tethys Path

trajectory

20231116T171219 [CommandExec]:got command restart logs

20231116T171350 [DAT]:#Rx 1: Read range message, but no direction.

20231116T171550 [DAT]:#Rx 1: Read range message, but no direction.

20231116T171601 [DAT]:#Rx 1: Read range message, but no direction.

20231116T171650 invalid Pro-Nav gain. Will use Pure Pursuit guidance.

20231116T171650 filter is initialized with decay: 0.30.

20231116T171714 new target range. Approach rate out of bounds.# range: 260.500000 m,# deltaT: 4.035685 s,# deltaX: -24.899994 m,# approachRate: -6.169955 m/s,# rangeRepo size: 4

20231116T171734 new target range. Approach rate out of bounds.# range: 253.500000 m,# deltaT: 4.030472 s,# deltaX: -30.600006 m,# approachRate: -7.592165 m/s,# rangeRepo size: 4

20231116T171820 [NanoDVR]:serial timeout

20231116T171823 [DAT]:No response from remote modem.

20231116T172211 to midcourse guidance. Received last range of 34.400002 m 1440.030469 min ago.

20231116T172229 to midcourse guidance. Received last range of 24.000000 m 1440.026302 min ago.

20231116T172229 invalid Pro-Nav gain. Will use Pure Pursuit guidance.

20231116T172229 filter is initialized with decay: 0.30.

20231116T172315 invalid Pro-Nav gain. Will use Pure Pursuit guidance.

20231116T172315 filter is initialized with decay: 0.30.

20231116T172328 missed at range: 17.30 m. Rolling out.

20231116T172342 to midcourse guidance. Received last range of 18.200001 m 1440.032422 min ago.

20231116T172451 [DockingStepper]:uart error: serial timeout moving from: 14847 to: 6111 response: #

20231116T172451 [DockingStepper]:Communications Fault

20231116T172451 [CBIT]:Communications Fault in component: DockingStepper

20231116T172817 [RDI_Pathfinder]:only read 2 of 4 data items for bottom velocity. Device response is::BS, -4, +666, #

20231116T172912 missed at range: 8.10 m. Rolling out.

20231116T173046 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231116T173205 [DAT]:No response from remote modem.

20231116T173222 [DAT]:No response from remote modem.

20231116T173925 missed at range: 2.20 m. Rolling out.

20231116T174128 [BPC1]:Failed to receive data from 1 sticks prior to timeout. Missing stick IDs are: 45.

20231116T174128 [CBIT]:Data Fault in component: BPC1

20231116T174613 new target range. Approach rate out of bounds.# range: 51.000000 m,# deltaT: 12.602534 s,# deltaX: -93.300003 m,# approachRate: -7.403273 m/s,# rangeRepo size: 2

20231116T174832 sequence complete at range 3.40 m. Cable present.

20231116T174839 [lineCaptureHoming:restartDHCP:A]:Restarting DHCP...

20231116T174839 [CommandExec]:got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh

20231116T175341 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 3.300000 m .

20231116T175404 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231116T175416 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231116T175429 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231116T175431 [RDI_Pathfinder]:only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 111.99, 02.79#

20231116T175519 [lineCaptureHoming:restartDHCP:A]:Restarting DHCP...

20231116T175520 [CommandExec]:got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh

20231116T175521 [lineCaptureHoming:Lap:Docked:Drift:A]:No post-undock waypoint, drifting for 10.000000 min minutes

20231116T180619 [DockingStepper]:Initialization uart error serial timeout

20231116T180619 [DockingStepper]:Failed to initialize

20231116T181212 [DockingStepper]:uart error: serial timeout moving from: 14832 to: 6111 response: #

20231116T181212 [DockingStepper]:Communications Fault

20231116T181212 [CBIT]:Communications Fault in component: DockingStepper

20231116T181403 [RDI_Pathfinder]:only read 1 of 4 data items for water velocity. Device response is::WS, +75,#

20231116T181453 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, .70, 0.00#

20231116T181731 [NanoDVR]:LCB fault: Hardware Overcurrent Shutdown. Current Limiter Activated.

