makai Path

trajectory

20220504T210128 [CommandExec]:got command set NAL9602.time_fix 1651698077 second

20220504T210149 [CommandExec]:got command report mod VerticalControl.verticalMode

20220504T210149 [CommandExec]:got command report mod HorizontalControl.headingCmd

20220504T210149 [CommandExec]:got command report mod VerticalControl.depthCmd

20220504T210149 [CommandExec]:got command report mod SpeedControl.speedCmd

20220504T210214 [DVL_micro]:only read 3 of 4 data items

20220504T210337 [CommandExec]:got command schedule asap "load Science/isotherm_depth_sampling.xml;set IsothermDepthSampling.InitialDiveDuration 1 min;set IsothermDepthSampling.WallMarginDuration 1 min;set IsothermDepthSampling.SpeedInitialDive 0.5 m/s" v95f 1 3.000000

20220504T210337 [CommandExec]:Scheduling command #1 of 3 with id=v95f

20220504T210337 [CommandExec]:Scheduled #1 (#1 of 3 with id='v95f'): "load Science/isotherm_depth_sampling.xml;set IsothermDepthSampling.InitialDiveDuration 1 min;set IsothermDepthSampling.WallMarginDuration 1 min;set IsothermDepthSampling.SpeedInitialDive 0.5 m/s", ASAP

20220504T210345 [CommandExec]:got command schedule asap "set IsothermDepthSampling.SpeedSampling 0 m/s;set IsothermDepthSampling.CartridgeTypeCommon -10 count;set IsothermDepthSampling.CartridgeType1 -10 count;set IsothermDepthSampling.Dep1 10 m" v95f 2 3.000000

20220504T210345 [CommandExec]:Scheduling command #2 of 3 with id=v95f

20220504T210345 [CommandExec]:Scheduled #2 (#2 of 3 with id='v95f'): "set IsothermDepthSampling.SpeedSampling 0 m/s;set IsothermDepthSampling.CartridgeTypeCommon -10 count;set IsothermDepthSampling.CartridgeType1 -10 count;set IsothermDepthSampling.Dep1 10 m", ASAP

20220504T210353 [CommandExec]:got command schedule asap "set IsothermDepthSampling.WaitDepUndulationCommon 1 min;set IsothermDepthSampling.WaitDepUndulation1 1 min;run" v95f 3 3.000000

20220504T210353 [CommandExec]:Scheduling command #3 of 3 with id=v95f

20220504T210353 [CommandExec]:Scheduled #3 (#3 of 3 with id='v95f'): "set IsothermDepthSampling.WaitDepUndulationCommon 1 min;set IsothermDepthSampling.WaitDepUndulation1 1 min;run", ASAP

20220504T210353 [CommandExec]:got command load ./Missions/Science/isotherm_depth_sampling.xml

20220504T210404 [MissionManager]:Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature

20220504T210404 [MissionManager]:Slate does not contain celsius

20220504T210415 [CommandExec]:Loaded ./Missions/Science/isotherm_depth_sampling.xml

20220504T210438 [CommandExec]:got command set IsothermDepthSampling.InitialDiveDuration 1 minute

20220504T210438 [CommandExec]:got command set IsothermDepthSampling.WallMarginDuration 1 minute

20220504T210438 [CommandExec]:got command set IsothermDepthSampling.SpeedInitialDive 0.5 meter_per_second

20220504T210457 [CommandExec]:got command set IsothermDepthSampling.SpeedSampling 0 meter_per_second

20220504T210457 [CommandExec]:got command set IsothermDepthSampling.CartridgeTypeCommon -10 count

20220504T210457 [CommandExec]:got command set IsothermDepthSampling.CartridgeType1 -10 count

20220504T210457 [CommandExec]:got command set IsothermDepthSampling.Dep1 10 meter

20220504T210507 [CommandExec]:got command set IsothermDepthSampling.WaitDepUndulationCommon 1 minute

20220504T210507 [CommandExec]:got command set IsothermDepthSampling.WaitDepUndulation1 1 minute

20220504T210507 [CommandExec]:got command run

20220504T210507 [CommandExec]:Running

20220504T210507 [MissionManager]:Started mission IsothermDepthSampling

20220504T210507 [IsothermDepthSampling:AbortDrift:B.AbortDrift]:Acoustic timeout set to: 21.00 hours.

20220504T210509 [IsothermDepthSampling:L.AltitudeEnvelope]:Altitude Measurement is not Active.

