tethys Path

trajectory

20231114T192057 [CommandExec]:got command restart logs

20231114T192144 [BPC1]:BPC1A got IPBS message with 6 sticks (min is 7).

20231114T192156 [BPC1]:BPC1A got IPBS message with 6 sticks (min is 7).

20231114T192208 [BPC1]:BPC1A got IPBS message with 6 sticks (min is 7).

20231114T192305 [DAT]:#Rx 1: Read range message, but no direction.

20231114T192443 [DAT]:#Rx 1: Read range message, but no direction.

20231114T192452 [DAT]:No response from remote modem.

20231114T192458 [DAT]:#Rx 1: Read range message, but no direction.

20231114T192532 filter is initialized with decay: 0.30.

20231114T192535 REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 167.677783 deg.

20231114T192551 [DAT]:No response from remote modem.

20231114T192656 new target range. Approach rate out of bounds.# range: 244.500000 m,# deltaT: 4.031691 s,# deltaX: -32.700012 m,# approachRate: -8.110744 m/s,# rangeRepo size: 4

20231114T192708 new target range. Approach rate out of bounds.# range: 234.399994 m,# deltaT: 4.032122 s,# deltaX: -34.000000 m,# approachRate: -8.432284 m/s,# rangeRepo size: 4

20231114T192825 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231114T193016 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231114T193212 missed at range: 6.20 m. Rolling out.

20231114T193327 [DAT]:No response from remote modem.

20231114T193517 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -72.83 -41.70, 6.36, 0.00#

20231114T193519 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231114T194221 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, 00#

20231114T194320 missed at range: 2.10 m. Rolling out.

20231114T195534 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,000129177, 69.79#

20231114T200555 [DockingStepper]:uart error: serial timeout moving from: 14848 to: 6111 response: �

20231114T200555 [DockingStepper]:Communications Fault

20231114T200555 [CBIT]:Communications Fault in component: DockingStepper

20231114T200743 missed at range: 4.10 m. Rolling out.

20231114T201829 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -132.03, +685.#

20231114T202409 [RDI_Pathfinder]:only read 0 of 4 data items for bottom velocity. Device response is::BS, :BE, -102, -43, -32,A#

20231114T202511 new target range. Approach rate out of bounds.# range: 41.099998 m,# deltaT: 3.779902 s,# deltaX: -51.000000 m,# approachRate: -13.492414 m/s,# rangeRepo size: 1

20231114T202659 [DockingStepper]:uart error: serial timeout moving from: 6175 to: 14900 response: #�

20231114T202659 [DockingStepper]:Communications Fault

20231114T202700 [CBIT]:Communications Fault in component: DockingStepper

20231114T203511 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -129.88, +7A0.00, -55.34, 7.88, 0.00#

20231114T203753 [RDI_Pathfinder]:only read 3 of 4 data items for beam range. Device response is::RA, 0.66, 66.72, 70.47, 87.15#

20231114T203807 REINIT: LOS rate is -11.570253 deg/s. Setting heading cmd to target acoustic bearing of 46.854523 deg.

20231114T203808 REINIT: LOS rate is -11.821998 deg/s. Setting heading cmd to target acoustic bearing of 46.854523 deg.

20231114T204014 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231114T204423 to midcourse guidance. Received last range of 27.100000 m 5.000356 min ago.

20231114T204449 filter is initialized with decay: 0.30.

20231114T204627 REINIT: LOS rate is -12.027814 deg/s. Setting heading cmd to target acoustic bearing of 222.827550 deg.

20231114T204956 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231114T205217 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231114T205722 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231114T211428 to midcourse guidance. Received last range of 33.900002 m 5.003106 min ago.

20231114T211454 filter is initialized with decay: 0.30.

20231114T211545 new target range. Approach rate out of bounds.# range: 26.400000 m,# deltaT: -0.095225 s,# deltaX: -0.500000 m,# approachRate: 5.250722 m/s,# rangeRepo size: 4

20231114T211700 new target range. Approach rate out of bounds.# range: 17.900000 m,# deltaT: 0.504498 s,# deltaX: 6.799999 m,# approachRate: 13.478744 m/s,# rangeRepo size: 4

20231114T212721 new target range. Approach rate out of bounds.# range: 16.500000 m,# deltaT: -0.082980 s,# deltaX: -0.500000 m,# approachRate: 6.025548 m/s,# rangeRepo size: 4

20231114T213533 [RDI_Pathfinder]:only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 70.81, 80.69, 76.26#

20231114T213914 new target pos. Approach rate out of bounds.# range: 11.700000 m,# bearing: nan deg,# deltaT: -0.076228 s,# deltaX: -0.600000 m,# approachRate: 7.871129 m/s,# posRepo size: 4

20231114T215059 new target range. Approach rate out of bounds.# range: 27.200001 m,# deltaT: -0.065773 s,# deltaX: -0.400000 m,# approachRate: 6.081517 m/s,# rangeRepo size: 4

20231114T215911 [RDI_Pathfinder]:DVL uart error: serial timeout

20231114T215911 [RDI_Pathfinder]:Communications Fault

20231114T215912 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231114T215913 [RDI_Pathfinder]:Expecting PD13 message format

20231114T220949 [RDI_Pathfinder]:only read 3 of 4 data items for beam range. Device response is::RA, 6.95, 61.29, 66.05, 70.14#

20231114T221158 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231114T221435 new target range. Approach rate out of bounds.# range: 150.100006 m,# deltaT: 12.349027 s,# deltaX: 98.200005 m,# approachRate: 7.952044 m/s,# rangeRepo size: 4

20231114T221858 sequence complete at range 0.60 m. Reached intercept timeout.

