tethys Path

trajectory

20231215T022428 [CommandExec]:got command restart logs

20231215T022746 [DAT]:No response from remote modem.

20231215T022811 [DAT]:No response from remote modem.

20231215T022820 [DAT]:No response from remote modem.

20231215T022855 invalid Pro-Nav gain. Will use Pure Pursuit guidance.

20231215T022855 filter is initialized with decay: 0.00.

20231215T022922 [DAT]:#Rx 1: Read range message, but no direction.

20231215T022930 [RudderServo]:Invalid EZ Servo response:"#"

20231215T022930 [RudderServo]:Communications Fault

20231215T022930 [RudderServo]:Rudder reporting null position

20231215T022930 [CBIT]:Communications Fault in component: RudderServo

20231215T023348 new target range. Approach rate out of bounds.# range: 221.100006 m,# deltaT: 4.031117 s,# deltaX: -20.699997 m,# approachRate: -5.135052 m/s,# rangeRepo size: 4

20231215T023404 [DAT]:#Rx 1: Read range message, but no direction.

20231215T023429 new target range. Approach rate out of bounds.# range: 194.100006 m,# deltaT: 4.032116 s,# deltaX: -22.699997 m,# approachRate: -5.629797 m/s,# rangeRepo size: 4

20231215T023437 new target range. Approach rate out of bounds.# range: 230.699997 m,# deltaT: 4.032199 s,# deltaX: 39.300003 m,# approachRate: 9.746544 m/s,# rangeRepo size: 4

20231215T023831 [DAT]:Requesting device enable set for address 50.

20231215T023944 [DAT]:#Rx 1: Read range message, but no direction.

20231215T023947 new target range. Approach rate out of bounds.# range: 157.199997 m,# deltaT: 2.501000 s,# deltaX: 149.800003 m,# approachRate: 59.896042 m/s,# rangeRepo size: 4

20231215T023947 [DAT]:Requesting device enable clr for address 50.

20231215T023947 new target range. Approach rate out of bounds.# range: 157.500000 m,# deltaT: 3.001198 s,# deltaX: 150.100006 m,# approachRate: 50.013363 m/s,# rangeRepo size: 4

20231215T023949 target pos rejection count limit. Clearing pos repo.

20231215T024047 new target range. Approach rate out of bounds.# range: 15.300000 m,# deltaT: 15.207570 s,# deltaX: -151.699997 m,# approachRate: -9.975295 m/s,# rangeRepo size: 4

20231215T024051 [DAT]:Requesting device enable set for address 50.

20231215T024211 [DAT]:Requesting device enable clr for address 50.

20231215T024213 target pos rejection count limit. Clearing pos repo.

20231215T024237 new target range. Approach rate out of bounds.# range: 327.000000 m,# deltaT: -0.653863 s,# deltaX: 85.000000 m,# approachRate: -129.996643 m/s,# rangeRepo size: 4

20231215T024327 target pos rejection count limit. Clearing pos repo.

20231215T024424 [DAT]:Requesting device enable set for address 50.

20231215T024752 [DAT]:Requesting device enable clr for address 50.

20231215T024928 new target pos. Approach rate out of bounds.# range: 604.700012 m,# bearing: nan deg,# deltaT: 49.750900 s,# deltaX: 487.800018 m,# approachRate: 9.804848 m/s,# posRepo size: 4

20231215T024929 new target pos. Approach rate out of bounds.# range: 604.500000 m,# bearing: nan deg,# deltaT: 50.750801 s,# deltaX: 487.600006 m,# approachRate: 9.607730 m/s,# posRepo size: 4

20231215T024939 new target pos. Approach rate out of bounds.# range: 604.400024 m,# bearing: nan deg,# deltaT: 61.250701 s,# deltaX: 487.500031 m,# approachRate: 7.959093 m/s,# posRepo size: 4

20231215T025056 [DAT]:Got message confirmation too early

20231215T025510 [DAT]:Got message confirmation too early

20231215T025750 missed at range: 154.40 m. Rolling out.

20231215T025804 [lineCaptureHoming:restartDHCP:A]:Restarting DHCP...

20231215T025805 [CommandExec]:got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh

20231215T025908 [RDI_Pathfinder]:only read 0 of 4 data items for water velocity. Device response is::WS, ,A#

20231215T030306 [lineCaptureHoming:Lap:Docked:Detach:A]:Breaking off. Range: 1.800000 m .

