tethys Path

trajectory

20231208T195553 [CommandExec]:got command restart logs

20231208T195603 [DAT]:No response from remote modem.

20231208T195658 [DAT]:#Rx 1: Read range message, but no direction.

20231208T195929 [DAT]:#Rx 1: Read range message, but no direction.

20231208T195933 [DAT]:#Rx 1: Read range message, but no direction.

20231208T200014 invalid Pro-Nav gain. Will use Pure Pursuit guidance.

20231208T200014 filter is initialized with decay: 0.00.

20231208T200014 [DAT]:No response from remote modem.

20231208T200027 [DAT]:No response from remote modem.

20231208T200055 new target range. Approach rate out of bounds.# range: 250.699997 m,# deltaT: 4.031256 s,# deltaX: 27.500000 m,# approachRate: 6.821695 m/s,# rangeRepo size: 4

20231208T200128 new target range. Approach rate out of bounds.# range: 190.600006 m,# deltaT: 4.035413 s,# deltaX: -37.399994 m,# approachRate: -9.267947 m/s,# rangeRepo size: 4

20231208T200150 new target range. Approach rate out of bounds.# range: 169.199997 m,# deltaT: 4.032067 s,# deltaX: -23.500000 m,# approachRate: -5.828276 m/s,# rangeRepo size: 4

20231208T200512 missed at range: 3.00 m. Rolling out.

20231208T200519 [DAT]:Requesting device enable set for address 50.

20231208T200957 to midcourse guidance. Received last range of 3.000000 m 5.004314 min ago.

20231208T201004 invalid Pro-Nav gain. Will use Pure Pursuit guidance.

20231208T201004 filter is initialized with decay: 0.00.

20231208T201311 missed at range: 10.40 m. Rolling out.

20231208T201950 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -59.92, .00#

20231208T202618 [DAT]:Requesting device enable clr for address 50.

20231208T202832 new target range. Approach rate out of bounds.# range: 172.399994 m,# deltaT: 4.032453 s,# deltaX: -26.000000 m,# approachRate: -6.447688 m/s,# rangeRepo size: 2

20231208T203157 missed at range: 2.10 m. Rolling out.

20231208T203201 [DAT]:Requesting device enable set for address 50.

20231208T203234 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -59.10, +1843.91, -0.00#

20231208T203602 [DAT]:Requesting device enable clr for address 50.

20231208T204352 new target range. Approach rate out of bounds.# range: 166.300003 m,# deltaT: 4.034641 s,# deltaX: 23.500000 m,# approachRate: 5.824558 m/s,# rangeRepo size: 4

20231208T204416 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00010323050780,35#

20231208T204739 [DockingStepper]:uart error: serial timeout moving from: 6160 to: 14900 response:

20231208T204739 [DockingStepper]:Communications Fault

20231208T204739 [CBIT]:Communications Fault in component: DockingStepper

20231208T204742 [DAT]:Requesting device enable set for address 50.

20231208T205655 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -5,A#

20231208T210045 [DAT]:Requesting device enable clr for address 50.

20231208T210832 [NanoDVR]:Ack message checksum did not match.

20231208T211223 to midcourse guidance. Received last range of 1.800000 m 5.001854 min ago.

20231208T211224 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, +85.60, 0.00#

20231208T211234 invalid Pro-Nav gain. Will use Pure Pursuit guidance.

20231208T211234 filter is initialized with decay: 0.00.

20231208T212105 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -49.73, 3.00, 0.00#

20231208T213524 sequence complete at range 2.00 m. Cable present.

20231208T213531 [lineCaptureHoming:restartDHCP:A]:Restarting DHCP...

20231208T213531 [CommandExec]:got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh

20231208T213533 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 6 to 1

20231208T214033 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done checking for power, continuing with slide

20231208T214033 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 1 to 2

20231208T214234 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done sinking

20231208T214234 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Slide state transition from 2 to 4

20231208T214434 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done jogging

20231208T214438 [DockingStepper]:uart error: serial timeout moving from: 14256 to: 14900 response: #

20231208T214438 [DockingStepper]:Communications Fault

20231208T214438 [CBIT]:Communications Fault in component: DockingStepper

20231208T214520 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Off dock, range timeout exceeded

20231208T214520 [lineCaptureHoming:Lap:Docked:Docked.Docked]:State switched to DETACHED. Waiting for state timeout to act...