20231114T221905 [lineCaptureHoming:restartDHCP:A]:Restarting DHCP...

20231114T221905 [CommandExec]:got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh

20231114T221907 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 6 to 1

20231114T222232 [RDI_Pathfinder]:only read 0 of 4 data items for beam range. Device response is::RA, 0.0088,A#

20231114T222407 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done checking for power, continuing with slide

20231114T222407 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 1 to 2

20231114T222507 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done sinking

20231114T222507 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 2 to 4

20231114T222823 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231114T223025 [RDI_Pathfinder]:DVL uart error: serial timeout

20231114T223025 [RDI_Pathfinder]:Communications Fault

20231114T223025 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231114T223026 [RDI_Pathfinder]:Expecting PD13 message format

20231114T223112 [RDI_Pathfinder]:DVL uart error: serial timeout

20231114T223112 [RDI_Pathfinder]:Communications Fault

20231114T223112 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231114T223113 [RDI_Pathfinder]:Expecting PD13 message format

20231114T223307 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231114T223507 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done jogging

20231114T223754 [RDI_Pathfinder]:only read 2 of 4 data items for water velocity. Device response is::WS, -165, +71 +42.83, -10.93, 3.00, 0.00#

20231114T224008 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done checking for power, continuing with slide

20231114T224108 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done sinking

20231114T225108 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done jogging

20231114T225112 [DockingStepper]:uart error: serial timeout moving from: 13311 to: 14900 response: �

20231114T225112 [DockingStepper]:Communications Fault

20231114T225112 [CBIT]:Communications Fault in component: DockingStepper

20231114T225115 [DockingStepper]:Initialization uart error serial timeout

20231114T225115 [DockingStepper]:Failed to initialize

20231114T225136 [DockingStepper]:uart error: serial timeout moving from: 13760 to: 14900 response: #

20231114T225143 [DockingStepper]:uart error: serial timeout moving from: 13792 to: 14900 response: #�

20231114T225151 [DockingStepper]:uart error: serial timeout moving from: 13795 to: 14900 response: �

20231114T225206 [DockingStepper]:uart error: serial timeout moving from: 13935 to: 14900 response: #

20231114T225207 [CommandExec]:Scheduling is paused for 1 commands

20231114T225207 [MissionManager]:Started mission DefaultWithUndock

20231114T225428 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231114T225704 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231114T225822 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231114T230413 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 12.080879 min

20231114T230439 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231114T230935 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, +49.21, +65.92, 00#

20231114T231005 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 17.948934 min

20231114T231050 [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"

20231114T231050 [CommandExec]:Scheduled #8: "load Transport/transit.tl;set transit.MissionTimeout 30 min;set transit.Latitude 36.771 degree;set transit.Longitude -121.860001 degree;run", AFTER MISSION

20231114T231050 [CommandExec]:Scheduling was paused by an error at 2023-11-14T22:52:06Z

20231114T231229 [CommandExec]:got command failComponent hardware DAT

20231114T231229 [DAT]:Hardware Fault

20231114T231229 [CommandExec]:DAT failureMode is Hardware Fault

20231114T231229 [CBIT]:Hardware Fault in component: DAT

20231114T231231 [CommandExec]:got command schedule "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 4 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.Repeat 10 count" 3woev 1 5.000000

20231114T231231 [CommandExec]:Scheduling command #1 of 5 with id=3woev

20231114T231231 [CommandExec]:Scheduled #9 (#1 of 5 with id='3woev'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 4 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.Repeat 10 count", AFTER MISSION

20231114T231231 [CommandExec]:Scheduling was paused by an error at 2023-11-14T22:52:06Z

20231114T231232 [CommandExec]:got command failComponent none DAT

20231114T231232 [CommandExec]:DAT failureMode is No Fault

20231114T231240 [CommandExec]:got command schedule "set lineCaptureHoming.StayOnDock 0 bool;set lineCaptureHoming.TrySlide 0 bool;set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 0 bool;set lineCaptureHoming.TryWhirl 0 bool" 3woev 2 5.000000

