tethys Path

trajectory

20231216T020619 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20231216T020619 [SBIT]:DAT.verbosity=1 count;#

20231216T020619 [SBIT]:DockingStepper.slideValue=8000 count;#

20231216T020619 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20231216T020619 [SBIT]:Express none CurrentEstimator.current_direction_navigation_frame;#

20231216T020619 [SBIT]:Express none CurrentEstimator.current_speed_navigation_frame;#

20231216T020619 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20231216T020619 [SBIT]:Express linearApproximation height_above_sea_floor 5.000000 meter;#

20231216T020619 [SBIT]:LineCapture.navigationGain=nan none;#

20231216T020619 [SBIT]:LineCapture.rolloutSpeed=0 meter_per_second;#

20231216T020619 [SBIT]:LineCapture.rolloutTimeout=10 minute;#

20231216T020619 [SBIT]:LineCapture.searchTimeout=15 minute;#

20231216T020619 [SBIT]:LineCapture.shortFinalRange=10 meter;#

20231216T020619 [SBIT]:RudderServo.offsetAngle=2.5 degree;#

20231216T020619 [SBIT]:VerticalControl.buoyancyNeutral=451.571851 cubic_centimeter;#

20231216T020619 [SBIT]:VerticalControl.massDeadband=1 millimeter;#

20231216T020619 [SBIT]:VerticalControl.massDefault=15.647292 millimeter;#

20231216T020619 [CommandExec]:Scheduling is paused

20231216T020619 [MissionManager]:Started mission DefaultWithUndock

20231216T020701 [DAT]:No response from remote modem.

20231216T020712 [DAT]:No response from remote modem.

20231216T020722 [DAT]:No response from remote modem.

20231216T020739 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231216T020831 [DataOverHttps]:Could not stat file Logs/20231215T073355/Courier0039.lzma

20231216T020831 [DataOverHttps]:Could not open file Logs/20231215T073355/Courier0039.lzma

20231216T020840 [DataOverHttps]:Could not stat file Logs/20231215T073355/Courier0039.lzma

20231216T020840 [DataOverHttps]:Could not open file Logs/20231215T073355/Courier0039.lzma

20231216T020911 [DataOverHttps]:Could not stat file Logs/20231215T073355/Courier0039.lzma

20231216T020911 [DataOverHttps]:Could not open file Logs/20231215T073355/Courier0039.lzma

20231216T021329 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 7.156141 min

20231216T021401 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231216T021951 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 13.526071 min

20231216T022004 [RDI_Pathfinder]:only read 3 of 4 data items for bottom velocity. Device response is::BS, +276, -188, -1BE, +276, -188, -105,A#

20231216T022015 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231216T022137 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20231216T022137 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20231216T022137 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231216T022138 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231216T022138 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231216T022138 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl id=keepstation

20231216T022144 [CommandExec]:got command set keepstation.MissionTimeout 3 hour

20231216T022144 [CommandExec]:got command set keepstation.Latitude 36.771 degree

20231216T022144 [CommandExec]:got command set keepstation.Longitude -121.860001 degree

20231216T022144 [CommandExec]:got command run

20231216T022144 [CommandExec]:Running

20231216T022144 [MissionManager]:Started mission keepstation

20231216T022236 [keepstation:TransitToStation:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20231216T022707 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached waypoint: 36.771000,-121.860001

20231216T022917 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231216T032207 [RDI_Pathfinder]:only read 1 of 4 data items for beam range. Device response is::RA, 0.00, 63 +16,A#

20231216T032651 [VerticalControl]:Excessive depth excursion=10.414341 m, failToGoUpDepth_=30.029743 m, depthRate=0.082074 m/s, pitch=2.842856 deg.

20231216T032652 [MissionManager]:Started mission DefaultWithUndock

20231216T032743 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,000106.32, 289.04, 268.59#

20231216T032815 [DockingStepper]:uart error: serial timeout moving from: 6144 to: 14900 response: #

20231216T032815 [DockingStepper]:Communications Fault

20231216T032815 [CBIT]:Communications Fault in component: DockingStepper

20231216T032821 [DockingStepper]:uart error: serial timeout moving from: 6140 to: 14900 response: #

20231216T032821 [DockingStepper]:Communications Fault

20231216T032821 [CBIT]:Communications Fault in component: DockingStepper

20231216T032832 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231216T033303 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231216T033303 [RDI_Pathfinder]:Communications Fault

20231216T033303 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231216T033305 [RDI_Pathfinder]:Expecting PD13 message format

20231216T033857 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 12.068518 min

20231216T034420 [RDI_Pathfinder]:only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 806.79, 654.48, +56,A#

