tethys Path

trajectory

20231211T232340 [RudderServo]:Overload Error

20231211T232340 [RudderServo]:Hardware Fault

20231211T232340 [CBIT]:Hardware Fault in component: RudderServo

20231211T232342 [SBIT]:Could not read rudderAngleReader_.

20231211T232409 [SBIT]:Control surface position failure.

20231211T232423 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20231211T232423 [SBIT]:BuoyancyServo.deviationVolume=1 cubic_centimeter;#

20231211T232423 [SBIT]:DAT.verbosity=1 count;#

20231211T232423 [SBIT]:DockingStepper.slideValue=8000 count;#

20231211T232423 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20231211T232423 [SBIT]:Express none CurrentEstimator.current_direction_navigation_frame;#

20231211T232423 [SBIT]:Express none CurrentEstimator.current_speed_navigation_frame;#

20231211T232423 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20231211T232423 [SBIT]:Express linearApproximation height_above_sea_floor 5.000000 meter;#

20231211T232423 [SBIT]:IBIT.batteryCapacityThreshold=1 ampere_hour;#

20231211T232423 [SBIT]:IBIT.batteryVoltageThreshold=10 volt;#

20231211T232423 [SBIT]:LineCapture.navigationGain=nan none;#

20231211T232423 [SBIT]:LineCapture.rolloutSpeed=0 meter_per_second;#

20231211T232423 [SBIT]:LineCapture.rolloutTimeout=10 minute;#

20231211T232423 [SBIT]:LineCapture.searchTimeout=15 minute;#

20231211T232423 [SBIT]:LineCapture.shortFinalRange=10 meter;#

20231211T232423 [SBIT]:RudderServo.offsetAngle=2.5 degree;#

20231211T232423 [SBIT]:VerticalControl.buoyancyNeutral=472.818405 cubic_centimeter;#

20231211T232423 [SBIT]:VerticalControl.massDeadband=1 millimeter;#

20231211T232423 [SBIT]:VerticalControl.massDefault=15.524574 millimeter;#

20231211T232423 [CommandExec]:Scheduling is paused

20231211T232423 [MissionManager]:Started mission DefaultWithUndock

20231211T232505 [DAT]:No response from remote modem.

20231211T232516 [DAT]:No response from remote modem.

20231211T232526 [DAT]:No response from remote modem.

20231211T232543 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231211T232556 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,000107035.0, +14.1, 0.0,1504.0,150#

20231211T232609 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231211T232627 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231211T232746 [CommandExec]:got command load ./Missions/Transport/transit.tl

20231211T232746 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20231211T232746 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231211T232746 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231211T232746 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231211T232747 [CommandExec]:Loaded ./Missions/Transport/transit.tl id=transit

20231211T232752 [CommandExec]:got command set transit.MissionTimeout 5 minute

20231211T232752 [CommandExec]:got command set transit.Latitude 36.771 degree

20231211T232752 [CommandExec]:got command set transit.Longitude -121.860001 degree

20231211T232752 [CommandExec]:got command run

20231211T232752 [CommandExec]:Running

20231211T232752 [MissionManager]:Started mission transit

20231211T232754 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20231211T232800 [RudderServo]:Overload Error

20231211T232800 [RudderServo]:Hardware Fault

20231211T232800 [ThrusterHE]:Status lock Detected.

20231211T232801 [CBIT]:Hardware Fault in component: RudderServo

20231211T232801 [ThrusterHE]:Status lock Detected.

20231211T232802 [ThrusterHE]:Status lock Detected.

20231211T232807 [RudderServo]:Overload Error

20231211T232807 [RudderServo]:Hardware Fault

20231211T232807 [CBIT]:Hardware Fault in component: RudderServo

20231211T232811 [ThrusterHE]:Zero Speed Commanded.

20231211T232815 [MissionManager]:Started mission DefaultWithUndock

20231211T232915 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231211T232934 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231211T233507 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 6.851946 min

20231211T234038 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 12.377972 min

20231211T234342 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, +41. 4.00#

20231211T234609 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 17.894657 min

20231211T235337 [CommandExec]:got command ibit

20231211T235337 [IBIT]:Beginning Initiated BIT

20231211T235337 [IBIT]:Beginning control surface checks.

