181525 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20231109T181525 [CommandExec]:got command run

20231109T181525 [CommandExec]:Running

20231109T181525 [MissionManager]:Started mission lineCaptureHoming

20231109T181854 [RDI_Pathfinder]:only read -1 of 4 data items for bottom velocity. Device response is::BS,#

20231109T182532 [DAT]:#Rx 1: Read range message, but no direction.

20231109T183532 filter is initialized with decay: 0.30.

20231109T183541 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 222.023319 deg.

20231109T183942 new target range. Approach rate out of bounds.# range: 218.500000 m,# deltaT: 4.030994 s,# deltaX: -43.100006 m,# approachRate: -10.692153 m/s,# rangeRepo size: 4

20231109T183946 new target range. Approach rate out of bounds.# range: 215.199997 m,# deltaT: 8.079102 s,# deltaX: -46.400009 m,# approachRate: -5.743214 m/s,# rangeRepo size: 4

20231109T184032 new target range. Approach rate out of bounds.# range: 199.899994 m,# deltaT: 4.032535 s,# deltaX: 20.799988 m,# approachRate: 5.158043 m/s,# rangeRepo size: 4

20231109T184431 missed at range: 11.90 m. Rolling out.

20231109T184723 [RDI_Pathfinder]:only read 1 of 4 data items for bottom velocity. Device response is::BS, +15, A#

20231109T184729 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, +12.6.00#

20231109T185459 missed at range: 42.30 m. Rolling out.

20231109T190623 REINIT: LOS rate is -11.468620 deg/s. Setting heading cmd to target acoustic bearing of 101.399464 deg.

20231109T190624 REINIT: LOS rate is -11.552156 deg/s. Setting heading cmd to target acoustic bearing of 101.399464 deg.

20231109T190624 REINIT: LOS rate is -11.734867 deg/s. Setting heading cmd to target acoustic bearing of 101.399464 deg.

20231109T190643 missed at range: 11.70 m. Rolling out.

20231109T191125 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00012418351129,35.0, +12.2, 0.0,1497#

20231109T191413 [BPC1]:BPC1A got IPBS message with 6 sticks (min is 7).

20231109T191425 [BPC1]:BPC1A got IPBS message with 6 sticks (min is 7).

20231109T191438 [BPC1]:BPC1A got IPBS message with 6 sticks (min is 7).

20231109T191929 [DockingStepper]:uart error: serial timeout

20231109T191929 [DockingStepper]:Communications Fault

20231109T191929 [CBIT]:Communications Fault in component: DockingStepper

20231109T192017 [DockingStepper]:uart error: serial timeout

20231109T192017 [DockingStepper]:Communications Fault

20231109T192017 [CBIT]:Communications Fault in component: DockingStepper

20231109T192121 [MissionManager]:Started mission DefaultWithUndock

20231109T192501 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231109T192755 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231109T192844 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231109T192844 [RDI_Pathfinder]:Communications Fault

20231109T192844 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231109T192846 [RDI_Pathfinder]:Expecting PD13 message format

20231109T193418 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 12.944372 min

20231109T194005 [CommandExec]:got command restart system