tethys Path

trajectory

20231217T191609 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20231217T191609 [SBIT]:BuoyancyServo.deviationVolume=4 cubic_centimeter;#

20231217T191609 [SBIT]:DAT.verbosity=1 count;#

20231217T191609 [SBIT]:DockingStepper.slideValue=8000 count;#

20231217T191609 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20231217T191609 [SBIT]:Express none CurrentEstimator.current_direction_navigation_frame;#

20231217T191609 [SBIT]:Express none CurrentEstimator.current_speed_navigation_frame;#

20231217T191609 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20231217T191609 [SBIT]:Express linearApproximation height_above_sea_floor 5.000000 meter;#

20231217T191609 [SBIT]:LineCapture.navigationGain=nan none;#

20231217T191609 [SBIT]:LineCapture.rolloutSpeed=0 meter_per_second;#

20231217T191609 [SBIT]:LineCapture.rolloutTimeout=10 minute;#

20231217T191609 [SBIT]:LineCapture.searchTimeout=15 minute;#

20231217T191609 [SBIT]:LineCapture.shortFinalRange=10 meter;#

20231217T191609 [SBIT]:RudderServo.offsetAngle=2.5 degree;#

20231217T191609 [SBIT]:VerticalControl.buoyancyNeutral=451.571851 cubic_centimeter;#

20231217T191609 [SBIT]:VerticalControl.massDeadband=1 millimeter;#

20231217T191609 [SBIT]:VerticalControl.massDefault=15.647292 millimeter;#

20231217T191609 [CommandExec]:Scheduling is paused

20231217T191609 [MissionManager]:Started mission DefaultWithUndock

20231217T191651 [DAT]:No response from remote modem.

20231217T191702 [DAT]:No response from remote modem.

20231217T191712 [DAT]:No response from remote modem.

20231217T191729 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231217T191802 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231217T191854 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231217T191935 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231217T192719 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 11.147586 min

20231217T192821 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20231217T192821 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20231217T192821 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231217T192821 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231217T192821 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231217T192821 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl id=keepstation

20231217T192830 [CommandExec]:got command set keepstation.MissionTimeout 2 hour

20231217T192830 [CommandExec]:got command set keepstation.NeedCommsTime 30 minute

20231217T192830 [CommandExec]:got command set keepstation.Latitude 36.77574 degree

20231217T192830 [CommandExec]:got command set keepstation.Longitude -121.8734 degree

20231217T192830 [CommandExec]:got command run

20231217T192830 [CommandExec]:Running

20231217T192830 [MissionManager]:Started mission keepstation

20231217T192958 [keepstation:TransitToStation:Wpt1.Waypoint]:Navigating to waypoint: 36.775742,-121.873398

20231217T193213 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, +13.98, +20.S, -32, +625, -236,A#

20231217T194221 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached waypoint: 36.775742,-121.873398

20231217T194709 [RDI_Pathfinder]:only read 1 of 4 data items for bottom velocity. Device response is::BS, +17 +224.19, +5.49, 89.97, 0.00#

20231217T195238 [VerticalControl]:Excessive depth excursion=10.250965 m, failToGoUpDepth_=30.044388 m, depthRate=0.058395 m/s, pitch=0.990826 deg.

20231217T195238 [MissionManager]:Started mission DefaultWithUndock

20231217T195408 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231217T200107 [CommandExec]:got command run ./Missions/Maintenance/ballast_and_trim.tl

20231217T200107 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Maintenance/ballast_and_trim.tx

20231217T200107 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231217T200109 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231217T200109 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231217T200109 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231217T200110 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BallastAndTrim.tx

20231217T200110 [CommandExec]:Running ./Missions/Maintenance/ballast_and_trim.tl

20231217T200111 [MissionManager]:Started mission ballast_and_trim

20231217T200357 [Sonardyne_Nano]:Failed to get valid response or reached max queue size, flushing UART

20231217T202123 [CommandExec]:got command gfscan

20231217T202123 [CBIT]:Beginning ground fault scan

20231217T202917 [RDI_Pathfinder]:only read 3 of 4 data items for beam range. Device response is::RA, 0.55, 556.69, 597.62, 589.43#

20231217T203124 completed. Estimation time: 10.01 minutes.

