aku Path

trajectory

20250220T083058 [BPC1]:BPC1A got IPBS message with 5 sticks (min is 7).

20250220T083058 [SBIT]:Beginning Startup BIT

20250220T083058 [CBIT]:Beginning ground fault scan

20250220T083110 [BPC1]:BPC1A got IPBS message with 5 sticks (min is 7).

20250220T083123 [BPC1]:BPC1A got IPBS message with 5 sticks (min is 7).

20250220T083136 [BPC1]:BPC1B got IPBS message with 5 sticks (min is 7).

20250220T083143 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20250220T083152 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20250220T083152 [SBIT]:CBIT.runNavErrorCritical=0 bool;#

20250220T083152 [SBIT]:DAT.loadAtStartup=1 bool;#

20250220T083152 [SBIT]:DATMMP.loadAtStartup=0 bool;#

20250220T083152 [SBIT]:DATMMP.simulateHardware=0 bool;#

20250220T083152 [SBIT]:ESPComponent.loadAtStartup=1 bool;#

20250220T083152 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20250220T083152 [SBIT]:ESPComponent.simulateHardware=1 bool;#

20250220T083152 [SBIT]:SpeedControl.rollOptimum=0.925 meter_per_second;#

20250220T083152 [SBIT]:VerticalControl.buoyancyNeutral=305.318315 cubic_centimeter;#

20250220T083152 [SBIT]:VerticalControl.elevDeadband=0.1 degree;#

20250220T083152 [SBIT]:VerticalControl.massDefault=11.647778 millimeter;#

20250220T083152 [MissionManager]:Started mission Startup

20250220T083155 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20250220T083219 [NAL9602]:Failed to initiate SBD session. Error code: 2

20250220T083255 [MissionManager]:Started mission Default

20250220T083338 [NAL9602]:Failed to initiate SBD session. Error code: 2

20250220T083404 [NAL9602]:Failed to initiate SBD session. Error code: 2

20250220T083634 [BPC1]:Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.

20250220T083858 [Default:CheckIn:E]:Default mission has been running for 6.042028 min

20250220T084431 [Default:CheckIn:E]:Default mission has been running for 11.585938 min

20250220T084848 [CommandExec]:got command schedule resume

20250220T084927 [CommandExec]:got command schedule asap "load Engineering/passive_acoustic_monitoring.tl;set PAM.MissionTimeout 8 h;set PAM.SurfacingIntervalDuringListening 5 h;set PAM.NeedCommsMaxWait 6 h;set PAM.NeedCommsTimeInTransit 10 min;set PAM.Depth 40 m" 20whq 1 3.000000

20250220T084927 [CommandExec]:Scheduling command #1 of 3 with id=20whq

20250220T084927 [CommandExec]:Scheduled #1 (#1 of 3 with id='20whq'): "load Engineering/passive_acoustic_monitoring.tl;set PAM.MissionTimeout 8 h;set PAM.SurfacingIntervalDuringListening 5 h;set PAM.NeedCommsMaxWait 6 h;set PAM.NeedCommsTimeInTransit 10 min;set PAM.Depth 40 m", ASAP

20250220T084943 [CommandExec]:got command schedule asap "set PAM.DeepBoundRegainDepth 60 m;set PAM.ShallowBoundRegainDepth 20 m;set PAM.DeepBoundInitial 50 m;set PAM.ShallowBoundInitial 30 m;set PAM.DeepBoundFineTune 55 m;set PAM.ShallowBoundFineTune 25 m;set PAM.MaxDepth 70 m" 20whq 2 3.000000

20250220T084943 [CommandExec]:Scheduling command #2 of 3 with id=20whq

20250220T084943 [CommandExec]:Scheduled #2 (#2 of 3 with id='20whq'): "set PAM.DeepBoundRegainDepth 60 m;set PAM.ShallowBoundRegainDepth 20 m;set PAM.DeepBoundInitial 50 m;set PAM.ShallowBoundInitial 30 m;set PAM.DeepBoundFineTune 55 m;set PAM.ShallowBoundFineTune 25 m;set PAM.MaxDepth 70 m", ASAP

20250220T084951 [CommandExec]:got command schedule asap "set PAM.LatListening 36.797 degree;set PAM.LonListening -121.847 degree;set PAM:BackseatDriver.EnableBackseat 1 bool;run" 20whq 3 3.000000

20250220T084951 [CommandExec]:Scheduling command #3 of 3 with id=20whq

20250220T084951 [CommandExec]:Scheduled #3 (#3 of 3 with id='20whq'): "set PAM.LatListening 36.797 degree;set PAM.LonListening -121.847 degree;set PAM:BackseatDriver.EnableBackseat 1 bool;run", ASAP

20250220T084951 [CommandExec]:got command load ./Missions/Engineering/passive_acoustic_monitoring.tl

20250220T085009 [CommandExec]:Loaded ./Missions/Engineering/passive_acoustic_monitoring.tl id=PAM

20250220T085010 [Default:CheckIn:E]:Default mission has been running for 17.237457 min

