makai Path

trajectory

20250312T053549 [CommandExec]:got command configSet CBIT.runNavErrorCritical 0 bool persist

20250312T053549 [CommandExec]:Not allowing to overwrite existing Data/persisted.cfg after unclean shutdown.

20250312T053549 [CommandExec]:got command restart logs

20250312T053821 [Default:CheckIn:E]:Default mission has been running for 7.500632 min

20250312T053842 [NAL9602]:Failed to initiate SBD session. Error code: 2

20250312T054429 [Default:CheckIn:E]:Default mission has been running for 13.636644 min

20250312T054450 [CommandExec]:got command schedule asap "load Engineering/passive_acoustic_monitoring.tl;set PAM.MissionTimeout 10 h;set PAM.SurfacingIntervalDuringListening 6 h;set PAM.NeedCommsMaxWait 7 h;set PAM.NeedCommsTimeInTransit 30 min;set PAM.Depth 40 m" 31p9r 1 3.000000

20250312T054450 [CommandExec]:Scheduling command #1 of 3 with id=31p9r

20250312T054450 [CommandExec]:Scheduled #7 (#1 of 3 with id='31p9r'): "load Engineering/passive_acoustic_monitoring.tl;set PAM.MissionTimeout 10 h;set PAM.SurfacingIntervalDuringListening 6 h;set PAM.NeedCommsMaxWait 7 h;set PAM.NeedCommsTimeInTransit 30 min;set PAM.Depth 40 m", ASAP

20250312T054459 [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" 31p9r 2 3.000000

20250312T054459 [CommandExec]:Scheduling command #2 of 3 with id=31p9r

20250312T054459 [CommandExec]:Scheduled #8 (#2 of 3 with id='31p9r'): "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

20250312T054507 [CommandExec]:got command schedule asap "set PAM.LatListening 36.797 degree;set PAM.LonListening -121.847 degree;set PAM:PowerOnly.SampleLoad1 1 bool;run" 31p9r 3 3.000000

20250312T054507 [CommandExec]:Scheduling command #3 of 3 with id=31p9r

20250312T054507 [CommandExec]:Scheduled #9 (#3 of 3 with id='31p9r'): "set PAM.LatListening 36.797 degree;set PAM.LonListening -121.847 degree;set PAM:PowerOnly.SampleLoad1 1 bool;run", ASAP

20250312T054508 [CommandExec]:got command load ./Missions/Engineering/passive_acoustic_monitoring.tl

20250312T054536 [CommandExec]:Loaded ./Missions/Engineering/passive_acoustic_monitoring.tl id=PAM

20250312T054615 [CommandExec]:got command set PAM.MissionTimeout 10 hour

20250312T054615 [CommandExec]:got command set PAM.SurfacingIntervalDuringListening 6 hour

20250312T054615 [CommandExec]:got command set PAM.NeedCommsMaxWait 7 hour

20250312T054615 [CommandExec]:got command set PAM.NeedCommsTimeInTransit 30 minute

20250312T054615 [CommandExec]:got command set PAM.Depth 40 meter

20250312T054616 [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:PowerOnly.SampleLoad1 1 bool;run"

20250312T054616 [CommandExec]:Scheduled #10: "load Transport/keepstation.tl;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation:PowerOnly.SampleLoad1 1 bool;run", AFTER MISSION

20250312T054707 [CommandExec]:got command set PAM.DeepBoundRegainDepth 60 meter

20250312T054707 [CommandExec]:got command set PAM.ShallowBoundRegainDepth 20 meter

20250312T054707 [CommandExec]:got command set PAM.DeepBoundInitial 50 meter

20250312T054707 [CommandExec]:got command set PAM.ShallowBoundInitial 30 meter

20250312T054707 [CommandExec]:got command set PAM.DeepBoundFineTune 55 meter

20250312T054707 [CommandExec]:got command set PAM.ShallowBoundFineTune 25 meter

20250312T054707 [CommandExec]:got command set PAM.MaxDepth 70 meter

20250312T054725 [CommandExec]:got command set PAM.LatListening 36.797 degree

20250312T054725 [CommandExec]:got command set PAM.LonListening -121.847 degree

20250312T054725 [CommandExec]:got command set PAM:PowerOnly.SampleLoad1 1 bool

20250312T054725 [CommandExec]:got command run

20250312T054725 [CommandExec]:Running

20250312T054726 [MissionManager]:Started mission PAM

20250312T054726 [PAM:AbortDrift:B.AbortDrift]:Acoustic timeout set to: 240.00 hours.

20250312T054728 [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 .

20250312T054730 [CTD_Seabird]:Failed to parse device response: #

20250312T054732 [PAM:BB]:BuoyancyAdjustmentStep = 16.000000 cc .

20250312T054732 [PAM:BC]:BuoyancyAdjustmentStepFineTune = 2.000000 cc .

20250312T054733 [PAM:BE]:MassPositionAdjustmentStep = 0.528000 mm .

20250312T054733 [PAM:BF]:MassPositionAdjustmentStepFineTune = 0.066000 mm .