20231208T214934 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done checking for power, continuing with slide

20231208T215032 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -59.99, +3199.26, -44#

20231208T215134 [lineCaptureHoming:Lap:Docked:Docked.Docked]:Done sinking

20231208T215155 [lineCaptureHoming:Lap:Docked:Docked.Docked]:State switched to DOCKED.. Waiting for state timeout to act...

20231208T215226 [lineCaptureHoming:Lap:Docked:Docked.Docked]:VEHICLE DOCKED at depth of 67.979279 with power

20231208T215302 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231208T215455 [MissionManager]:Started mission DefaultWithUndock

20231208T215550 [RDI_Pathfinder]:DVL uart error: serial timeout

20231208T215550 [RDI_Pathfinder]:Communications Fault

20231208T215550 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231208T215551 [RDI_Pathfinder]:Expecting PD13 message format

20231208T215718 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231208T215808 [NanoDVR]:LCB fault: LCB Watchdog Reset.

20231208T215808 [NanoDVR]:Hardware Fault

20231208T215808 [CBIT]:Hardware Fault in component: NanoDVR

20231208T215842 [RDI_Pathfinder]:only read -1 of 1 data item for altitude. Device response is::BD, #

20231208T215912 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231208T215912 [RDI_Pathfinder]:Communications Fault

20231208T215912 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231208T215913 [RDI_Pathfinder]:Expecting PD13 message format

20231208T215949 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, +0.00, +0#

20231208T215958 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231208T220733 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 12.626406 min

20231208T220950 [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.Repeat 2 count" 551jo 1 4.000000

20231208T220950 [CommandExec]:Scheduling command #1 of 4 with id=551jo

20231208T220950 [CommandExec]:Scheduled #56 (#1 of 4 with id='551jo'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.Repeat 2 count", ASAP

20231208T220959 [CommandExec]:got command schedule asap "set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 2 min;set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s" 551jo 2 4.000000

20231208T220959 [CommandExec]:Scheduling command #2 of 4 with id=551jo

20231208T220959 [CommandExec]:Scheduled #57 (#2 of 4 with id='551jo'): "set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 2 min;set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s", ASAP

20231208T221011 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -1 +35.14, +2.71, 3.00, 0.00#

20231208T221013 [CommandExec]:got command schedule asap "set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m" 551jo 3 4.000000

20231208T221013 [CommandExec]:Scheduling command #3 of 4 with id=551jo

20231208T221013 [CommandExec]:Scheduled #58 (#3 of 4 with id='551jo'): "set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m", ASAP

20231208T221026 [CommandExec]:got command schedule asap "set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.ApproachDepthTimeout 10 min;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 n/a;run" 551jo 4 4.000000

20231208T221026 [CommandExec]:Scheduled #59 (#4 of 4 with id='551jo'): "set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming.ApproachDepthTimeout 10 min;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 n/a;run", ASAP

20231208T221026 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231208T221026 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231208T221028 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231208T221031 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231208T221031 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231208T221031 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231208T221031 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231208T221032 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231208T221033 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231208T221033 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231208T221055 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 2 hour

20231208T221055 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 4 hour

20231208T221055 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 9 hour

20231208T221055 [CommandExec]:got command set lineCaptureHoming.Repeat 2 count

20231208T221118 [CommandExec]:got command set lineCaptureHoming.SlideRetries 4 count

20231208T221118 [CommandExec]:got command set lineCaptureHoming.SlideSinkDuration 2 minute

20231208T221118 [CommandExec]:got command set lineCaptureHoming.TryJog 1 bool

20231208T221118 [CommandExec]:got command set lineCaptureHoming.JogLength 10 second

20231208T221118 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 second

20231208T221145 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 120 count

20231208T221145 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231208T221145 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute

20231208T221145 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231208T221145 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231208T221216 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231208T221216 [CommandExec]:got command set lineCaptureHoming.ApproachDepthTimeout 10 minute