20250220T085040 [CommandExec]:got command set PAM.MissionTimeout 8 hour

20250220T085040 [CommandExec]:got command set PAM.SurfacingIntervalDuringListening 5 hour

20250220T085040 [CommandExec]:got command set PAM.NeedCommsMaxWait 6 hour

20250220T085040 [CommandExec]:got command set PAM.NeedCommsTimeInTransit 10 minute

20250220T085040 [CommandExec]:got command set PAM.Depth 40 meter

20250220T085040 [CommandExec]:got command schedule "load Transport/keepstation.tl;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Speed 0.8 m/s;run"

20250220T085040 [CommandExec]:Scheduled #4: "load Transport/keepstation.tl;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Speed 0.8 m/s;run", AFTER MISSION

20250220T085125 [CommandExec]:got command set PAM.DeepBoundRegainDepth 60 meter

20250220T085125 [CommandExec]:got command set PAM.ShallowBoundRegainDepth 20 meter

20250220T085125 [CommandExec]:got command set PAM.DeepBoundInitial 50 meter

20250220T085125 [CommandExec]:got command set PAM.ShallowBoundInitial 30 meter

20250220T085125 [CommandExec]:got command set PAM.DeepBoundFineTune 55 meter

20250220T085125 [CommandExec]:got command set PAM.ShallowBoundFineTune 25 meter

20250220T085125 [CommandExec]:got command set PAM.MaxDepth 70 meter

20250220T085141 [CommandExec]:got command set PAM.LatListening 36.797 degree

20250220T085141 [CommandExec]:got command set PAM.LonListening -121.847 degree

20250220T085141 [CommandExec]:got command set PAM:BackseatDriver.EnableBackseat 1 bool

20250220T085141 [CommandExec]:got command run

20250220T085141 [CommandExec]:Running

20250220T085142 [MissionManager]:Started mission PAM

20250220T085142 [PAM:AbortDrift:B.AbortDrift]:Acoustic timeout set to: 240.00 hours.

20250220T085144 [PAM:StandardEnvelopes:A.AltitudeEnvelope]:Altitude Measurement is not Active.

20250220T085144 [PAM:ResetVariables:G]:Reset BuoyancyAdjustmentStep to 16.000000 cc , MassPositionAdjustmentStep to 0.528000 mm , WaitAfterBuoyancyChange to 5.000000 min , ShallowBound to 30.000000 m , DeepBound to 50.000000 m .

20250220T085146 [CTD_Seabird]:Failed to parse device response: #

20250220T085148 [PAM:BA]:BuoyancyAdjustmentStep = 16.000000 cc .

20250220T085148 [PAM:BB]:BuoyancyAdjustmentStepFineTune = 2.000000 cc .

20250220T085149 [PAM:BD]:MassPositionAdjustmentStep = 0.528000 mm .

20250220T085150 [PAM:BE]:MassPositionAdjustmentStepFineTune = 0.066000 mm .

20250220T085150 [PAM:BF]:WaitAfterBuoyancyChange = 5.000000 min .

20250220T085150 [PAM:BG]:WaitAfterBuoyancyChangeFineTune = 5.000000 min .

20250220T085152 [PAM:BJ]:Initially: ShallowBound = 30.000000 m , DeepBound = 50.000000 m , BuoyancyAdjustmentStep = 16.000000 cc , WaitAfterBuoyancyChange = 5.000000 min .

20250220T085153 [PAM:BL]:TargetDepthMinusShallowBound = 10.000000 m .

20250220T085153 [PAM:BN]:DeepBoundMinusTargetDepth = 10.000000 m .

20250220T085230 level run transit to listening location LatListening = 36.797001 arcdeg , LonListening = -121.847000 arcdeg .

20250220T085246 [BackseatComponent]:IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250220T085249

20250220T090214 [PAM:PAM:SetVariables:G]:NeutralBuoyancy = 305.318329 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 11.647778 mm , MassPositionAdjustmentStep = 0.528000 mm

20250220T090951 is too heavy. Increase neutral buoyancy: 305.318332 cc + 16.000000 cc = 321.318329 cc . Move mass backwards: 11.647778 mm - 0.528000 mm = 11.119778 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250220T090955 [PAM:PAM:SetVariables:G]:NeutralBuoyancy = 321.318329 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 11.119778 mm , MassPositionAdjustmentStep = 0.528000 mm

20250220T090957 [PAM:PAM:Waits:WaitBuoyancyChange:A]:After buoyancy change, wait for 5.000000 min

20250220T091504 is too heavy. Increase neutral buoyancy: 321.318337 cc + 16.000000 cc = 337.318329 cc . Move mass backwards: 11.119777 mm - 0.528000 mm = 10.591777 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250220T091509 [PAM:PAM:SetVariables:G]:NeutralBuoyancy = 337.318329 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 10.591777 mm , MassPositionAdjustmentStep = 0.528000 mm

20250220T091510 [PAM:PAM:Waits:WaitBuoyancyChange:A]:After buoyancy change, wait for 5.000000 min

20250220T092012 61.700741 m breaches the envelope defined by ShallowBoundRegainDepth = 20.000000 m and DeepBoundRegainDepth = 60.000000 m . Moving to 40.000000 m . Propeller off.