20231217T203124 persisted config values to: 466.279753 cc buoyancy neutral and 15.603882 mm mass default

20231217T203239 [RDI_Pathfinder]:only read 2 of 4 data items for beam range. Device response is::RA, 0.00,1110.19, -35,A#

20231217T203549 [MissionManager]:Started mission DefaultWithUndock

20231217T203708 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231217T204122 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20231217T204122 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20231217T204122 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231217T204122 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231217T204122 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231217T204123 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl id=keepstation

20231217T204131 [CommandExec]:got command set keepstation.MissionTimeout 2 hour

20231217T204131 [CommandExec]:got command set keepstation.NeedCommsTime 30 minute

20231217T204131 [CommandExec]:got command set keepstation.Latitude 36.77574 degree

20231217T204131 [CommandExec]:got command set keepstation.Longitude -121.8734 degree

20231217T204131 [CommandExec]:got command run

20231217T204131 [CommandExec]:Running

20231217T204131 [MissionManager]:Started mission keepstation

20231217T204249 [keepstation:TransitToStation:Wpt1.Waypoint]:Navigating to waypoint: 36.775742,-121.873398

20231217T204858 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached waypoint: 36.775742,-121.873398

20231217T210135 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, +97 0.00#

20231217T212307 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, +232.81, +926.#

20231217T212859 [RDI_Pathfinder]:only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 0.00, 648.19, #

20231217T215841 [CommandExec]:got command stop

20231217T215841 [CommandExec]:Scheduling is paused

20231217T220133 [NanoDVR]:Ack message checksum did not match.

20231217T220744 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 9.044623 min

20231217T221013 [CommandExec]:got command ! echo 0 > /dev/loadB6

20231217T221035 [CommandExec]:got command ! echo 1 > /dev/loadB6

20231217T221427 [RDI_Pathfinder]:only read 2 of 4 data items for beam range. Device response is::RA,10, +243, +251,A#

20231217T221642 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 18.007959 min

20231217T221945 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231217T221945 [RDI_Pathfinder]:Communications Fault

20231217T221945 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231217T221946 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20231217T221946 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20231217T221946 [RDI_Pathfinder]:Expecting PD13 message format

20231217T221947 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl id=keepstation

20231217T221955 [CommandExec]:got command set keepstation.MissionTimeout 4 hour

20231217T221955 [CommandExec]:got command set keepstation.NeedCommsTime 30 minute

20231217T221955 [CommandExec]:got command set keepstation.Latitude 36.77574 degree

20231217T221955 [CommandExec]:got command set keepstation.Longitude -121.8734 degree

20231217T221955 [CommandExec]:got command run

20231217T221955 [CommandExec]:Running

20231217T221955 [MissionManager]:Started mission keepstation

20231217T222725 [keepstation:TransitToStation:Wpt1.Waypoint]:Navigating to waypoint: 36.775742,-121.873398

20231217T223227 [NAL9602]:MT Queue status failed to be acquired within timeout. Will not retry this session.

20231217T223349 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached waypoint: 36.775742,-121.873398

20231217T223525 [NAL9602]:Failed to receive proper response when querying signal strength for MT queue check.

20231217T223941 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231217T230730 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, +31.43, +295.06, + +312.55, -31.34, 61.21, 0.00#

20231217T231532 [RDI_Pathfinder]:only read 1 of 4 data items for beam range. Device response is::RA, 3, -63,A#

20231217T233312 [RDI_Pathfinder]:only read 3 of 4 data items for bottom velocity. Device response is::BS, -8, +490, +10#

20231217T234556 [CommandExec]:got command stop

20231217T234827 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231217T235930 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231217T235930 [RDI_Pathfinder]:Communications Fault

20231217T235930 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231217T235931 [RDI_Pathfinder]:Expecting PD13 message format

20231217T235945 [CommandExec]:got command schedule "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 60 min" gnvs 1 5.000000

20231217T235945 [CommandExec]:Scheduling command #1 of 5 with id=gnvs

20231217T235945 [CommandExec]:Scheduled #1 (#1 of 5 with id='gnvs'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.NeedCommsTime 4 h;set lineCaptureHoming.MicromodemCommsInterval 9 h;set lineCaptureHoming.WaitOnDockTimeout 60 min", AFTER MISSION

20231217T235945 [CommandExec]:Scheduling was paused by a command at 2023-12-17T23:45:56Z

20231218T000349 [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" gnvs 2 5.000000

20231218T000349 [CommandExec]:Scheduling command #2 of 5 with id=gnvs

20231218T000349 [CommandExec]:Scheduled #2 (#2 of 5 with id='gnvs'): "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

20231218T000349 [CommandExec]:Scheduling was paused by a command at 2023-12-17T23:45:56Z

20231218T000410 [CommandExec]:got command schedule "set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m" gnvs 3 5.000000