20220504T210511 [CTD_Seabird]:Failed to parse device response: #

20220504T210514 [CTD_Seabird]:Salinity reading out of range: 0.000000 psu

20220504T210515 [CTD_Seabird]:Salinity reading out of range: 0.000000 psu

20220504T210516 [CTD_Seabird]:Salinity reading out of range: 0.000000 psu

20220504T210613 [DVL_micro]:only read 0 of 1 data item for BIT error

20220504T210821 [CommandExec]:got command set NAL9602.time_fix 1651698490 second

20220504T210823 [CommandExec]:got command show stack

20220504T210823 [CommandExec]:Behavior Stack:#

20220504T210823 [IsothermDepthSampling]:Priority 0: IsothermDepthSampling:A.AbortSample

20220504T210823 [IsothermDepthSampling:StandardEnvelopes]:Priority 1: IsothermDepthSampling:StandardEnvelopes:A.AltitudeEnvelope

20220504T210823 [IsothermDepthSampling:StandardEnvelopes]:Priority 2: IsothermDepthSampling:StandardEnvelopes:B.DepthEnvelope

20220504T210823 [IsothermDepthSampling:StandardEnvelopes]:Priority 3: IsothermDepthSampling:StandardEnvelopes:C.OffshoreEnvelope

20220504T210823 [IsothermDepthSampling:AbortDrift]:Priority 4: IsothermDepthSampling:AbortDrift:B.AbortDrift

20220504T210823 [IsothermDepthSampling:Science]:Priority 5: IsothermDepthSampling:Science:B

20220504T210823 [IsothermDepthSampling:Science]:Priority 6: IsothermDepthSampling:Science:C

20220504T210823 [IsothermDepthSampling:Science]:Priority 7: IsothermDepthSampling:Science:E

20220504T210823 [IsothermDepthSampling:Science:OceanCurrent]:Priority 8: IsothermDepthSampling:Science:OceanCurrent:A.

20220504T210823 [IsothermDepthSampling:NeedComms]:Priority 9: IsothermDepthSampling:NeedComms:B.GoToSurface

20220504T210823 [IsothermDepthSampling:NeedComms]:Priority 10: IsothermDepthSampling:NeedComms:D

20220504T210823 [IsothermDepthSampling]:Priority 11: IsothermDepthSampling:J

20220504T210823 [IsothermDepthSampling]:Priority 12: IsothermDepthSampling:K.Pitch

20220504T210823 [IsothermDepthSampling]:Priority 13: IsothermDepthSampling:L.AltitudeEnvelope

20220504T210824 [DVL_micro]:only read 0 of 1 data item for BIT error

20220504T210902 [CommandExec]:got command configSet CTD_Seabird.loadAtStartup 0 bool persist

20220504T210902 [CommandExec]:configSet CTD_Seabird.loadAtStartup requires a restart to take effect.

20220504T210921 [CommandExec]:got command set NAL9602.time_fix 1651698552 second

20220504T210938 [CommandExec]:got command get VerticalControl.verticalMode

20220504T210938 [CommandExec]:VerticalControl.verticalMode 8 enum

20220504T210947 [CommandExec]:got command get platform_buoyancy_position

20220504T210947 [CommandExec]:platform_buoyancy_position 954.460083 cc

20220504T210957 [DVL_micro]:only read 0 of 1 data item for BIT error

20220504T210959 [CommandExec]:got command get platform_buoyancy_position

20220504T210959 [CommandExec]:platform_buoyancy_position 954.460083 cc

20220504T211013 [NAL9602]:MT Queue status failed to be acquired within timeout. Will not retry this session.

20220504T211033 [IsothermDepthSampling:SetSampleOptions:N]:Set CartridgeType (if ESP), TempDiffFromPeakChl, DepDiffFromPeakChl, TempDesignated, DepthDesignated, WaitDepthUndulation to -10.000000 count , nan K , nan m , nan degC , 10.000000 m , 1.000000 min .

20220504T211037 [IsothermDepthSampling:TakeSamples:FiringOnDepth:E]:Taking sample No. 1.000000 count . Target depth = 10.000000 m .

20220504T211037 [IsothermDepthSampling:TakeSamples:FiringOnDepth:F]:If ESP, requesting ESP cartridge type: -10.000000 count

20220504T211055 [CommandExec]:got command maintain sensor Depth_Keller.depth 10 meter

20220504T211115 [CommandExec]:got command show best latitude

20220504T211115 [CommandExec]:latitude best is DeadReckonUsingMultipleVelocitySources.latitude

20220504T211159 sampling at 10.000000 m in 20.202448 degC water with nan ug/l chlorophyll fluorescence.

