tethys Path

trajectory

20231208T153030 [CommandExec]:got command restart logs

20231208T153123 [DAT]:No response from remote modem.

20231208T153223 [DAT]:No response from remote modem.

20231208T153419 [DAT]:No response from remote modem.

20231208T153433 [DAT]:#Rx 1: Read range message, but no direction.

20231208T153438 [DAT]:#Rx 1: Read range message, but no direction.

20231208T153442 [DAT]:#Rx 1: Read range message, but no direction.

20231208T153503 invalid Pro-Nav gain. Will use Pure Pursuit guidance.

20231208T153503 filter is initialized with decay: 0.00.

20231208T153614 new target range. Approach rate out of bounds.# range: 380.700012 m,# deltaT: 4.283945 s,# deltaX: -22.000000 m,# approachRate: -5.135453 m/s,# rangeRepo size: 4

20231208T153627 new target range. Approach rate out of bounds.# range: 369.299988 m,# deltaT: 4.287451 s,# deltaX: -23.200012 m,# approachRate: -5.411143 m/s,# rangeRepo size: 4

20231208T153726 new target range. Approach rate out of bounds.# range: 342.899994 m,# deltaT: 4.287563 s,# deltaX: 21.799988 m,# approachRate: 5.084471 m/s,# rangeRepo size: 4

20231208T153739 new target range. Approach rate out of bounds.# range: 333.100006 m,# deltaT: 4.283987 s,# deltaX: 22.800018 m,# approachRate: 5.322149 m/s,# rangeRepo size: 4

20231208T153946 new target range. Approach rate out of bounds.# range: 197.300003 m,# deltaT: 4.035651 s,# deltaX: -24.800003 m,# approachRate: -6.145230 m/s,# rangeRepo size: 4

20231208T153954 new target range. Approach rate out of bounds.# range: 234.100006 m,# deltaT: 4.032014 s,# deltaX: 40.100006 m,# approachRate: 9.945403 m/s,# rangeRepo size: 4

20231208T154302 [DAT]:Requesting device enable set for address 50.

20231208T154411 missed at range: 6.90 m. Rolling out.

20231208T154411 [DockingStepper]:uart error: serial timeout moving from: 6160 to: 14900 response: #

20231208T154411 [DockingStepper]:Communications Fault

20231208T154411 [CBIT]:Communications Fault in component: DockingStepper

20231208T155217 [DAT]:Requesting device enable clr for address 50.

20231208T160052 [DAT]:Requesting device enable set for address 50.

20231208T160147 missed at range: 4.50 m. Rolling out.

20231208T160653 [DAT]:Requesting device enable clr for address 50.

20231208T161546 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231208T161622 [DockingStepper]:uart error: serial timeout moving from: 14832 to: 6111 response: #

20231208T161622 [DockingStepper]:Communications Fault

20231208T161622 [CBIT]:Communications Fault in component: DockingStepper

20231208T161656 [DAT]:Requesting device enable set for address 50.

20231208T161819 missed at range: 7.70 m. Rolling out.

20231208T162625 [DAT]:Requesting device enable clr for address 50.

20231208T164257 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,000499.7, 0#

20231208T165333 sequence complete at range 3.20 m. Cable present.

20231208T165340 [lineCaptureHoming:restartDHCP:A]:Restarting DHCP...

20231208T165340 [CommandExec]:got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh

20231208T165342 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 6 to 1

20231208T165842 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done checking for power, continuing with slide

20231208T165842 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 1 to 2

20231208T170342 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done sinking

20231208T170342 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 2 to 4

20231208T170543 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done jogging

20231208T170843 [CommandExec]:got command load ./Missions/Engineering/OnDock.tl

20231208T170843 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/OnDock.tx

20231208T170843 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231208T170843 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231208T170843 [CommandExec]:Loaded ./Missions/Engineering/OnDock.tl

20231208T170843 [MissionManager]:Started mission DefaultWithUndock

20231208T170850 [CommandExec]:got command set OnDock.DockedTime 3 hour

20231208T170850 [CommandExec]:got command set OnDock.TrackingUpdatePeriod 1.5 minute

20231208T170850 [CommandExec]:got command run

20231208T170851 [CommandExec]:Running

20231208T170851 [MissionManager]:Started mission OnDock

20231208T172325 [OnDock:I.Docked]:Off dock, range timeout exceeded

20231208T172325 [OnDock:I.Docked]:State switched to DETACHED. Waiting for state timeout to act...

20231208T172356 [OnDock:I.Docked]:VEHICLE DETACHED FROM DOCK.

20231208T172356 [OnDock:Detach:A]:Mission ending, breaking off. Range: 2.400000 m .

20231208T172455 [OnDock:Detach:B.Undock]:Undocking sequence complete.