20231211T235337 [CBIT]:Beginning ground fault scan

20231211T235344 [RudderServo]:LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown.

20231211T235353 [IBIT]:Control surface position failure.

20231211T235408 [IBIT]:Control surface position failure.

20231211T235424 [IBIT]:Communications Status:#Fix Status: 1#Iridium Signal Strength: 5#Latitude: 36.737118 Longitude: -121.869728

20231211T235424 [IBIT]:batteryCapacityThreshold: 1.000000 Ah

20231211T235424 [IBIT]:batteryVoltageThreshold: 10.000000 V

20231211T235424 [IBIT]:bitPressureThreshold: 0.750000 psi

20231211T235651 [CommandExec]:got command load ./Missions/Transport/transit.tl

20231211T235651 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20231211T235651 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231211T235651 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231211T235651 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231211T235651 [CommandExec]:Loaded ./Missions/Transport/transit.tl id=transit

20231211T235656 [CommandExec]:got command set transit.MissionTimeout 5 minute

20231211T235656 [CommandExec]:got command set transit.Latitude 36.771 degree

20231211T235656 [CommandExec]:got command set transit.Longitude -121.860001 degree

20231211T235656 [CommandExec]:got command run

20231211T235656 [CommandExec]:Running

20231211T235657 [MissionManager]:Started mission transit

20231211T235658 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20231211T235704 [ThrusterHE]:Zero Speed Commanded.

20231212T000157 [MissionManager]:Started mission DefaultWithUndock

20231212T000327 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231212T000418 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, +51 2.00#

20231212T000600 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231212T001035 [CommandExec]:got command load ./Missions/Transport/transit.tl

20231212T001035 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/transit.tx

20231212T001035 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231212T001035 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231212T001035 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231212T001035 [CommandExec]:Loaded ./Missions/Transport/transit.tl id=transit

20231212T001040 [CommandExec]:got command set transit.MissionTimeout 30 minute

20231212T001040 [CommandExec]:got command set transit.Latitude 36.771 degree

20231212T001040 [CommandExec]:got command set transit.Longitude -121.860001 degree

20231212T001040 [CommandExec]:got command run

20231212T001040 [CommandExec]:Running

20231212T001040 [MissionManager]:Started mission transit

20231212T001042 [transit:Transit:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20231212T002322 [RDI_Pathfinder]:only read 1 of 4 data items for beam range. Device response is::RA, 0.00, 556 +4.11, 3.00, 0.00#

20231212T013649 [DockingStepper]:uart error: serial timeout moving from: 6143 to: 14900 response: #�

20231212T013649 [DockingStepper]:Communications Fault

20231212T013649 [CBIT]:Communications Fault in component: DockingStepper

20231212T013852 [CommandExec]:got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 4 h;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.771 degree;set keepstation.Longitude -121.860001 degree;set keepstation.DepthDeadband 10 m" 5ob1 1 2.000000

20231212T013852 [CommandExec]:Scheduling command #1 of 2 with id=5ob1

20231212T013852 [CommandExec]:Scheduled #1 (#1 of 2 with id='5ob1'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 4 h;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.771 degree;set keepstation.Longitude -121.860001 degree;set keepstation.DepthDeadband 10 m", ASAP

20231212T013913 [CommandExec]:got command schedule asap "set keepstation.Speed 0.8 m/s;run" 5ob1 2 2.000000

20231212T013913 [CommandExec]:Scheduling command #2 of 2 with id=5ob1

20231212T013913 [CommandExec]:Scheduled #2 (#2 of 2 with id='5ob1'): "set keepstation.Speed 0.8 m/s;run", ASAP

20231212T013913 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20231212T013913 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20231212T013914 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl id=keepstation

20231212T013925 [CommandExec]:got command set keepstation.MissionTimeout 4 hour

20231212T013925 [CommandExec]:got command set keepstation.NeedCommsTime 30 minute

20231212T013925 [CommandExec]:got command set keepstation.Latitude 36.771 degree

20231212T013925 [CommandExec]:got command set keepstation.Longitude -121.860001 degree

20231212T013925 [CommandExec]:got command set keepstation.DepthDeadband 10 meter

20231212T013926 [CommandExec]:got command set keepstation.Speed 0.8 meter_per_second

20231212T013926 [MissionManager]:Started mission keepstation

20231212T014124 [keepstation:TransitToStation:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20231212T020230 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, +118, -6,A#