20250312T054734 [PAM:BG]:WaitAfterBuoyancyChange = 5.000000 min .

20250312T054734 [PAM:BH]:WaitAfterBuoyancyChangeFineTune = 5.000000 min .

20250312T054735 [PAM:BK]:Initially: ShallowBound = 30.000000 m , DeepBound = 50.000000 m , BuoyancyAdjustmentStep = 16.000000 cc , WaitAfterBuoyancyChange = 5.000000 min .

20250312T054736 [PAM:BM]:TargetDepthMinusShallowBound = 10.000000 m .

20250312T054737 [PAM:BO]:DeepBoundMinusTargetDepth = 10.000000 m .

20250312T054811 [NAL9602]:Failed to initiate SBD session. Error code: 2

20250312T054828 [NAL9602]:Failed to initiate SBD session. Error code: 2

20250312T054850 level run transit to listening location LatListening = 36.797001 arcdeg , LonListening = -121.847000 arcdeg .

20250312T055026 [CTD_Seabird]:Salinity reading out of range: 12.061183 psu

20250312T055027 [CTD_Seabird]:Salinity reading out of range: 27.132475 psu

20250312T055039 [CTD_Seabird]:Salinity reading out of range: 17.590229 psu

20250312T055202 [DVL_micro]:only read 3 of 4 data items for beam range. Device response is::RD,+9999.99,+9999.99,+9999..99#

20250312T055203 [CTD_Seabird]:Failed to parse device response: 6.56,11.590513#

20250312T061215 [PAM:PAM:SetVariables:G]:NeutralBuoyancy = 200.000000 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 22.000000 mm , MassPositionAdjustmentStep = 0.528000 mm

20250312T061514 is too heavy. Increase neutral buoyancy: 199.999995 cc + 16.000000 cc = 216.000000 cc . Move mass backwards: 22.000000 mm - 0.528000 mm = 21.472000 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250312T061519 [PAM:PAM:SetVariables:G]:NeutralBuoyancy = 216.000000 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 21.472000 mm , MassPositionAdjustmentStep = 0.528000 mm

20250312T061520 [PAM:PAM:Waits:WaitBuoyancyChange:A]:After buoyancy change, wait for 5.000000 min

20250312T062027 is too heavy. Increase neutral buoyancy: 216.000000 cc + 16.000000 cc = 232.000000 cc . Move mass backwards: 21.472000 mm - 0.528000 mm = 20.944000 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250312T062032 [PAM:PAM:SetVariables:G]:NeutralBuoyancy = 232.000000 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.944000 mm , MassPositionAdjustmentStep = 0.528000 mm

20250312T062034 [PAM:PAM:Waits:WaitBuoyancyChange:A]:After buoyancy change, wait for 5.000000 min

20250312T062505 [BPC1]:Battery stick #4 (s/n: 017A) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.

20250312T062540 is too heavy. Increase neutral buoyancy: 232.000006 cc + 16.000000 cc = 248.000000 cc . Move mass backwards: 20.943999 mm - 0.528000 mm = 20.415998 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250312T062547 [PAM:PAM:Waits:WaitBuoyancyChange:A]:After buoyancy change, wait for 5.000000 min

20250312T063853 depth 29.930212 m is shallower than ShallowBound 30.000000 m .

20250312T063857 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: 247.999997 cc - 8.000000 cc = 240.000000 cc . Move mass forward: 20.415999 mm + 0.264000 mm = 20.679998 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250312T064333 [CTD_Seabird]:Failed to parse device response: 26.24,10.100046#

20250312T064334 [DVL_micro]:only read 0 of 1 data item for BIT error. Device response is::TS9.99,+9999.99,+9999.99#

20250312T064410 depth 25.561178 m is shallower than ShallowBound 30.000000 m .

20250312T064412 is too light. Decrease neutral buoyancy: 239.999994 cc - 8.000000 cc = 231.999985 cc . Move mass forward: 20.679999 mm + 0.264000 mm = 20.944000 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250312T064924 depth 26.894737 m is shallower than ShallowBound 30.000000 m .

20250312T064926 is too light. Decrease neutral buoyancy: 231.999991 cc - 8.000000 cc = 223.999985 cc . Move mass forward: 20.943999 mm + 0.264000 mm = 21.208000 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250312T065440 is too light. Decrease neutral buoyancy: 223.999989 cc - 8.000000 cc = 215.999985 cc . Move mass forward: 21.207999 mm + 0.264000 mm = 21.472000 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250312T071311 previously but sinking now. Decrease BuoyancyAdjustmentStep from 8.000000 cc to 4.000000 cc . Decrease MassPositionAdjustmentStep from 0.264000 mm to 0.132000 mm . Increase neutral buoyancy: 215.999986 cc + 4.000000 cc = 219.999985 cc . Move mass backwards: 21.472000 mm - 0.132000 mm = 21.340000 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min .

20250312T072135 [DVL_micro]:only read 0 of 1 data item for BIT error. Device response is::TS,,+00054,-00030,+00031,+00000,A#

20250312T073029 [CTD_Seabird]:Failed to parse device response: 5,3.66143,2078.32#

20250312T073242 [BPC1]:Battery stick #4 (s/n: 017A) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.