20231218T000410 [CommandExec]:Scheduling command #3 of 5 with id=gnvs

20231218T000410 [CommandExec]:Scheduled #3 (#3 of 5 with id='gnvs'): "set lineCaptureHoming.TryJog 1 bool;set lineCaptureHoming.JogLength 10 s;set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 s;set lineCaptureHoming.NumPingsUSBL 120 count;set lineCaptureHoming.RangeUSBL 40 m", AFTER MISSION

20231218T000410 [CommandExec]:Scheduling was paused by a command at 2023-12-17T23:45:56Z

20231218T000424 [CommandExec]:got command schedule "set lineCaptureHoming.LightRange .000001 m;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m" gnvs 4 5.000000

20231218T000424 [CommandExec]:Scheduled #4 (#4 of 5 with id='gnvs'): "set lineCaptureHoming.LightRange .000001 m;set lineCaptureHoming.DockingAltitude 7.4 m;set lineCaptureHoming.InvalidAltitudeTimeout 10 min;set lineCaptureHoming.AltitudeDepthLimit 72 m;set lineCaptureHoming.MinAltitude 4 m", AFTER MISSION

20231218T000501 [CommandExec]:got command schedule "set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 n/a;run" gnvs 5 5.000000

20231218T000501 [CommandExec]:Scheduled #5 (#5 of 5 with id='gnvs'): "set lineCaptureHoming.MaxDepth 75 m;set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 n/a;run", AFTER MISSION

20231218T000515 [CommandExec]:got command schedule "load Engineering/OnDock.tl;set OnDock.DockedTime 12 h;run"

20231218T000515 [CommandExec]:Scheduled #6: "load Engineering/OnDock.tl;set OnDock.DockedTime 12 h;run", AFTER MISSION

20231218T000523 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00011113324980.44, 980.44,1069.97#

20231218T000540 [CommandExec]:got command schedule resume

20231218T000540 [CommandExec]:Scheduling is resumed

20231218T000540 [CommandExec]:got command load ./Missions/Engineering/lineCaptureHoming.tl

20231218T000540 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Engineering/lineCaptureHoming.tx

20231218T000540 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231218T000543 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/MicromodemComms.tx

20231218T000543 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/LineCapture.tx

20231218T000544 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/SetNavAcoustic.tx

20231218T000545 [CommandExec]:Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming

20231218T000603 [CommandExec]:got command set lineCaptureHoming.MissionTimeout 3 hour

20231218T000603 [CommandExec]:got command set lineCaptureHoming.NeedCommsTime 4 hour

20231218T000603 [CommandExec]:got command set lineCaptureHoming.MicromodemCommsInterval 9 hour

20231218T000603 [CommandExec]:got command set lineCaptureHoming.WaitOnDockTimeout 60 minute

20231218T000620 [CommandExec]:got command set lineCaptureHoming.StayOnDock 1 bool

20231218T000620 [CommandExec]:got command set lineCaptureHoming.TrySlide 1 bool

20231218T000620 [CommandExec]:got command set lineCaptureHoming.SlideRetries 4 count

20231218T000620 [CommandExec]:got command set lineCaptureHoming.SlideSinkDuration 1 minute

20231218T000620 [CommandExec]:got command set lineCaptureHoming.SlideDriveDuration 3 minute

20231218T000640 [CommandExec]:got command set lineCaptureHoming.TryJog 1 bool

20231218T000640 [CommandExec]:got command set lineCaptureHoming.JogLength 10 second

20231218T000640 [CommandExec]:got command set lineCaptureHoming.TrackingUpdatePeriodTerminal 2 second

20231218T000640 [CommandExec]:got command set lineCaptureHoming.NumPingsUSBL 120 count

20231218T000640 [CommandExec]:got command set lineCaptureHoming.RangeUSBL 40 meter

20231218T000707 [CommandExec]:got command set lineCaptureHoming.LightRange .000001 meter

20231218T000707 [CommandExec]:got command set lineCaptureHoming.DockingAltitude 7.4 meter

20231218T000707 [CommandExec]:got command set lineCaptureHoming.InvalidAltitudeTimeout 10 minute

20231218T000707 [CommandExec]:got command set lineCaptureHoming.AltitudeDepthLimit 72 meter

20231218T000707 [CommandExec]:got command set lineCaptureHoming.MinAltitude 4 meter

20231218T000717 [CommandExec]:got command set lineCaptureHoming.MaxDepth 75 meter

20231218T000717 [CommandExec]:got command set lineCaptureHoming:LineCapture.losRateIIRFilterDecay 0 none

20231218T000717 [MissionManager]:Started mission lineCaptureHoming

20231218T000757 [lineCaptureHoming:Y]:Restarting logs