20250220T093523 is too heavy. Increase neutral buoyancy: 337.318343 cc + 16.000000 cc = 353.318359 cc . Move mass backwards: 10.591777 mm - 0.528000 mm = 10.063777 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250220T093529 [PAM:PAM:Waits:WaitBuoyancyChange:A]:After buoyancy change, wait for 5.000000 min

20250220T094406 [BPC1]:Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.

20250220T100110 [CTD_Seabird]:Failed to parse device response: 35.99,10.415.62#

20250220T102840 depth 29.949394 m is shallower than ShallowBound 30.000000 m .

20250220T102844 previously but floating now. Decrease BuoyancyAdjustmentStep from 16.000000 cc to 8.000000 cc . Decrease MassPositionAdjustmentStep from 0.528000 mm to 0.264000 mm . Decrease neutral buoyancy: 401.318364 cc - 8.000000 cc = 393.318359 cc . Move mass forward: 8.479776 mm + 0.264000 mm = 8.743776 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250220T103356 depth 24.434399 m is shallower than ShallowBound 30.000000 m .

20250220T103358 is too light. Decrease neutral buoyancy: 393.318362 cc - 8.000000 cc = 385.318359 cc . Move mass forward: 8.743776 mm + 0.264000 mm = 9.007776 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250220T103910 depth 23.636732 m is shallower than ShallowBound 30.000000 m .

20250220T103912 is too light. Decrease neutral buoyancy: 385.318359 cc - 8.000000 cc = 377.318359 cc . Move mass forward: 9.007776 mm + 0.264000 mm = 9.271776 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250220T104426 is too light. Decrease neutral buoyancy: 377.318356 cc - 8.000000 cc = 369.318359 cc . Move mass forward: 9.271776 mm + 0.264000 mm = 9.535776 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250220T105113 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20250220T105139 [BPC1]:Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.

20250220T141418 [BPC1]:Battery stick #45 (s/n: 00E2) reported OVER_TEMP_ALARM. Status code: 0x1717.

20250220T142146 = 50.067978 m . Elapsed time since the last GPS fix 328.613086 min is longer than SurfacingIntervalDuringListening 300.000000 min . Surface and optionally transit back to listening location.

20250220T142147 run back to listening location LatListening = 36.797001 arcdeg , LonListening = -121.847000 arcdeg .

20250220T142430 [PAM:ResetVariables:G]:Reset BuoyancyAdjustmentStep to 16.000000 cc , MassPositionAdjustmentStep to 0.528000 mm , WaitAfterBuoyancyChange to 5.000000 min , ShallowBound to 30.000000 m , DeepBound to 50.000000 m .

20250220T143109 [CBIT]:Beginning ground fault scan

20250220T144030 previously but sinking now. Decrease BuoyancyAdjustmentStep from 16.000000 cc to 8.000000 cc . Decrease MassPositionAdjustmentStep from 0.528000 mm to 0.264000 mm . Increase neutral buoyancy: 329.318340 cc + 8.000000 cc = 337.318329 cc . Move mass backwards: 10.855777 mm - 0.264000 mm = 10.591777 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250220T153214 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20250220T153426 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20250220T154519 [BPC1]:Failed to receive data from 5 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 25, 26, 36, 37, 62.

20250220T154659 previously but floating now. Decrease BuoyancyAdjustmentStep from 8.000000 cc to 4.000000 cc . Decrease MassPositionAdjustmentStep from 0.264000 mm to 0.132000 mm . Decrease neutral buoyancy: 369.318353 cc - 4.000000 cc = 365.318359 cc . Move mass forward: 9.535776 mm + 0.132000 mm = 9.667776 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250220T160252 [BPC1]:Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4BD0.

20250220T160935 previously but sinking now. Decrease BuoyancyAdjustmentStep from 4.000000 cc to 2.000000 cc . Decrease MassPositionAdjustmentStep from 0.132000 mm to 0.066000 mm . Increase neutral buoyancy: 365.318352 cc + 2.000000 cc = 367.318329 cc . Move mass backwards: 9.667777 mm - 0.066000 mm = 9.601776 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250220T160939 [PAM:TurnOnFineTuneMode:FineTune:F]:Turn on fine-tune mode: ShallowBound = 25.000000 m , DeepBound = 55.000000 m , BuoyancyAdjustmentStepNew = 2.000000 cc , WaitAfterBuoyancyChange = 5.000000 min .

20250220T165142 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20250220T165145 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl id=keepstation

20250220T165146 [MissionManager]:Started mission Default

20250220T165201 [CommandExec]:got command set keepstation.NeedCommsTime 30 minute

20250220T165201 [CommandExec]:got command set keepstation.Latitude 36.797 degree

20250220T165201 [CommandExec]:got command set keepstation.Longitude -121.847 degree

20250220T165201 [CommandExec]:got command set keepstation.Speed 0.8 meter_per_second

20250220T165201 [CommandExec]:got command run

20250220T165201 [CommandExec]:Running

20250220T165201 [MissionManager]:Started mission keepstation