2024-12-15T23:09:28.187Z,1734304168.187 [CommandExec](IMPORTANT): got command schedule resume 2024-12-15T23:09:28.187Z,1734304168.187 [CommandExec](IMPORTANT): Scheduling is resumed 2024-12-15T23:09:28.187Z,1734304168.187 [CommandExec](IMPORTANT): got command restart logs 2024-12-15T23:09:34.445Z,1734304174.445 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2024-12-15T23:15:08.737Z,1734304508.737 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 6.434213 min 2024-12-15T23:20:41.627Z,1734304841.627 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 11.982434 min 2024-12-15T23:26:14.826Z,1734305174.826 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 17.537736 min 2024-12-15T23:26:55.702Z,1734305215.702 [DataOverHttps](IMPORTANT): SBD MTMSN=20241215T232702 2024-12-15T23:27:03.297Z,1734305223.297 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/passive_acoustic_monitoring.tl;set PAM.MissionTimeout 240 min;set PAM.SurfacingIntervalDuringListening 240 min;set PAM.NeedCommsMaxWait 240 min;set PAM.Depth 60 m;set PAM.DeepBoundRegainDepth 80 m" 3r54z 1 3.000000 2024-12-15T23:27:03.297Z,1734305223.297 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=3r54z 2024-12-15T23:27:03.298Z,1734305223.298 [CommandExec](IMPORTANT): Scheduled #5 (#1 of 3 with id='3r54z'): "load Engineering/passive_acoustic_monitoring.tl;set PAM.MissionTimeout 240 min;set PAM.SurfacingIntervalDuringListening 240 min;set PAM.NeedCommsMaxWait 240 min;set PAM.Depth 60 m;set PAM.DeepBoundRegainDepth 80 m", ASAP 2024-12-15T23:27:04.266Z,1734305224.266 [DataOverHttps](IMPORTANT): SBD MTMSN=20241215T232711 2024-12-15T23:27:12.041Z,1734305232.041 [CommandExec](IMPORTANT): got command schedule asap "set PAM.ShallowBoundRegainDepth 40 m;set PAM.DeepBoundInitial 70 m;set PAM.ShallowBoundInitial 50 m;set PAM.DeepBoundFineTune 75 m;set PAM.ShallowBoundFineTune 45 m;set PAM.MaxDepth 85 m;set PAM.LatListening 36.88 degree" 3r54z 2 3.000000 2024-12-15T23:27:12.042Z,1734305232.042 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=3r54z 2024-12-15T23:27:12.043Z,1734305232.043 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 3 with id='3r54z'): "set PAM.ShallowBoundRegainDepth 40 m;set PAM.DeepBoundInitial 70 m;set PAM.ShallowBoundInitial 50 m;set PAM.DeepBoundFineTune 75 m;set PAM.ShallowBoundFineTune 45 m;set PAM.MaxDepth 85 m;set PAM.LatListening 36.88 degree", ASAP 2024-12-15T23:27:13.038Z,1734305233.038 [DataOverHttps](IMPORTANT): SBD MTMSN=20241215T232720 2024-12-15T23:27:22.496Z,1734305242.496 [CommandExec](IMPORTANT): got command schedule asap "set PAM.LonListening -122.12 degree;run" 3r54z 3 3.000000 2024-12-15T23:27:22.497Z,1734305242.497 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=3r54z 2024-12-15T23:27:22.498Z,1734305242.498 [CommandExec](IMPORTANT): Scheduled #7 (#3 of 3 with id='3r54z'): "set PAM.LonListening -122.12 degree;run", ASAP 2024-12-15T23:27:22.841Z,1734305242.841 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/passive_acoustic_monitoring.tl 2024-12-15T23:27:39.559Z,1734305259.559 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/passive_acoustic_monitoring.tl id=PAM 2024-12-15T23:27:59.787Z,1734305279.787 [CommandExec](IMPORTANT): got command set PAM.MissionTimeout 240 minute 2024-12-15T23:27:59.793Z,1734305279.793 [CommandExec](IMPORTANT): got command set PAM.SurfacingIntervalDuringListening 240 minute 2024-12-15T23:27:59.793Z,1734305279.793 [CommandExec](IMPORTANT): got command set PAM.NeedCommsMaxWait 240 minute 2024-12-15T23:27:59.794Z,1734305279.794 [CommandExec](IMPORTANT): got command set PAM.Depth 60 meter 2024-12-15T23:27:59.795Z,1734305279.795 [CommandExec](IMPORTANT): got command set PAM.DeepBoundRegainDepth 80 meter 2024-12-15T23:28:31.483Z,1734305311.483 [CommandExec](IMPORTANT): got command set PAM.ShallowBoundRegainDepth 40 meter 2024-12-15T23:28:31.483Z,1734305311.483 [CommandExec](IMPORTANT): got command set PAM.DeepBoundInitial 70 meter 2024-12-15T23:28:31.484Z,1734305311.484 [CommandExec](IMPORTANT): got command set PAM.ShallowBoundInitial 50 meter 2024-12-15T23:28:31.485Z,1734305311.485 [CommandExec](IMPORTANT): got command set PAM.DeepBoundFineTune 75 meter 2024-12-15T23:28:31.486Z,1734305311.486 [CommandExec](IMPORTANT): got command set PAM.ShallowBoundFineTune 45 meter 2024-12-15T23:28:31.486Z,1734305311.486 [CommandExec](IMPORTANT): got command set PAM.MaxDepth 85 meter 2024-12-15T23:28:31.487Z,1734305311.487 [CommandExec](IMPORTANT): got command set PAM.LatListening 36.88 degree 2024-12-15T23:28:33.425Z,1734305313.425 [CommandExec](IMPORTANT): got command set PAM.LonListening -122.12 degree 2024-12-15T23:28:33.425Z,1734305313.425 [CommandExec](IMPORTANT): got command run 2024-12-15T23:28:33.427Z,1734305313.427 [CommandExec](IMPORTANT): Running 2024-12-15T23:28:33.582Z,1734305313.582 [MissionManager](IMPORTANT): Started mission PAM 2024-12-15T23:28:33.595Z,1734305313.595 [PAM:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](IMPORTANT): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence. 2024-12-15T23:28:33.597Z,1734305313.597 [PAM:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](IMPORTANT): No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence. 2024-12-15T23:28:33.598Z,1734305313.598 [PAM:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](IMPORTANT): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence. 2024-12-15T23:28:33.599Z,1734305313.599 [PAM:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](IMPORTANT): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence. 2024-12-15T23:28:33.607Z,1734305313.607 [PAM:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 240.00 hours. 2024-12-15T23:28:37.642Z,1734305317.642 [PAM:U](IMPORTANT): NeutralBuoyancy = 470.000000 cc . 2024-12-15T23:28:38.035Z,1734305318.035 [PAM:V](IMPORTANT): BuoyancyAdjustmentStep = 16.000000 cc . 2024-12-15T23:28:38.499Z,1734305318.499 [PAM:X](IMPORTANT): BuoyancyAdjustmentStepFineTune = 2.000000 cc . 2024-12-15T23:28:38.854Z,1734305318.854 [PAM:Y](IMPORTANT): MassPosition = 20.575781 mm . 2024-12-15T23:28:39.243Z,1734305319.243 [PAM:Z](IMPORTANT): MassPositionAdjustmentStep = 0.528000 mm . 2024-12-15T23:28:39.643Z,1734305319.643 [PAM:BA](IMPORTANT): MassPositionAdjustmentStepFineTune = 0.066000 mm . 2024-12-15T23:28:40.847Z,1734305320.847 [PAM:BD](IMPORTANT): Initially: ShallowBound = 50.000000 m , DeepBound = 70.000000 m , BuoyancyAdjustmentStep = 16.000000 cc , WaitAfterBuoyancyChange = 5.000000 min . 2024-12-15T23:28:41.659Z,1734305321.659 [PAM:BF](IMPORTANT): TargetDepthMinusShallowBound = 10.000000 m . 2024-12-15T23:28:42.495Z,1734305322.495 [PAM:BH](IMPORTANT): DeepBoundMinusTargetDepth = 10.000000 m . 2024-12-15T23:28:44.278Z,1734305324.278 [WetLabsUBAT](FAULT): UBAT flow rate is below the specified threshold of 0.05 l/s. 2024-12-15T23:30:34.276Z,1734305434.276 [PAM:InitialTransitToListeningLocation:InitialLevelRun:B](IMPORTANT): Initial level run transit to listening location LatListening = 36.880001 arcdeg , LonListening = -122.120003 arcdeg . 