2012-08-22T17:46:38.756Z,1345657598.756 [SBIT](IMPORTANT): Tethys CM Info: $Rev: 9804 2012-08-22T17:46:38.758Z,1345657598.758 [CBIT](FAULT): LAST RESTART WAS UNINTENTIONAL. 2012-08-22T17:46:54.372Z,1345657614.372 [SBIT](IMPORTANT): Beginning Startup BIT 2012-08-22T17:46:54.375Z,1345657614.375 [CBIT](IMPORTANT): Beginning GF scan 2012-08-22T17:47:07.494Z,1345657627.494 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.797676 2012-08-22T17:47:20.571Z,1345657640.571 [CBIT](IMPORTANT): No ground fault detected 2012-08-22T17:47:48.018Z,1345657668.018 [SBIT](CRITICAL): SBIT FAILED 2012-08-22T17:47:48.408Z,1345657668.408 [MissionManager](IMPORTANT): Started mission Startup 2012-08-22T17:49:48.849Z,1345657788.849 [MissionManager](IMPORTANT): Started mission Default 2012-08-22T17:52:20.160Z,1345657940.160 [CommandLine](IMPORTANT): got command @ ls Logs 2012-08-22T17:55:40.000Z,1345658140.000 [NAL9602](IMPORTANT): GPS fix at: 1345658140.00 2012-08-22T18:16:00.144Z,1345659360.144 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=56, MT Status=1, MTMSN=2 2012-08-22T18:16:00.757Z,1345659360.757 [CommandLine](IMPORTANT): got command ibit 2012-08-22T18:16:01.067Z,1345659361.067 [IBIT](IMPORTANT): Beginning Initiated BIT 2012-08-22T18:16:01.067Z,1345659361.067 [IBIT](IMPORTANT): Beginning control surface checks. 2012-08-22T18:16:01.069Z,1345659361.069 [CBIT](IMPORTANT): Beginning GF scan 2012-08-22T18:16:05.000Z,1345659365.000 [NAL9602](IMPORTANT): GPS fix at: 1345659365.00 2012-08-22T18:16:13.000Z,1345659373.000 [NAL9602](IMPORTANT): GPS fix at: 1345659373.00 2012-08-22T18:16:19.761Z,1345659379.761 [IBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.824069 2012-08-22T18:16:19.761Z,1345659379.761 [IBIT](FAULT): Control surface position failure. 2012-08-22T18:16:24.000Z,1345659384.000 [NAL9602](IMPORTANT): GPS fix at: 1345659384.00 2012-08-22T18:16:33.000Z,1345659393.000 [NAL9602](IMPORTANT): GPS fix at: 1345659393.00 2012-08-22T18:16:33.422Z,1345659393.422 [CBIT](IMPORTANT): No ground fault detected 2012-08-22T18:16:41.000Z,1345659401.000 [NAL9602](IMPORTANT): GPS fix at: 1345659401.00 2012-08-22T18:16:50.000Z,1345659410.000 [NAL9602](IMPORTANT): GPS fix at: 1345659410.00 2012-08-22T18:16:50.821Z,1345659410.821 [IBIT](IMPORTANT): Communications Status: Fix Status: 1 Iridium Signal Strength: 4 Latitude: 36.802582 Longitude: -121.787567 2012-08-22T18:16:51.220Z,1345659411.220 [IBIT](IMPORTANT): batteryCapacityThreshold: 5.000000 Ah 2012-08-22T18:16:51.220Z,1345659411.220 [IBIT](IMPORTANT): batteryVoltageThreshold: 13.500000 V 2012-08-22T18:16:51.221Z,1345659411.221 [IBIT](IMPORTANT): Battery Status: Battery Charge (AH): 240.349976 Voltage: 16.311562 2012-08-22T18:16:51.734Z,1345659411.734 [IBIT](IMPORTANT): bitHumidityThreshold: 55.000000 % 2012-08-22T18:16:51.734Z,1345659411.734 [IBIT](IMPORTANT): bitPressureThreshold: 1.500000 psi 2012-08-22T18:16:51.735Z,1345659411.735 [IBIT](IMPORTANT): Pressure:17.637238 PSI 2012-08-22T18:16:51.735Z,1345659411.735 [IBIT](IMPORTANT): Humidity:3.639164 % 2012-08-22T18:16:52.077Z,1345659412.077 [IBIT](IMPORTANT): surfaceThreshold: 0.500000 m 2012-08-22T18:16:52.077Z,1345659412.077 [IBIT](IMPORTANT): buoyancyDefault: 945.000000 cc 2012-08-22T18:16:52.078Z,1345659412.078 [IBIT](IMPORTANT): stopDepth: 70.000000 m 2012-08-22T18:16:52.078Z,1345659412.078 [IBIT](IMPORTANT): abortDepth: 90.000000 m 2012-08-22T18:16:52.078Z,1345659412.078 [IBIT](IMPORTANT): IBIT FAILED 2012-08-22T18:47:01.000Z,1345661221.000 [NAL9602](IMPORTANT): GPS fix at: 1345661221.00 2012-08-22T18:53:53.000Z,1345661633.000 [NAL9602](IMPORTANT): GPS fix at: 1345661633.00 2012-08-22T18:59:44.000Z,1345661984.000 [NAL9602](IMPORTANT): GPS fix at: 1345661984.00 2012-08-22T19:02:15.103Z,1345662135.103 [CBIT](CRITICAL): Environmental Failure. Press:16.044213 PSI. Humidity:3%. Temp:20 C. ABORTING MISSION 2012-08-22T19:05:34.000Z,1345662334.000 [NAL9602](IMPORTANT): GPS fix at: 1345662334.00 2012-08-22T19:11:21.000Z,1345662681.000 [NAL9602](IMPORTANT): GPS fix at: 1345662681.00 2012-08-22T19:18:02.000Z,1345663082.000 [NAL9602](IMPORTANT): GPS fix at: 1345663082.00 2012-08-22T19:22:57.000Z,1345663377.000 [NAL9602](IMPORTANT): GPS fix at: 1345663377.00 2012-08-22T19:28:32.709Z,1345663712.709 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=85, MT Status=1, MTMSN=3 2012-08-22T19:28:33.407Z,1345663713.407 [CommandLine](IMPORTANT): got command run ./Missions/Transport/transit_3km.xml 2012-08-22T19:28:33.943Z,1345663713.943 [CommandLine](IMPORTANT): Running ./Missions/Transport/transit_3km.xml 2012-08-22T19:28:34.100Z,1345663714.100 [MissionManager](IMPORTANT): Started mission transit_3km 2012-08-22T19:28:35.000Z,1345663715.000 [NAL9602](IMPORTANT): GPS fix at: 1345663715.00 2012-08-22T19:29:25.930Z,1345663765.930 [VerticalControl](CRITICAL): Can not stop descending, stopping mission at depth excursion=6.226549, upwardsErrorDepth_=0.517379, depthRate=0.136985 2012-08-22T19:29:26.555Z,1345663766.555 [MissionManager](IMPORTANT): Started mission Default 2012-08-22T19:32:03.000Z,1345663923.000 [NAL9602](IMPORTANT): GPS fix at: 1345663923.00 2012-08-22T19:37:21.123Z,1345664241.123 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=89, MT Status=1, MTMSN=4 2012-08-22T19:37:21.641Z,1345664241.641 [CommandLine](IMPORTANT): got command run ./Missions/Transport/transit_3km.xml 2012-08-22T19:37:21.846Z,1345664241.846 [CommandLine](IMPORTANT): Running ./Missions/Transport/transit_3km.xml 2012-08-22T19:37:21.914Z,1345664241.914 [MissionManager](IMPORTANT): Started mission transit_3km 2012-08-22T19:37:32.000Z,1345664252.000 [NAL9602](IMPORTANT): GPS fix at: 1345664252.00 2012-08-22T19:38:12.806Z,1345664292.806 [VerticalControl](CRITICAL): Can not stop descending, stopping mission at depth excursion=6.185384, upwardsErrorDepth_=0.644330, depthRate=0.148634 2012-08-22T19:38:13.488Z,1345664293.488 [MissionManager](IMPORTANT): Started mission Default 2012-08-22T19:40:51.000Z,1345664451.000 [NAL9602](IMPORTANT): GPS fix at: 1345664451.00 2012-08-22T19:46:28.000Z,1345664788.000 [NAL9602](IMPORTANT): GPS fix at: 1345664788.00 2012-08-22T19:58:00.315Z,1345665480.315 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=92, MT Status=1, MTMSN=5 2012-08-22T19:58:00.863Z,1345665480.863 [CommandLine](IMPORTANT): got command run ./Missions/Transport/transit_3km.xml 2012-08-22T19:58:01.024Z,1345665481.024 [CommandLine](IMPORTANT): Running ./Missions/Transport/transit_3km.xml 2012-08-22T19:58:01.166Z,1345665481.166 [MissionManager](IMPORTANT): Started mission transit_3km 2012-08-22T19:58:05.000Z,1345665485.000 [NAL9602](IMPORTANT): GPS fix at: 1345665485.00 2012-08-22T19:58:52.175Z,1345665532.175 [VerticalControl](CRITICAL): Can not stop descending, stopping mission at depth excursion=6.408084, upwardsErrorDepth_=0.509580, depthRate=0.141411 2012-08-22T19:58:52.957Z,1345665532.957 [MissionManager](IMPORTANT): Started mission Default 2012-08-22T20:01:19.972Z,1345665679.972 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=93, MT