20231212T020704 [RDI_Pathfinder]:only read 1 of 4 data items for water velocity. Device response is::WS, -83+19,A#

20231212T022000 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -459.3 +41.55, 0.00, 10.00#

20231212T024358 [RDI_Pathfinder]:only read 1 of 4 data items for bottom velocity. Device response is::BS, -94 +42.33, 53.27, 0.00#

20231212T025331 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached waypoint: 36.771000,-121.860001

20231212T025659 [CommandExec]:got command stop

20231212T025659 [CommandExec]:Scheduling is paused

20231212T030828 [CommandExec]:got command failComponent hardware DAT

20231212T030828 [DAT]:Hardware Fault

20231212T030828 [CommandExec]:DAT failureMode is Hardware Fault

20231212T030828 [CBIT]:Hardware Fault in component: DAT

20231212T030934 [CommandExec]:got command schedule clear

20231212T030934 [CommandExec]:Cleared 0 scheduled commands.

20231212T030934 [CommandExec]:got command schedule resume

20231212T030934 [CommandExec]:Scheduling is resumed

20231212T031113 [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 45 min" 5stz 1 5.000000

20231212T031113 [CommandExec]:Scheduling command #1 of 5 with id=5stz

20231212T031113 [CommandExec]:Scheduled #3 (#1 of 5 with id='5stz'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 45 min", ASAP

20231212T031122 [CommandExec]:got command schedule asap "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideDriveDuration 1 min;set lineCaptureHoming.TryJog 1 bool" 5stz 2 5.000000

20231212T031122 [CommandExec]:Scheduling command #2 of 5 with id=5stz

20231212T031122 [CommandExec]:Scheduled #4 (#2 of 5 with id='5stz'): "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideDriveDuration 1 min;set lineCaptureHoming.TryJog 1 bool", ASAP

20231212T031130 [CommandExec]:got command schedule asap "set lineCaptureHoming.JogLength 7 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min" 5stz 3 5.000000

20231212T031130 [CommandExec]:Scheduling command #3 of 5 with id=5stz

20231212T031130 [CommandExec]:Scheduled #5 (#3 of 5 with id='5stz'): "set lineCaptureHoming.JogLength 7 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min", ASAP

20231212T031139 [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" 5stz 4 5.000000

20231212T031139 [CommandExec]:Scheduled #6 (#4 of 5 with id='5stz'): "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

20231212T031148 [CommandExec]:got command schedule asap "run" 5stz 5 5.000000

20231212T031148 [CommandExec]:Scheduled #7 (#5 of 5 with id='5stz'): "run", ASAP

20231212T031148 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231212T031148 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231212T031148 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231212T031151 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231212T031151 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231212T031152 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231212T031153 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming

20231212T031224 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 2 hour

20231212T031224 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 4 hour

20231212T031224 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 9 hour

20231212T031224 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 45 minute

20231212T031300 [CommandExec]:got command set lineCaptureHoming.StayOnDock 1 bool

20231212T031300 [CommandExec]:got command set lineCaptureHoming.TrySlide 1 bool

20231212T031300 [CommandExec]:got command set lineCaptureHoming.SlideRetries 4 count

20231212T031300 [CommandExec]:got command set lineCaptureHoming.SlideDriveDuration 1 minute

20231212T031300 [CommandExec]:got command set lineCaptureHoming.TryJog 1 bool

20231212T031300 [CommandExec]:got command schedule "load Engineering/OnDock.tl;set OnDock.DockedTime 12 h;run"

20231212T031300 [CommandExec]:Scheduled #8: "load Engineering/OnDock.tl;set OnDock.DockedTime 12 h;run", AFTER MISSION

20231212T031323 [CommandExec]:got command set lineCaptureHoming.JogLength 7 second

20231212T031323 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 second

20231212T031323 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 120 count

20231212T031323 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231212T031323 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute

20231212T031346 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231212T031346 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231212T031346 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231212T031346 [CommandExec]:got command set lineCaptureHoming.ApproachDepthTimeout 10 minute

20231212T031346 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 none

20231212T031346 [MissionManager]:Started mission lineCaptureHoming

20231212T031541 [lineCaptureHoming:Y]:Restarting logs