20220504T211237 [CommandExec]:got command maintain sensor DeadReckonUsingMultipleVelocitySources.latitude 34.333 degree

20220504T211238 wall: latitude = 34.318001 arcdeg , longitude = -119.774002 arcdeg , shortest distance 53.238361 m to side 0 count is less than MinDistFromPolygonSides 200.000000 m .

20220504T211254 [CommandExec]:got command get SpeedControl.speedCmd

20220504T211254 [CommandExec]:SpeedControl.speedCmd 0.000000 m/s

20220504T211320 [CommandExec]:got command maintain sensor NAL9602.latitude_fix 34.333 degree

20220504T211351 [CommandExec]:got command get SpeedControl.speedCmd

20220504T211351 [CommandExec]:SpeedControl.speedCmd 0.000000 m/s

20220504T211412 [CommandExec]:got command maintain sensor DeadReckonUsingMultipleVelocitySources.latitude 34.333 degree

20220504T211440 [CommandExec]:got command show stack

20220504T211440 [CommandExec]:Behavior Stack:#

20220504T211440 [IsothermDepthSampling]:Priority 0: IsothermDepthSampling:A.AbortSample

20220504T211440 [IsothermDepthSampling:StandardEnvelopes]:Priority 1: IsothermDepthSampling:StandardEnvelopes:A.AltitudeEnvelope

20220504T211440 [IsothermDepthSampling:StandardEnvelopes]:Priority 2: IsothermDepthSampling:StandardEnvelopes:B.DepthEnvelope

20220504T211440 [IsothermDepthSampling:StandardEnvelopes]:Priority 3: IsothermDepthSampling:StandardEnvelopes:C.OffshoreEnvelope

20220504T211440 [IsothermDepthSampling:AbortDrift]:Priority 4: IsothermDepthSampling:AbortDrift:B.AbortDrift

20220504T211440 [IsothermDepthSampling:Science]:Priority 7: IsothermDepthSampling:Science:B

20220504T211440 [IsothermDepthSampling:Science]:Priority 8: IsothermDepthSampling:Science:C

20220504T211440 [IsothermDepthSampling:Science]:Priority 9: IsothermDepthSampling:Science:E

20220504T211440 [IsothermDepthSampling:Science:OceanCurrent]:Priority 10: IsothermDepthSampling:Science:OceanCurrent:A.

20220504T211440 [IsothermDepthSampling]:Priority 11: IsothermDepthSampling:J

20220504T211440 [IsothermDepthSampling]:Priority 12: IsothermDepthSampling:K.Pitch

20220504T211440 [IsothermDepthSampling]:Priority 13: IsothermDepthSampling:L.AltitudeEnvelope

20220504T211800 [CommandExec]:got command show variable hashitwall

20220504T211800 [CommandExec]:IsothermDepthSampling.HasHitWall (bool)

20220504T211810 [CommandExec]:got command get IsothermDepthSampling.HasHitWall

20220504T211810 [CommandExec]:IsothermDepthSampling.HasHitWall 1 bool

20220504T212111 [DVL_micro]:only read 3 of 4 data items

20220504T212203 [CommandExec]:got command show stack

20220504T212203 [CommandExec]:Behavior Stack:#

20220504T212203 [IsothermDepthSampling]:Priority 0: IsothermDepthSampling:A.AbortSample

20220504T212203 [IsothermDepthSampling:StandardEnvelopes]:Priority 1: IsothermDepthSampling:StandardEnvelopes:A.AltitudeEnvelope

20220504T212203 [IsothermDepthSampling:StandardEnvelopes]:Priority 2: IsothermDepthSampling:StandardEnvelopes:B.DepthEnvelope

20220504T212203 [IsothermDepthSampling:StandardEnvelopes]:Priority 3: IsothermDepthSampling:StandardEnvelopes:C.OffshoreEnvelope

20220504T212203 [IsothermDepthSampling:AbortDrift]:Priority 4: IsothermDepthSampling:AbortDrift:B.AbortDrift

20220504T212203 [IsothermDepthSampling:Science]:Priority 7: IsothermDepthSampling:Science:B

20220504T212203 [IsothermDepthSampling:Science]:Priority 8: IsothermDepthSampling:Science:C

20220504T212203 [IsothermDepthSampling:Science]:Priority 9: IsothermDepthSampling:Science:E

20220504T212203 [IsothermDepthSampling:Science:OceanCurrent]:Priority 10: IsothermDepthSampling:Science:OceanCurrent:A.