Status=1, MTMSN=6 2012-08-22T20:01:20.550Z,1345665680.550 [CommandLine](IMPORTANT): got command configSet VerticalControl.massDefault -1.000000 centimeter persist 2012-08-22T20:01:21.000Z,1345665681.000 [NAL9602](IMPORTANT): GPS fix at: 1345665681.00 2012-08-22T20:10:02.359Z,1345666202.359 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=100, MT Status=1, MTMSN=7 2012-08-22T20:10:03.048Z,1345666203.048 [CommandLine](IMPORTANT): got command configSet VerticalControl.massDefault -1.500000 centimeter persist 2012-08-22T20:10:05.000Z,1345666205.000 [NAL9602](IMPORTANT): GPS fix at: 1345666205.00 2012-08-22T20:10:45.644Z,1345666245.644 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=101, MT Status=1, MTMSN=8 2012-08-22T20:10:46.256Z,1345666246.256 [CommandLine](IMPORTANT): got command run ./Missions/Transport/transit_3km.xml 2012-08-22T20:10:46.498Z,1345666246.498 [CommandLine](IMPORTANT): Running ./Missions/Transport/transit_3km.xml 2012-08-22T20:10:46.522Z,1345666246.522 [MissionManager](IMPORTANT): Started mission transit_3km 2012-08-22T20:10:48.000Z,1345666248.000 [NAL9602](IMPORTANT): GPS fix at: 1345666248.00 2012-08-22T20:27:55.000Z,1345667275.000 [NAL9602](IMPORTANT): GPS fix at: 1345667275.00 2012-08-22T20:27:55.016Z,1345667275.016 [Navigation](IMPORTANT): Error 3.8 %DT at bearing -24.0 deg., over the last 646.0 m. 2012-08-22T21:01:02.000Z,1345669262.000 [NAL9602](IMPORTANT): GPS fix at: 1345669262.00 2012-08-22T21:01:02.016Z,1345669262.016 [Navigation](IMPORTANT): Error 8.6 %DT at bearing -45.8 deg., over the last 1388.1 m. 2012-08-22T21:01:02.016Z,1345669262.016 [Navigation](IMPORTANT): Distance made good 1376.0 m, at (36.8098, -121.8199). 2012-08-22T21:01:28.737Z,1345669288.737 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=107, MT Status=1, MTMSN=9 2012-08-22T21:01:29.478Z,1345669289.478 [CommandLine](IMPORTANT): got command load ./Missions/Transport/transit_drift_north.xml 2012-08-22T21:01:29.910Z,1345669289.910 [CommandLine](IMPORTANT): Loaded ./Missions/Transport/transit_drift_north.xml 2012-08-22T21:01:30.101Z,1345669290.101 [CommandLine](IMPORTANT): got command set transit_drift_north:transit.Wpt1Lat 36.815399 degree 2012-08-22T21:01:30.337Z,1345669290.337 [CommandLine](IMPORTANT): got command set transit_drift_north:transit.Wpt1Lon -121.869003 degree 2012-08-22T21:01:30.339Z,1345669290.339 [CommandLine](IMPORTANT): got command run 2012-08-22T21:01:30.339Z,1345669290.339 [CommandLine](IMPORTANT): Running 2012-08-22T21:01:30.354Z,1345669290.354 [MissionManager](IMPORTANT): Started mission transit_drift_north 2012-08-22T21:01:33.000Z,1345669293.000 [NAL9602](IMPORTANT): GPS fix at: 1345669293.00 2012-08-22T21:03:05.000Z,1345669385.000 [NAL9602](IMPORTANT): GPS fix at: 1345669385.00 2012-08-22T21:03:12.759Z,1345669392.759 [ThrusterServo](FAULT): Overload Error 2012-08-22T21:53:53.000Z,1345672433.000 [NAL9602](IMPORTANT): GPS fix at: 1345672433.00 2012-08-22T21:53:53.015Z,1345672433.015 [Navigation](IMPORTANT): Error 4.4 %DT at bearing -123.0 deg., over the last 2753.8 m. 2012-08-22T21:53:53.015Z,1345672433.015 [Navigation](IMPORTANT): Distance made good 2669.7 m, at (36.8139, -121.8494). 