2024-12-15T23:30:34.772Z,1734305434.772 [PAM:InitialTransitToListeningLocation:InitialLevelRun:H.Waypoint](IMPORTANT): Navigating to waypoint: 36.880001,-122.120003 2024-12-16T00:37:39.624Z,1734309459.624 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2024-12-16T00:40:55.283Z,1734309655.283 [PAM:InitialTransitToListeningLocation:InitialLevelRun:H.Waypoint](IMPORTANT): Reached waypoint: 36.880001,-122.120003 2024-12-16T00:45:56.662Z,1734309956.662 [PAM:PAM:SettingVariables:D](IMPORTANT): Cnt = 1.000000 count 2024-12-16T00:45:56.994Z,1734309956.994 [PAM:PAM:SettingVariables:E](IMPORTANT): NeutralBuoyancy = 470.000000 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.575781 mm , MassPositionAdjustmentStep = 0.528000 mm 2024-12-16T00:45:59.965Z,1734309959.965 [PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOn:D](IMPORTANT): Depth 0.046502 m outside of the envelope defined by ShallowBoundRegainDepth = 40.000000 m and DeepBoundRegainDepth = 80.000000 m . Moving to 60.000000 m . Propeller on. 2024-12-16T00:53:30.480Z,1734310410.480 [PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 60.197891 m , settling for 5.000000 min at 0.000000 m/s 2024-12-16T01:23:38.065Z,1734312218.065 [RudderServo](FAULT): Rudder uart error: serial timeout 2024-12-16T01:56:29.512Z,1734314189.512 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:E](IMPORTANT): Now depth 70.050552 m is deeper than DeepBound 70.000000 m . 2024-12-16T01:56:31.915Z,1734314191.915 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 469.999999 cc + 16.000000 cc = 486.000000 cc . Move mass backwards: 20.575780 mm - 0.528000 mm = 20.047781 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2024-12-16T01:56:35.571Z,1734314195.571 [PAM:PAM:SettingVariables:D](IMPORTANT): Cnt = 2.000000 count 2024-12-16T01:56:35.969Z,1734314195.969 [PAM:PAM:SettingVariables:E](IMPORTANT): NeutralBuoyancy = 486.000000 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.047781 mm , MassPositionAdjustmentStep = 0.528000 mm 2024-12-16T01:56:37.964Z,1734314197.964 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2024-12-16T01:56:39.113Z,1734314199.113 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2024-12-16T01:56:47.600Z,1734314207.600 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2024-12-16T02:11:42.536Z,1734315102.536 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2024-12-16T02:42:36.642Z,1734316956.642 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:E](IMPORTANT): Now depth 49.973190 m is shallower than ShallowBound 50.000000 m . 2024-12-16T02:42:40.667Z,1734316960.667 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:J](IMPORTANT): Sinking 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: 486.000004 cc - 8.000000 cc = 478.000000 cc . Move mass forward: 20.047780 mm + 0.264000 mm = 20.311781 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2024-12-16T02:42:45.125Z,1734316965.125 [PAM:PAM:SettingVariables:D](IMPORTANT): Cnt = 3.000000 count 2024-12-16T02:42:45.494Z,1734316965.494 [PAM:PAM:SettingVariables:E](IMPORTANT): NeutralBuoyancy = 478.000000 cc , BuoyancyAdjustmentStep = 8.000000 cc , MassPosition = 20.311781 mm , MassPositionAdjustmentStep = 0.264000 mm 2024-12-16T02:42:47.519Z,1734316967.519 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2024-12-16T02:47:50.963Z,1734317270.963 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:E](IMPORTANT): Now depth 47.555149 m is shallower than ShallowBound 50.000000 m . 