20231216T035550 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20231216T035550 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20231216T035551 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231216T035551 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231216T035551 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231216T035551 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl id=keepstation

20231216T035558 [CommandExec]:got command set keepstation.MissionTimeout 2 hour

20231216T035558 [CommandExec]:got command set keepstation.Latitude 36.771 degree

20231216T035558 [CommandExec]:got command set keepstation.Longitude -121.860001 degree

20231216T035558 [CommandExec]:got command run

20231216T035558 [CommandExec]:Running

20231216T035558 [MissionManager]:Started mission keepstation

20231216T035743 [keepstation:TransitToStation:Wpt1.Waypoint]:Navigating to waypoint: 36.771000,-121.860001

20231216T040418 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached waypoint: 36.771000,-121.860001

20231216T044121 [RDI_Pathfinder]:only read 1 of 4 data items for bottom velocity. Device response is::BS, -50,A#

20231216T045121 [RDI_Pathfinder]:only read -1 of 1 data item for water mass range. Device response is::WD, +52.23, #

20231216T054803 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, +31.75, 0.00#

20231216T054947 [CommandExec]:got command stop

20231216T054947 [CommandExec]:Scheduling is paused

20231216T054948 [MissionManager]:Started mission DefaultWithUndock

20231216T055107 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231216T060305 [CommandExec]:got command schedule clear

20231216T060305 [CommandExec]:Cleared 0 scheduled commands.

20231216T060305 [CommandExec]:got command schedule resume

20231216T060305 [CommandExec]:Scheduling is resumed

20231216T060325 [CommandExec]:got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 1 h" dffx 1 4.000000

20231216T060325 [CommandExec]:Scheduling command #1 of 4 with id=dffx

20231216T060325 [CommandExec]:Scheduled #1 (#1 of 4 with id='dffx'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 1 h", ASAP

20231216T060337 [CommandExec]:got command schedule asap "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 115 count;set lineCaptureHoming.DockingAltitude 7.4 m" dffx 2 4.000000

20231216T060337 [CommandExec]:Scheduling command #2 of 4 with id=dffx

20231216T060337 [CommandExec]:Scheduled #2 (#2 of 4 with id='dffx'): "set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 115 count;set lineCaptureHoming.DockingAltitude 7.4 m", ASAP

20231216T060400 [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" dffx 3 4.000000

20231216T060400 [CommandExec]:Scheduling command #3 of 4 with id=dffx

20231216T060400 [CommandExec]:Scheduled #3 (#3 of 4 with id='dffx'): "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

20231216T060408 [CommandExec]:got command schedule asap "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 n/a;run" dffx 4 4.000000

20231216T060408 [CommandExec]:Scheduled #4 (#4 of 4 with id='dffx'): "set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 n/a;run", ASAP

20231216T060409 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231216T060409 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231216T060409 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231216T060411 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231216T060411 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231216T060412 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231216T060412 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231216T060414 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231216T060414 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming

20231216T060434 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 3 hour

20231216T060434 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 4 hour

20231216T060434 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 9 hour

20231216T060434 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 1 hour

20231216T060434 [CommandExec]:got command schedule "load Engineering/OnDock.tl;set OnDock.DockedTime 10 h;run"

20231216T060434 [CommandExec]:Scheduled #5: "load Engineering/OnDock.tl;set OnDock.DockedTime 10 h;run", AFTER MISSION

20231216T060452 [CommandExec]:got command set lineCaptureHoming.StayOnDock 1 bool

20231216T060452 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 second

20231216T060452 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 115 count

20231216T060452 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231216T060509 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute

20231216T060509 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231216T060509 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231216T060509 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231216T060509 [CommandExec]:got command set lineCaptureHoming.ApproachDepthTimeout 10 minute

20231216T060515 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 none

20231216T060515 [CommandExec]:got command run

20231216T060515 [CommandExec]:Running

20231216T060515 [MissionManager]:Started mission lineCaptureHoming

20231216T060529 [CommandExec]:got command ibit

20231216T060529 [IBIT]:Beginning Initiated BIT

20231216T060529 [IBIT]:Beginning control surface checks.

20231216T060529 [CBIT]:Beginning ground fault scan

20231216T060544 [IBIT]:Control surface position failure.

20231216T060615 [IBIT]:Communications Status:#Fix Status: 1#Iridium Signal Strength: 3#Latitude: 36.770348 Longitude: -121.863976

20231216T060616 [IBIT]:batteryCapacityThreshold: 50.000000 Ah

20231216T060616 [IBIT]:batteryVoltageThreshold: 13.700000 V

20231216T060616 [IBIT]:bitPressureThreshold: 0.750000 psi

20231216T060646 [lineCaptureHoming:Y]:Restarting logs