20231215T030406 [lineCaptureHoming:restartDHCP:A]:Restarting DHCP...

20231215T030407 [CommandExec]:got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh

20231215T030408 [lineCaptureHoming:Lap:Docked:Drift:A]:No post-undock waypoint, drifting for 10.000000 min minutes

20231215T030522 [RDI_Pathfinder]:only read 1 of 4 data items for water velocity. Device response is::WS, +16, :WE, +16, -127, +8,A#

20231215T030646 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -192.03, +4486.67 0.00#

20231215T031503 invalid Pro-Nav gain. Will use Pure Pursuit guidance.

20231215T031503 filter is initialized with decay: 0.00.

20231215T031831 missed at range: 262.20 m. Rolling out.

20231215T031947 new target pos. Approach rate out of bounds.# range: 34.500000 m,# bearing: nan deg,# deltaT: 34.852652 s,# deltaX: -234.200012 m,# approachRate: -6.719718 m/s,# posRepo size: 4

20231215T032002 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -18,A#

20231215T032108 missed at range: 229.40 m. Rolling out.

20231215T033039 new target pos. Approach rate out of bounds.# range: 37.299999 m,# bearing: nan deg,# deltaT: 34.835006 s,# deltaX: -508.299988 m,# approachRate: -14.591643 m/s,# posRepo size: 4

20231215T033043 new target pos. Approach rate out of bounds.# range: 34.400002 m,# bearing: nan deg,# deltaT: 38.613509 s,# deltaX: -511.199982 m,# approachRate: -13.238890 m/s,# posRepo size: 4

20231215T034107 to midcourse guidance. Received last range of 427.200012 m 5.003187 min ago.

20231215T034243 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231215T034243 [RDI_Pathfinder]:Communications Fault

20231215T034244 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231215T034245 [RDI_Pathfinder]:Expecting PD13 message format

20231215T035115 [RDI_Pathfinder]:only read 0 of 4 data items for bottom velocity. Device response is::BS, E, -41, +714, +22,A#

20231215T035246 [RDI_Pathfinder]:only read -1 of 1 data item for BIT error. Device response is::TS,00010817233062,35.0, +12.1, #

20231215T035556 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD +524.36, +0.39, 3.00, 0.00#

20231215T040334 out while executing search pattern around dock waypoint.

20231215T040335 sequence timed out prior to docking.

20231215T040341 [lineCaptureHoming:restartDHCP:A]:Restarting DHCP...

20231215T040341 [CommandExec]:got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh

20231215T041412 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00010817445662,35.0, +#

20231215T042338 [MissionManager]:Started mission DefaultWithUndock

20231215T042413 [DockingStepper]:uart error: serial timeout moving from: 14845 to: 6111 response: �

20231215T042413 [DockingStepper]:Communications Fault

20231215T042413 [CBIT]:Communications Fault in component: DockingStepper

20231215T042508 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231215T042521 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231215T042743 [RDI_Pathfinder]:only read -1 of 1 data item for water mass range. Device response is::WD, -25.21, +1725.94, #

20231215T042838 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231215T043618 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 12.659316 min

20231215T043929 [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.WaitOnDockTimeout 60 min" bgx4 1 4.000000

20231215T043929 [CommandExec]:Scheduling command #1 of 4 with id=bgx4

20231215T043929 [CommandExec]:Scheduled #17 (#1 of 4 with id='bgx4'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 2 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 60 min", AFTER MISSION

20231215T043929 [CommandExec]:Scheduling was paused by an error at 2023-12-15T01:51:14Z

20231215T043944 [CommandExec]:got command schedule "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1 min;set lineCaptureHoming.SlideDriveDuration 3 min" bgx4 2 4.000000

20231215T043944 [CommandExec]:Scheduling command #2 of 4 with id=bgx4

20231215T043944 [CommandExec]:Scheduled #18 (#2 of 4 with id='bgx4'): "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool;set lineCaptureHoming.SlideRetries 4 count;set lineCaptureHoming.SlideSinkDuration 1 min;set lineCaptureHoming.SlideDriveDuration 3 min", AFTER MISSION

20231215T043944 [CommandExec]:Scheduling was paused by an error at 2023-12-15T01:51:14Z

20231215T044000 [CommandExec]:got command schedule "set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.RangeUSBL .00001 m;set lineCaptureHoming.DockingAltitude 7.4 m" bgx4 3 4.000000