2024-12-16T02:47:53.360Z,1734317273.360 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:E](IMPORTANT): Vehicle is too light. Decrease neutral buoyancy: 478.000002 cc - 8.000000 cc = 470.000000 cc . Move mass forward: 20.311780 mm + 0.264000 mm = 20.575781 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2024-12-16T02:47:57.076Z,1734317277.076 [PAM:PAM:SettingVariables:D](IMPORTANT): Cnt = 4.000000 count 2024-12-16T02:47:57.413Z,1734317277.413 [PAM:PAM:SettingVariables:E](IMPORTANT): NeutralBuoyancy = 470.000000 cc , BuoyancyAdjustmentStep = 8.000000 cc , MassPosition = 20.575781 mm , MassPositionAdjustmentStep = 0.264000 mm 2024-12-16T02:47:59.425Z,1734317279.425 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2024-12-16T03:18:02.525Z,1734319082.525 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:E](IMPORTANT): Now depth 70.067726 m is deeper than DeepBound 70.000000 m . 2024-12-16T03:18:06.577Z,1734319086.577 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:J](IMPORTANT): Floating 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: 469.999999 cc + 4.000000 cc = 474.000000 cc . Move mass backwards: 20.575780 mm - 0.132000 mm = 20.443781 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2024-12-16T03:18:11.429Z,1734319091.429 [PAM:PAM:SettingVariables:D](IMPORTANT): Cnt = 5.000000 count 2024-12-16T03:18:11.828Z,1734319091.828 [PAM:PAM:SettingVariables:E](IMPORTANT): NeutralBuoyancy = 474.000000 cc , BuoyancyAdjustmentStep = 4.000000 cc , MassPosition = 20.443781 mm , MassPositionAdjustmentStep = 0.132000 mm 2024-12-16T03:18:12.572Z,1734319092.572 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2024-12-16T03:18:14.028Z,1734319094.028 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2024-12-16T03:18:14.781Z,1734319094.781 [BuoyancyServo](FAULT): LCB fault: Current Limiter Activated. 2024-12-16T03:21:50.549Z,1734319310.549 [CBIT](IMPORTANT): Beginning ground fault scan 2024-12-16T03:22:01.559Z,1734319321.559 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): 0.009111 CHAN A1 (24V): 0.010131 CHAN A2 (12V): 0.006524 CHAN A3 (5V): -0.004097 CHAN B0 (3.3V): -0.004280 CHAN B1 (3.15aV): -0.003248 CHAN B2 (3.15bV): -0.003983 CHAN B3 (GND): -0.003893 OPEN: 0.003832 Full Scale: +/- 1 mA 2024-12-16T03:23:16.939Z,1734319396.939 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:E](IMPORTANT): Now depth 72.204628 m is deeper than DeepBound 70.000000 m . 2024-12-16T03:23:19.360Z,1734319399.360 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 474.000000 cc + 4.000000 cc = 478.000000 cc . Move mass backwards: 20.443780 mm - 0.132000 mm = 20.311781 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2024-12-16T03:23:23.035Z,1734319403.035 [PAM:PAM:SettingVariables:D](IMPORTANT): Cnt = 6.000000 count 2024-12-16T03:23:23.422Z,1734319403.422 [PAM:PAM:SettingVariables:E](IMPORTANT): NeutralBuoyancy = 478.000000 cc , BuoyancyAdjustmentStep = 4.000000 cc , MassPosition = 20.311781 mm , MassPositionAdjustmentStep = 0.132000 mm 2024-12-16T03:23:25.425Z,1734319405.425 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2024-12-16T03:28:28.495Z,1734319708.495 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:E](IMPORTANT): Now depth 71.856163 m is deeper than DeepBound 70.000000 m . 2024-12-16T03:28:30.938Z,1734319710.938 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 478.000002 cc + 4.000000 cc = 482.000000 cc . Move mass backwards: 20.311780 mm - 0.132000 mm = 20.179781 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2024-12-16T03:28:34.170Z,1734319714.170 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2024-12-16T03:28:34.600Z,1734319714.600 [BuoyancyServo](FAULT): Buoyancy uart error: serial timeout 2024-12-16T03:28:36.680Z,1734319716.680 [BuoyancyServo](FAULT): LCB fault: Current Limiter Activated. 2024-12-16T03:29:42.530Z,1734319782.530 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2024-12-16T03:37:12.923Z,1734320232.923 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2024-12-16T03:39:15.561Z,1734320355.561 [DataOverHttps](IMPORTANT): SBD MTMSN=20241216T033923