20231114T231240 [CommandExec]:Scheduling command #2 of 5 with id=3woev

20231114T231240 [CommandExec]:Scheduled #10 (#2 of 5 with id='3woev'): "set lineCaptureHoming.StayOnDock 0 bool;set lineCaptureHoming.TrySlide 0 bool;set lineCaptureHoming.TryWiggle 0 bool;set lineCaptureHoming.TryJog 0 bool;set lineCaptureHoming.TryWhirl 0 bool", AFTER MISSION

20231114T231240 [CommandExec]:Scheduling was paused by an error at 2023-11-14T22:52:06Z

20231114T231249 [CommandExec]:got command schedule "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2.0 s;set lineCaptureHoming.NumPingsUSBL 200 count;set lineCaptureHoming.DockingAltitude 7.4 m" 3woev 3 5.000000

20231114T231249 [CommandExec]:Scheduling command #3 of 5 with id=3woev

20231114T231249 [CommandExec]:Scheduled #11 (#3 of 5 with id='3woev'): "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2.0 s;set lineCaptureHoming.NumPingsUSBL 200 count;set lineCaptureHoming.DockingAltitude 7.4 m", AFTER MISSION

20231114T231300 [CommandExec]:got command schedule "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.ApproachDepthTimeout 10 min" 3woev 4 5.000000

20231114T231300 [CommandExec]:Scheduled #12 (#4 of 5 with id='3woev'): "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.ApproachDepthTimeout 10 min", AFTER MISSION

20231114T231312 [CommandExec]:got command schedule "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 3woev 5 5.000000

20231114T231312 [CommandExec]:Scheduled #13 (#5 of 5 with id='3woev'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", AFTER MISSION

20231114T231323 [CommandExec]:got command schedule resume

20231114T231323 [CommandExec]:Scheduling is resumed

20231114T231323 [CommandExec]:got command load ./Missions/Engineering/OnDock.tl

20231114T231323 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/OnDock.tx

20231114T231324 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231114T231324 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231114T231324 [CommandExec]:Loaded ./Missions/Engineering/OnDock.tl

20231114T231326 [CommandExec]:got command set OnDock.DockedTime 2 hour

20231114T231326 [CommandExec]:got command run

20231114T231326 [CommandExec]:Running

20231114T231326 [MissionManager]:Started mission OnDock

20231114T231328 [OnDock:I.Docked]:Off dock, depth 0.225984 above surface threshold

20231114T231328 [OnDock:I.Docked]:State switched to DETACHED. Waiting for state timeout to act...

20231114T231328 [OnDock:I.Docked]:DATA AND RANGE TIMEOUT: VEHICLE DETACHED FROM DOCK.

20231114T231328 [OnDock:Detach:A]:Mission ending, breaking off. Range: 17.500000 m .

20231114T231417 [OnDock:Detach:B.Undock]:Undocking sequence complete.

20231114T231418 [OnDock:Detach:C]:Restarting DHCP

20231114T231418 [CommandExec]:got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh

20231114T231419 [MissionManager]:Started mission DefaultWithUndock

20231114T231419 [CommandExec]:got command load ./Missions/Transport/transit.tl

20231114T231419 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20231114T231420 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231114T231421 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231114T231421 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231114T231421 [CommandExec]:Loaded ./Missions/Transport/transit.tl

20231114T231430 [CommandExec]:got command set transit.MissionTimeout 30 minute

20231114T231430 [CommandExec]:got command set transit.Latitude 36.771 degree

20231114T231430 [CommandExec]:got command set transit.Longitude -121.860001 degree

20231114T231430 [CommandExec]:got command run

20231114T231430 [CommandExec]:Running

20231114T231430 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231114T231430 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231114T231431 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231114T231433 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231114T231433 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231114T231434 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231114T231434 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231114T231435 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231114T231435 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231114T231451 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 4 hour

20231114T231451 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 4 hour

20231114T231451 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 9 hour

20231114T231451 [CommandExec]:got command set lineCaptureHoming.Repeat 10 count

20231114T231527 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231114T231537 [CommandExec]:got command set lineCaptureHoming.StayOnDock 0 bool

20231114T231537 [CommandExec]:got command set lineCaptureHoming.TrySlide 0 bool

20231114T231537 [CommandExec]:got command set lineCaptureHoming.TryWiggle 0 bool

20231114T231537 [CommandExec]:got command set lineCaptureHoming.TryJog 0 bool

20231114T231537 [CommandExec]:got command set lineCaptureHoming.TryWhirl 0 bool

20231114T231602 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20231114T231602 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2.0 second

20231114T231602 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 200 count

20231114T231602 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231114T231629 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute

20231114T231629 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231114T231629 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231114T231629 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231114T231629 [CommandExec]:got command set lineCaptureHoming.ApproachDepthTimeout 10 minute

20231114T231638 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20231114T231638 [CommandExec]:got command run

20231114T231638 [CommandExec]:Running

20231114T231638 [MissionManager]:Started mission lineCaptureHoming

20231114T231723 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00012922292609,35.0, +14.,1503.8, 0#

20231114T231738 [lineCaptureHoming:Y]:Restarting logs