20231215T044000 [CommandExec]:Scheduling command #3 of 4 with id=bgx4

20231215T044000 [CommandExec]:Scheduled #19 (#3 of 4 with id='bgx4'): "set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.RangeUSBL .00001 m;set lineCaptureHoming.DockingAltitude 7.4 m", AFTER MISSION

20231215T044000 [CommandExec]:Scheduling was paused by an error at 2023-12-15T01:51:14Z

20231215T044027 [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:LineCapture.losRateIIRFilterDecay 0 n/a;run" bgx4 4 4.000000

20231215T044027 [CommandExec]:Scheduled #20 (#4 of 4 with id='bgx4'): "set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m;set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 n/a;run", AFTER MISSION

20231215T044048 [CommandExec]:got command schedule "load Engineering/OnDock.tl;set OnDock.DockedTime 6 h;run"

20231215T044048 [CommandExec]:Scheduled #21: "load Engineering/OnDock.tl;set OnDock.DockedTime 6 h;run", AFTER MISSION

20231215T044159 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 18.354639 min

20231215T044241 [CommandExec]:got command schedule "load Transport/keepstation.tl;set keepstation.Latitude 36.771 degree;set keepstation.Longitude -121.860001 degree;run"

20231215T044241 [CommandExec]:Scheduled #22: "load Transport/keepstation.tl;set keepstation.Latitude 36.771 degree;set keepstation.Longitude -121.860001 degree;run", AFTER MISSION

20231215T044416 [CommandExec]:got command schedule 20231215T133000 "load Transport/keepstation.tl;set keepstation.MissionTimeout 12 h;set keepstation.NeedCommsTime 2 h;set keepstation.Latitude 36.771 degree;set keepstation.Longitude -121.860001 degree" bh54 1 2.000000

20231215T044416 [CommandExec]:Scheduling command #1 of 2 with id=bh54

20231215T044416 [CommandExec]:Scheduled #23 (#1 of 2 with id='bh54'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 12 h;set keepstation.NeedCommsTime 2 h;set keepstation.Latitude 36.771 degree;set keepstation.Longitude -121.860001 degree", AT TIME: 2023-12-15T13:30:00Z

20231215T044432 [CommandExec]:got command schedule 20231215T133000 "set keepstation:NeedComms.CommsTimeout 1 min;run" bh54 2 2.000000

20231215T044432 [CommandExec]:Scheduling command #2 of 2 with id=bh54

20231215T044432 [CommandExec]:Scheduled #24 (#2 of 2 with id='bh54'): "set keepstation:NeedComms.CommsTimeout 1 min;run", AT TIME: 2023-12-15T13:30:00Z

20231215T044442 [CommandExec]:got command schedule resume

20231215T044442 [CommandExec]:Scheduling is resumed

20231215T044442 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231215T044442 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231215T044443 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231215T044444 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231215T044444 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231215T044444 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231215T044444 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231215T044445 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231215T044445 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231215T044446 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming

20231215T044507 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 2 hour

20231215T044507 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 4 hour

20231215T044507 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 9 hour

20231215T044507 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 60 minute

20231215T044535 [CommandExec]:got command set lineCaptureHoming.StayOnDock 1 bool

20231215T044535 [CommandExec]:got command set lineCaptureHoming.TrySlide 1 bool

20231215T044535 [CommandExec]:got command set lineCaptureHoming.SlideRetries 4 count

20231215T044535 [CommandExec]:got command set lineCaptureHoming.SlideSinkDuration 1 minute

20231215T044535 [CommandExec]:got command set lineCaptureHoming.SlideDriveDuration 3 minute

20231215T044602 [CommandExec]:got command set lineCaptureHoming.TryJog 1 bool

20231215T044602 [CommandExec]:got command set lineCaptureHoming.JogLength 10 second

20231215T044602 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 second

20231215T044602 [CommandExec]:got command set lineCaptureHoming.RangeUSBL .00001 meter

20231215T044602 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231215T044701 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute

20231215T044701 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231215T044701 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231215T044701 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231215T044701 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 none

20231215T044701 [CommandExec]:got command run

20231215T044701 [CommandExec]:Running

20231215T044701 [MissionManager]:Started mission lineCaptureHoming

20231215T044759 [lineCaptureHoming:Y]:Restarting logs