20231208T221216 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 none

20231208T221216 [CommandExec]:got command run

20231208T221216 [CommandExec]:Running

20231208T221216 [MissionManager]:Started mission lineCaptureHoming

20231208T221217 [CommandExec]:got command stop

20231208T221217 [MissionManager]:Started mission DefaultWithUndock

20231208T221336 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231208T221643 [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 60 min" 551v4 1 5.000000

20231208T221643 [CommandExec]:Scheduling command #1 of 5 with id=551v4

20231208T221643 [CommandExec]:Scheduled #60 (#1 of 5 with id='551v4'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 60 min", ASAP

20231208T221654 [CommandExec]:got command schedule asap "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1 min;set lineCaptureHoming.SlideDriveDuration 5 min" 551v4 2 5.000000

20231208T221654 [CommandExec]:Scheduling command #2 of 5 with id=551v4

20231208T221654 [CommandExec]:Scheduled #61 (#2 of 5 with id='551v4'): "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1 min;set lineCaptureHoming.SlideDriveDuration 5 min", ASAP

20231208T221703 [CommandExec]:got command schedule asap "set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.DockingAltitude 7.4 m" 551v4 3 5.000000

20231208T221703 [CommandExec]:Scheduling command #3 of 5 with id=551v4

20231208T221703 [CommandExec]:Scheduled #62 (#3 of 5 with id='551v4'): "set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.DockingAltitude 7.4 m", ASAP

20231208T221712 [CommandExec]:got command schedule asap "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" 551v4 4 5.000000

20231208T221712 [CommandExec]:Scheduled #63 (#4 of 5 with id='551v4'): "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", ASAP

20231208T221722 [CommandExec]:got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 n/a;run" 551v4 5 5.000000

20231208T221722 [CommandExec]:Scheduled #64 (#5 of 5 with id='551v4'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 n/a;run", ASAP

20231208T221722 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231208T221722 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231208T221722 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231208T221724 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231208T221724 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231208T221724 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231208T221725 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231208T221726 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231208T221726 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl

20231208T221749 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 2 hour

20231208T221749 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 4 hour

20231208T221749 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 9 hour

20231208T221749 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 60 minute

20231208T221749 [CommandExec]:got command schedule "load Engineering/OnDock.tl;set OnDock.DockedTime 12 h;set OnDock.TrackingUpdatePeriod 1.5 min;run"

20231208T221749 [CommandExec]:Scheduled #65: "load Engineering/OnDock.tl;set OnDock.DockedTime 12 h;set OnDock.TrackingUpdatePeriod 1.5 min;run", AFTER MISSION

20231208T221749 [CommandExec]:Scheduling was paused by a command at 2023-12-08T22:12:17Z

20231208T221828 [CommandExec]:got command set lineCaptureHoming.StayOnDock 1 bool

20231208T221828 [CommandExec]:got command set lineCaptureHoming.TrySlide 1 bool

20231208T221828 [CommandExec]:got command set lineCaptureHoming.SlideRetries 4 count

20231208T221828 [CommandExec]:got command set lineCaptureHoming.SlideSinkDuration 1 minute

20231208T221828 [CommandExec]:got command set lineCaptureHoming.SlideDriveDuration 5 minute

20231208T221857 [RDI_Pathfinder]:DVL uart error: serial timeout

20231208T221857 [RDI_Pathfinder]:Communications Fault

20231208T221857 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231208T221859 [RDI_Pathfinder]:Expecting PD13 message format

20231208T221903 [CommandExec]:got command set lineCaptureHoming.TryJog 1 bool

20231208T221903 [CommandExec]:got command set lineCaptureHoming.JogLength 10 second

20231208T221903 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 second

20231208T221903 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 120 count

20231208T221903 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231208T221927 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute

20231208T221927 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231208T221927 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231208T221927 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231208T221927 [CommandExec]:got command set lineCaptureHoming.ApproachDepthTimeout 10 minute

20231208T221938 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 none

20231208T221938 [CommandExec]:got command run

20231208T221938 [CommandExec]:Running

20231208T221938 [MissionManager]:Started mission lineCaptureHoming

20231208T221956 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00010400404743,35.0, +14.7, 0.0#

20231208T222046 [lineCaptureHoming:Y]:Restarting logs