20250312T073251 [DVL_micro]:only read 3 of 4 data items for beam range. Device response is::RD,+9999.99,+99999.99,+9999.99#

20250312T082137 [CTD_Seabird]:Failed to parse device response: 37.10,9.8916,2#

20250312T083339 [DVL_micro]:DVL uart error: serial timeout

20250312T083339 [DVL_micro]:Communications Fault

20250312T083339 [DVL_micro]:Failed to parse:

20250312T083339 [CBIT]:Communications Fault in component: DVL_micro

20250312T083505 [CTD_Seabird]:Failed to parse device response: 40.96,9.829.61#

20250312T083840 [CTD_Seabird]:Failed to parse device response: .97#

20250312T084016 [BPC1]:Battery stick #4 (s/n: 017A) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.

20250312T092121 [CTD_Seabird]:Failed to parse device response: 53,2170.92#

20250312T092340 [DVL_micro]:only read 0 of 1 data item for BIT error. Device response

20250312T103645 [DVL_micro]:only read 3 of 4 data items for beam range. Device response is::RD,+0083.64,+0074.30,+99115.24#

20250312T112137 [CTD_Seabird]:Failed to parse device response: 38.80,9.8683,#

20250312T112451 [CTD_Seabird]:Failed to parse device response: .07#

20250312T112452 [DVL_micro]:Failed to parse:68#

20250312T120916 = 50.083855 m . Elapsed time since the last GPS fix 379.828646 min is longer than SurfacingIntervalDuringListening 360.000000 min . Surface and optionally transit back to listening location.

20250312T120918 run back to listening location LatListening = 36.797001 arcdeg , LonListening = -121.847000 arcdeg .

20250312T120922 [ElevatorServo]:Overload Error

20250312T120922 [ElevatorServo]:Hardware Fault

20250312T120922 [CBIT]:Hardware Fault in component: ElevatorServo

20250312T121203 [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 .

20250312T121251 [BuoyancyServo]:getPosition uart error serial timeout

20250312T121251 [BuoyancyServo]:Buoyancy getPosition uart error.serial timeout

20250312T121251 [BuoyancyServo]:Communications Fault

20250312T121251 [CBIT]:Communications Fault in component: BuoyancyServo

20250312T121253 [BuoyancyServo]:LCB fault: Current Limiter Activated.

20250312T121253 [BuoyancyServo]:Hardware Fault

20250312T121258 [BuoyancyServo]:getPosition uart error serial timeout

20250312T121258 [BuoyancyServo]:Buoyancy getPosition uart error.serial timeout

20250312T121258 [BuoyancyServo]:Communications Fault

20250312T121258 [CBIT]:Communications Fault in component: BuoyancyServo

20250312T121300 [BuoyancyServo]:LCB fault: Current Limiter Activated.

20250312T121300 [BuoyancyServo]:Hardware Fault

20250312T121306 [BuoyancyServo]:getPosition uart error serial timeout

20250312T121306 [BuoyancyServo]:Buoyancy getPosition uart error.serial timeout

20250312T121306 [BuoyancyServo]:Communications Fault

20250312T121306 [CBIT]:Communications Fault in component: BuoyancyServo

20250312T121424 [BuoyancyServo]:LCB fault: Current Limiter Activated.

20250312T121424 [BuoyancyServo]:Hardware Fault

20250312T121517 [BuoyancyServo]:LCB fault: LCB Watchdog Reset. Hardware Overcurrent Shutdown.

20250312T121656 [DataOverHttps]:Server acknowledged file Logs/20250312T053549/Courier0027.lzma, notLogs/20250312T053549/Express0028.lzma

20250312T122226 [DVL_micro]:only read 3 of 4 data items for bottom velocity. Device response

20250312T125524 [CTD_Seabird]:Failed to parse device response: .16#

20250312T134105 [PAM:StandardEnvelopes:A.AltitudeEnvelope]:Altitude envelope ACTIVE

20250312T140319 [DVL_micro]:only read 2 of 4 data items for beam range. Device response is::RD,+0087.14,55#

20250312T141550 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20250312T150453 [DVL_micro]:only read 3 of 4 data items for bottom velocity. Device response is::BI,+00023,80,000.00#

20250312T154726 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20250312T154729 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl id=keepstation

20250312T154729 [MissionManager]:Started mission Default

20250312T154732 [ElevatorServo]:Overload Error

20250312T154732 [ElevatorServo]:Hardware Fault

20250312T154732 [CBIT]:Hardware Fault in component: ElevatorServo

20250312T154755 [CommandExec]:got command set keepstation.NeedCommsTime 30 minute

20250312T154755 [CommandExec]:got command set keepstation.Latitude 36.797 degree

20250312T154755 [CommandExec]:got command set keepstation.Longitude -121.847 degree

20250312T154755 [CommandExec]:got command set keepstation:PowerOnly.SampleLoad1 1 bool

20250312T154755 [CommandExec]:got command run

20250312T154755 [CommandExec]:Running

20250312T154756 [MissionManager]:Started mission keepstation