20231116T181731 [NanoDVR]:Hardware Fault

20231116T181731 [CBIT]:Hardware Fault in component: NanoDVR

20231116T182847 [RDI_Pathfinder]:only read 2 of 4 data items for bottom velocity. Device response is::BS, -77,13,A#

20231116T190257 [RDI_Pathfinder]:only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 40.92, 43.31#

20231116T190348 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231116T190737 [CBIT]:Beginning ground fault scan

20231116T190807 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00013118201280,35.0, +13.2, 0.6, 75.37#

20231116T191046 [MissionManager]:Started mission DefaultWithUndock

20231116T191206 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231116T191507 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231116T191525 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231116T191543 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231116T192002 [CommandExec]:got command configSet LineCapture.navigationGain 3 none persist

20231116T192041 [CommandExec]:got command load ./Missions/Transport/transit.tl

20231116T192041 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20231116T192041 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231116T192041 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231116T192041 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231116T192041 [CommandExec]:Loaded ./Missions/Transport/transit.tl

20231116T192051 [CommandExec]:got command set transit.MissionTimeout 45 minute

20231116T192051 [CommandExec]:got command set transit.NeedCommsTime 45 minute

20231116T192051 [CommandExec]:got command set transit.Latitude 36.771 degree

20231116T192051 [CommandExec]:got command set transit.Longitude -121.860001 degree

20231116T192051 [CommandExec]:got command run

20231116T192051 [CommandExec]:Running

20231116T192051 [MissionManager]:Started mission transit

20231116T192053 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20231116T192811 [CommandExec]:got command schedule "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.Repeat 10 count" 40315 1 4.000000

20231116T192811 [CommandExec]:Scheduling command #1 of 4 with id=40315

20231116T192811 [CommandExec]:Scheduled #72 (#1 of 4 with id='40315'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.Repeat 10 count", AFTER MISSION

20231116T192811 [CommandExec]:Scheduling was paused by a command at 2023-11-16T16:25:44Z

20231116T192916 [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" 40315 2 4.000000

20231116T192916 [CommandExec]:Scheduling command #2 of 4 with id=40315

20231116T192916 [CommandExec]:Scheduled #73 (#2 of 4 with id='40315'): "set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2.0 s;set lineCaptureHoming.NumPingsUSBL 200 count;set lineCaptureHoming.DockingAltitude 7.4 m", AFTER MISSION

20231116T192916 [CommandExec]:Scheduling was paused by a command at 2023-11-16T16:25:44Z

20231116T192939 [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" 40315 3 4.000000

20231116T192939 [CommandExec]:Scheduling command #3 of 4 with id=40315

20231116T192939 [CommandExec]:Scheduled #74 (#3 of 4 with id='40315'): "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

20231116T192939 [CommandExec]:Scheduling was paused by a command at 2023-11-16T16:25:44Z

20231116T192953 [BPC1]:Failed to receive data from 1 sticks prior to timeout. Missing stick IDs are: 45.

20231116T192954 [CBIT]:Data Fault in component: BPC1

20231116T193039 [CommandExec]:got command schedule "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.Repeat 10 count" 40315 1 4.000000

20231116T193039 [CommandExec]:Failed to schedule command with id=40315. Duplicate idIndex.

20231116T193139 [MissionManager]:Started mission DefaultWithUndock

20231116T193204 [CommandExec]:got command schedule "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run" 40315 4 4.000000

20231116T193204 [CommandExec]:Scheduled #76 (#4 of 4 with id='40315'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 n/a;run", AFTER MISSION

20231116T193258 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231116T193320 [CommandExec]:got command schedule resume

20231116T193320 [CommandExec]:Scheduling is resumed

20231116T193320 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231116T193320 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231116T193321 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231116T193323 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231116T193323 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231116T193324 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231116T193324 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231116T193325 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231116T193326 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231116T193326 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231116T193351 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 2 hour

20231116T193351 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 4 hour

20231116T193351 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 9 hour

20231116T193351 [CommandExec]:got command set lineCaptureHoming.Repeat 10 count

20231116T193416 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodMidcourse 10 second

20231116T193416 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2.0 second

20231116T193416 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 200 count

20231116T193416 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231116T193441 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute

20231116T193441 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231116T193441 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231116T193441 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231116T193441 [CommandExec]:got command set lineCaptureHoming.ApproachDepthTimeout 10 minute

20231116T193448 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0.3 none

20231116T193448 [CommandExec]:got command run

20231116T193448 [CommandExec]:Running

20231116T193448 [MissionManager]:Started mission lineCaptureHoming

20231116T193536 [lineCaptureHoming:Y]:Restarting logs