20220504T212203 [IsothermDepthSampling]:Priority 11: IsothermDepthSampling:J

20220504T212203 [IsothermDepthSampling]:Priority 12: IsothermDepthSampling:K.Pitch

20220504T212203 [IsothermDepthSampling]:Priority 13: IsothermDepthSampling:L.AltitudeEnvelope

20220504T212228 [CommandExec]:got command get SpeedControl.speedCmd

20220504T212228 [CommandExec]:SpeedControl.speedCmd 0.000000 m/s

20220504T212336 [CommandExec]:got command get platform_buoyancy_position

20220504T212336 [CommandExec]:platform_buoyancy_position 213.124023 cc

20220504T212442 [CommandExec]:got command show variable speedTransit

20220504T212442 [CommandExec]:IsothermDepthSampling.SpeedTransit (meter_per_second)

20220504T212454 [CommandExec]:got command get IsothermDepthSampling.SpeedTransit

20220504T212454 [CommandExec]:IsothermDepthSampling.SpeedTransit 1.000000 m/s

20220504T212456 [VerticalControl]:Failure to ascend, stopping mission after 840.248962 seconds, depthRate=0.325304 m/s, pitch=-2.023336 deg.

20220504T212457 [MissionManager]:Started mission Default

20220504T212506 [CommandExec]:got command maintain sensor Depth_Keller.depth 0 meter

20220504T212512 [NAL9602]:GPS failed to acquire within timeout.

20220504T212512 [CBIT]:Data Fault in component: NAL9602

20220504T213058 [NAL9602]:MT Queue status failed to be acquired within timeout. Will not retry this session.

20220504T213100 [DVL_micro]:only read 3 of 4 data items

20220504T213539 [Default:CheckIn:E]:Default mission has been running for 10.699328 min

20220504T213612 [NAL9602]:Failed to receive proper response when querying signal strength for MT queue check.

20220504T214043 [NAL9602]:MT Queue status failed to be acquired within timeout. Will not retry this session.

20220504T214609 [Default:CheckIn:E]:Default mission has been running for 21.197335 min

20220504T214611 [NAL9602]:GPS failed to acquire within timeout.

20220504T214611 [CBIT]:Data Fault in component: NAL9602

20220504T215214 [CommandExec]:got command report mod CBIT.ampHoursUsed

20220504T215223 [CommandExec]:got command maintain clear

20220504T215612 [Default:CheckIn:E]:Default mission has been running for 31.243140 min

20220504T215645 [NAL9602]:Failed to receive proper response when querying signal strength for MT queue check.

20220504T220432 [DVL_micro]:DVL uart error: serial timeout

20220504T220432 [DVL_micro]:Communications Fault

20220504T220432 [DVL_micro]:Failed to parse:

20220504T220432 [CBIT]:Communications Fault in component: DVL_micro

20220504T220640 [NAL9602]:GPS failed to acquire within timeout.

20220504T220641 [CBIT]:Data Fault in component: NAL9602

20220504T220840 [CommandExec]:got command maintain control SpeedControl.propOmegaAction 300 revolution_per_minute

20220504T220843 [CommandExec]:got command strobe off

20220504T220843 [CommandExec]:Deactivating strobe

20220504T221359 [CBIT]:Main Battery Failure. Count: 1

20220504T221400 [DVL_micro]:No DVL communication! Re-initializing

20220504T221400 [DVL_micro]:Communications Fault

20220504T221400 [CBIT]:Communications Fault in component: DVL_micro

20220504T221403 [CBIT]:Main Battery Failure. Count: 11

20220504T221407 [CBIT]:Main Battery Failure. Count: 21

20220504T221411 [AHRS_M2]:Failed to acquire valid data within timeout.

20220504T221411 [CBIT]:Data Fault in component: AHRS_M2

20220504T221417 [AHRS_M2]:LCB fault: Hardware Overcurrent Shutdown. Current Limiter Activated.

20220504T221417 [AHRS_M2]:Hardware Fault

20220504T221417 [CBIT]:Hardware Fault in component: AHRS_M2

20220504T221418 [AHRS_M2]:LCB fault: Hardware Overcurrent Shutdown. Current Limiter Activated.

20220504T221419 [DVL_micro]:Failed to initialize within timeout.