2012-08-22T21:54:55.000Z,1345672495.000 [NAL9602](IMPORTANT): GPS fix at: 1345672495.00 2012-08-22T22:09:45.848Z,1345673385.848 [ThrusterServo](FAULT): Overload Error 2012-08-22T22:27:43.501Z,1345674463.501 [BuoyancyServo](FAULT): Unknown EZ Servo Error: 10 2012-08-22T22:27:43.502Z,1345674463.502 [BuoyancyServo](FAULT): Buoyancy engine reporting null position 2012-08-22T22:30:17.857Z,1345674617.857 [MassServo](FAULT): Bad Operand Error 2012-08-22T22:30:20.973Z,1345674620.973 [MassServo](FAULT): Mass shifter EEPROM initialization uart error serial timeout 2012-08-22T22:30:50.000Z,1345674650.000 [NAL9602](IMPORTANT): GPS fix at: 1345674650.00 2012-08-22T22:30:50.015Z,1345674650.015 [Navigation](IMPORTANT): Error 10.2 %DT at bearing -95.4 deg., over the last 2021.2 m. 2012-08-22T22:30:50.015Z,1345674650.015 [Navigation](IMPORTANT): Distance made good 1471.4 m, at (36.8160, -121.8658). 2012-08-22T22:31:44.000Z,1345674704.000 [NAL9602](IMPORTANT): GPS fix at: 1345674704.00 2012-08-22T22:31:44.774Z,1345674704.774 [MissionManager](IMPORTANT): Started mission Default 2012-08-22T22:37:44.086Z,1345675064.086 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=125, MT Status=1, MTMSN=10 2012-08-22T22:37:44.720Z,1345675064.720 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/ballast_and_trim.xml 2012-08-22T22:37:45.109Z,1345675065.109 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/ballast_and_trim.xml 2012-08-22T22:37:45.307Z,1345675065.307 [MissionManager](IMPORTANT): Started mission ballast_and_trim 2012-08-22T22:37:57.000Z,1345675077.000 [NAL9602](IMPORTANT): GPS fix at: 1345675077.00 2012-08-22T22:38:47.000Z,1345675127.000 [NAL9602](IMPORTANT): GPS fix at: 1345675127.00 2012-08-22T23:03:48.211Z,1345676628.211 [ballast_and_trim:ballast:ReportPositions:A](IMPORTANT): Buoyancy: 86.344808 cc Mass: -2.381700 cm Pitch: -2.442090 arcdeg 2012-08-22T23:04:48.750Z,1345676688.750 [ballast_and_trim:ballast:ReportPositions:A](IMPORTANT): Buoyancy: 86.344808 cc Mass: -2.381700 cm Pitch: -3.430860 arcdeg 2012-08-22T23:05:49.312Z,1345676749.312 [ballast_and_trim:ballast:ReportPositions:A](IMPORTANT): Buoyancy: 86.344808 cc Mass: -2.381700 cm Pitch: -0.618359 arcdeg 2012-08-22T23:06:50.104Z,1345676810.104 [ballast_and_trim:ballast:ReportPositions:A](IMPORTANT): Buoyancy: 86.344808 cc Mass: -2.381700 cm Pitch: -0.398633 arcdeg 2012-08-22T23:07:50.719Z,1345676870.719 [ballast_and_trim:ballast:ReportPositions:A](IMPORTANT): Buoyancy: 86.344808 cc Mass: -2.381700 cm Pitch: 3.160937 arcdeg 2012-08-22T23:08:51.687Z,1345676931.687 [MissionManager](IMPORTANT): Started mission Default 2012-08-22T23:10:32.000Z,1345677032.000 [NAL9602](IMPORTANT): GPS fix at: 1345677032.00 2012-08-22T23:10:32.014Z,1345677032.014 [Navigation](IMPORTANT): Error 91.1 %DT at bearing -143.2 deg., over the last 889.9 m. 2012-08-22T23:10:32.014Z,1345677032.014 [Navigation](IMPORTANT): Distance made good 408.7 m, at (36.8181, -121.8695). 2012-08-22T23:16:58.000Z,1345677418.000 [NAL9602](IMPORTANT): GPS fix at: 1345677418.00 2012-08-22T23:25:33.000Z,1345677933.000 [NAL9602](IMPORTANT): GPS fix at: 1345677933.00 2012-08-22T23:32:06.000Z,1345678326.000 [NAL9602](IMPORTANT): GPS fix at: 1345678326.00 2012-08-22T23:38:22.000Z,1345678702.000 [NAL9602](IMPORTANT): GPS fix at: 1345678702.00 2012-08-22T23:44:45.000Z,1345679085.000 [NAL9602](IMPORTANT): GPS fix at: 1345679085.00 2012-08-22T23:50:49.000Z,1345679449.000 [NAL9602](IMPORTANT): GPS fix at: 1345679449.00 2012-08-22T23:50:59.978Z,1345679459.978 [CBIT](CRITICAL): Environmental Failure. Press:16.044213 PSI. Humidity:3%. Temp:16 C. ABORTING MISSION 2012-08-22T23:56:30.782Z,1345679790.782 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=144, MT Status=1, MTMSN=11 2012-08-22T23:56:31.436Z,1345679791.436 [CommandLine](IMPORTANT): got command restart application