20231208T172456 [OnDock:Detach:C]:Restarting DHCP

20231208T172456 [CommandExec]:got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh

20231208T172457 [MissionManager]:Started mission DefaultWithUndock

20231208T172602 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231208T172841 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231208T173009 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231208T173050 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -207.50, +2428.#

20231208T173133 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231208T173849 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 13.851858 min

20231208T174011 [CommandExec]:got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 2 h;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.771 degree;set keepstation.Longitude -121.860001 degree;set keepstation.DepthDeadband 10 m" 54oxe 1 2.000000

20231208T174011 [CommandExec]:Scheduling command #1 of 2 with id=54oxe

20231208T174011 [CommandExec]:Scheduled #44 (#1 of 2 with id='54oxe'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 2 h;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.771 degree;set keepstation.Longitude -121.860001 degree;set keepstation.DepthDeadband 10 m", ASAP

20231208T174052 [CommandExec]:got command schedule asap "set keepstation.Speed 0.8 m/s;run" 54oxe 2 2.000000

20231208T174052 [CommandExec]:Scheduling command #2 of 2 with id=54oxe

20231208T174052 [CommandExec]:Scheduled #45 (#2 of 2 with id='54oxe'): "set keepstation.Speed 0.8 m/s;run", ASAP

20231208T174052 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20231208T174052 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20231208T174052 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231208T174053 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231208T174053 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231208T174053 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl

20231208T174108 [CommandExec]:got command set keepstation.MissionTimeout 2 hour

20231208T174108 [CommandExec]:got command set keepstation.NeedCommsTime 20 minute

20231208T174108 [CommandExec]:got command set keepstation.Latitude 36.771 degree

20231208T174108 [CommandExec]:got command set keepstation.Longitude -121.860001 degree

20231208T174108 [CommandExec]:got command set keepstation.DepthDeadband 10 meter

20231208T174111 [CommandExec]:got command set keepstation.Speed 0.8 meter_per_second

20231208T174111 [CommandExec]:got command run

20231208T174111 [CommandExec]:Running

20231208T174111 [MissionManager]:Started mission keepstation

20231208T174331 [keepstation:TransitToStation:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20231208T174447 [CBIT]:Beginning ground fault scan

20231208T175411 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached waypoint: 36.771000,-121.860001

20231208T180912 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00010320300301,35.075, -59, +86,A#

20231208T182041 [CommandExec]:got command stop

20231208T182041 [CommandExec]:Scheduling is paused

20231208T182041 [MissionManager]:Started mission DefaultWithUndock

20231208T182200 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231208T182234 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231208T182234 [RDI_Pathfinder]:Communications Fault

20231208T182234 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231208T182235 [RDI_Pathfinder]:Expecting PD13 message format

20231208T182315 [Sonardyne_Nano]:Failed to parse response: >VS:2207,HPR45,EXT,TILT##

20231208T182745 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 7.062336 min

20231208T182824 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231208T182932 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231208T183101 [RDI_Pathfinder]:only read 1 of 4 data items for bottom velocity. Device response is::BS, -9,#

20231208T183349 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 13.118135 min

20231208T184244 [DockingStepper]:only read 2 of 4 ADC values. Response is: �/0`16336,1#

20231208T184244 [DockingStepper]:Docking arm not reporting position

20231208T184244 [DockingStepper]:Communications Fault

20231208T184244 [CBIT]:Communications Fault in component: DockingStepper

20231208T184631 [CommandExec]:got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 90 min" 54s4e 1 5.000000

20231208T184631 [CommandExec]:Scheduling command #1 of 5 with id=54s4e

20231208T184631 [CommandExec]:Scheduled #46 (#1 of 5 with id='54s4e'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 90 min", ASAP

20231208T184641 [CommandExec]:got command schedule asap "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s" 54s4e 2 5.000000

20231208T184641 [CommandExec]:Scheduling command #2 of 5 with id=54s4e

20231208T184641 [CommandExec]:Scheduled #47 (#2 of 5 with id='54s4e'): "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s", ASAP

20231208T184650 [CommandExec]:got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.RangeUSBL 0.01 m;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min" 54s4e 3 5.000000

20231208T184650 [CommandExec]:Scheduling command #3 of 5 with id=54s4e

20231208T184650 [CommandExec]:Scheduled #48 (#3 of 5 with id='54s4e'): "set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.RangeUSBL 0.01 m;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min", ASAP

20231208T184700 [CommandExec]:got command schedule asap "set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.ApproachDepthTimeout 10 min;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 n/a" 54s4e 4 5.000000

20231208T184700 [CommandExec]:Scheduled #49 (#4 of 5 with id='54s4e'): "set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.ApproachDepthTimeout 10 min;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 n/a", ASAP

20231208T184709 [CommandExec]:got command schedule asap "run" 54s4e 5 5.000000

20231208T184709 [CommandExec]:Scheduled #50 (#5 of 5 with id='54s4e'): "run", ASAP

20231208T184709 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231208T184709 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231208T184710 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231208T184711 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231208T184712 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231208T184712 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231208T184712 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231208T184714 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231208T184714 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231208T184743 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 2 hour

20231208T184743 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 4 hour

20231208T184743 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 9 hour

20231208T184743 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 90 minute

20231208T184824 [CommandExec]:got command set lineCaptureHoming.StayOnDock 1 bool

20231208T184824 [CommandExec]:got command set lineCaptureHoming.TrySlide 1 bool

20231208T184824 [CommandExec]:got command set lineCaptureHoming.SlideRetries 4 count

20231208T184824 [CommandExec]:got command set lineCaptureHoming.TryJog 1 bool

20231208T184824 [CommandExec]:got command set lineCaptureHoming.JogLength 10 second

20231208T184902 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 second

20231208T184902 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 0.01 meter

20231208T184902 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231208T184902 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute

20231208T184939 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231208T184939 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231208T184939 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231208T184939 [CommandExec]:got command set lineCaptureHoming.ApproachDepthTimeout 10 minute

20231208T184939 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 none

20231208T184939 [CommandExec]:got command run

20231208T184939 [CommandExec]:Running

20231208T184939 [MissionManager]:Started mission lineCaptureHoming

20231208T185157 [lineCaptureHoming:Y]:Restarting logs