20220504T221419 [DVL_micro]:Communications Fault

20220504T221419 [CBIT]:Communications Fault in component: DVL_micro

20220504T221422 [AHRS_M2]:Start data-stream UART error: serial timeout

20220504T221424 [AHRS_M2]:LCB fault: Hardware Overcurrent Shutdown. Current Limiter Activated.

20220504T221424 [AHRS_M2]:Hardware Fault

20220504T221424 [CBIT]:Hardware Fault in component: AHRS_M2

20220504T221430 [AHRS_M2]:Hardware Fault

20220504T221430 [CBIT]:Hardware Fault in component: AHRS_M2

20220504T221438 [DVL_micro]:Failed to initialize within timeout.

20220504T221445 [CommandExec]:got command failComponent

20220504T221445 [CommandExec]:Failed components:

20220504T221445 [CommandExec]:DVL_micro: Communications Fault

20220504T221458 [CommandExec]:got command get platform_orientation degree

20220504T221458 [CommandExec]:platform_orientation 58.393138 arcdeg

20220504T221530 [CommandExec]:got command maintain control VerticalControl.elevatorAngleAction 10 degree

20220504T221552 [CommandExec]:got command failComponent

20220504T221552 [CommandExec]:Failed components:

20220504T221552 [CommandExec]:DVL_micro: Communications Fault

20220504T221606 [CommandExec]:got command get platform_elevator_angle degree

20220504T221606 [CommandExec]:Element has no value

20220504T221609 [CommandExec]:got command failComponent

20220504T221609 [CommandExec]:Failed components:

20220504T221609 [CommandExec]:DVL_micro: Communications Fault

20220504T221621 [CommandExec]:got command show variable elevator

20220504T221621 [CommandExec]:ElevatorServo.loadControl (none)

20220504T221621 [CommandExec]:ElevatorServo.uart (none)

20220504T221621 [CommandExec]:ElevatorServo.baud (bit_per_second)

20220504T221621 [CommandExec]:ElevatorServo.loadAtStartup (bool)

20220504T221621 [CommandExec]:ElevatorServo.simulateHardware (bool)

20220504T221621 [CommandExec]:ElevatorServo.countsPerDeg (count_per_angular_degree)

20220504T221621 [CommandExec]:ElevatorServo.currLimit (percent)

20220504T221621 [CommandExec]:ElevatorServo.deviationAngle (angular_degree)

20220504T221621 [CommandExec]:ElevatorServo.limitHi (count)

20220504T221621 [CommandExec]:ElevatorServo.limitLo (count)

20220504T221621 [CommandExec]:ElevatorServo.mtrCenter (count)

20220504T221621 [CommandExec]:ElevatorServo.offsetAngle (degree)

20220504T221621 [CommandExec]:ElevatorServo.pidW (count)

20220504T221621 [CommandExec]:ElevatorServo.pidX (count)

20220504T221621 [CommandExec]:ElevatorServo.pidY (count)

20220504T221621 [CommandExec]:ElevatorServo.powerOnTimeout (second)

20220504T221621 [CommandExec]:VerticalControl.kdPitchElevator (second)

20220504T221621 [CommandExec]:VerticalControl.kiPitchElevator (reciprocal_second)

20220504T221621 [CommandExec]:VerticalControl.kpPitchElevator (none)

20220504T221621 [CommandExec]:VerticalControl.maxPitchElevatorInt (angular_degree)

20220504T221621 [CommandExec]:ElevatorOffsetCalculator.loadAtStartup (bool)

20220504T221621 [CommandExec]:ElevatorOffsetCalculator.targetConfidenceLevel (percent)

20220504T221621 [CommandExec]:ElevatorOffsetCalculator.targetErrorBound (degree)

20220504T221621 [CommandExec]:ElevatorOffsetCalculator.verbosity (count)

20220504T221621 [CommandExec]:VerticalControl.elevatorAngleCmd (radian)

20220504T221621 [CommandExec]:ElevatorOffsetCalculator.enableBroadcast (bool)

20220504T221621 [CommandExec]:VerticalControl.elevatorIntegralInternal (radian)

20220504T221621 [CommandExec]:VerticalControl.elevatorAngleAction (radian)

20220504T221643 [CommandExec]:got command get ElevatorServo.loadAtStartup

20220504T221643 [CommandExec]:ElevatorServo.loadAtStartup 0 bool

20220504T221723 [CommandExec]:got command restart application