2025-01-14T06:51:02.102Z,1736837462.102 [CommandExec](IMPORTANT): got command restart logs 2025-01-14T06:52:18.123Z,1736837538.123 [DataOverHttps](IMPORTANT): SBD MTMSN=20250114T065217 2025-01-14T06:52:29.645Z,1736837549.645 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/passive_acoustic_monitoring.tl;set PAM.MissionTimeout 9 h;set PAM.SurfacingIntervalDuringListening 300 min;set PAM.NeedCommsMaxWait 360 min;set PAM.Depth 40 m;set PAM.DeepBoundRegainDepth 60 m" 48f0 1 3.000000 2025-01-14T06:52:29.645Z,1736837549.645 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=48f0 2025-01-14T06:52:29.646Z,1736837549.646 [CommandExec](IMPORTANT): Scheduled #11 (#1 of 3 with id='48f0'): "load Engineering/passive_acoustic_monitoring.tl;set PAM.MissionTimeout 9 h;set PAM.SurfacingIntervalDuringListening 300 min;set PAM.NeedCommsMaxWait 360 min;set PAM.Depth 40 m;set PAM.DeepBoundRegainDepth 60 m", ASAP 2025-01-14T06:52:30.606Z,1736837550.606 [DataOverHttps](IMPORTANT): SBD MTMSN=20250114T065229 2025-01-14T06:52:39.745Z,1736837559.745 [CommandExec](IMPORTANT): got command schedule asap "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;set PAM.LatListening 36.698 degree" 48f0 2 3.000000 2025-01-14T06:52:39.745Z,1736837559.745 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=48f0 2025-01-14T06:52:39.746Z,1736837559.746 [CommandExec](IMPORTANT): Scheduled #12 (#2 of 3 with id='48f0'): "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;set PAM.LatListening 36.698 degree", ASAP 2025-01-14T06:52:40.689Z,1736837560.689 [DataOverHttps](IMPORTANT): SBD MTMSN=20250114T065239 2025-01-14T06:52:48.303Z,1736837568.303 [CommandExec](IMPORTANT): got command schedule asap "set PAM.LonListening -121.945 degree;run" 48f0 3 3.000000 2025-01-14T06:52:48.303Z,1736837568.303 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=48f0 2025-01-14T06:52:48.304Z,1736837568.304 [CommandExec](IMPORTANT): Scheduled #13 (#3 of 3 with id='48f0'): "set PAM.LonListening -121.945 degree;run", ASAP 2025-01-14T06:52:48.463Z,1736837568.463 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/passive_acoustic_monitoring.tl 2025-01-14T06:53:04.785Z,1736837584.785 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/passive_acoustic_monitoring.tl id=PAM 2025-01-14T06:53:25.098Z,1736837605.098 [CommandExec](IMPORTANT): got command set PAM.MissionTimeout 9 hour 2025-01-14T06:53:25.099Z,1736837605.099 [CommandExec](IMPORTANT): got command set PAM.SurfacingIntervalDuringListening 300 minute 2025-01-14T06:53:25.100Z,1736837605.100 [CommandExec](IMPORTANT): got command set PAM.NeedCommsMaxWait 360 minute 2025-01-14T06:53:25.101Z,1736837605.101 [CommandExec](IMPORTANT): got command set PAM.Depth 40 meter 2025-01-14T06:53:25.101Z,1736837605.101 [CommandExec](IMPORTANT): got command set PAM.DeepBoundRegainDepth 60 meter 2025-01-14T06:53:47.501Z,1736837627.501 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 9.760802 min 2025-01-14T06:53:49.266Z,1736837629.266 [CommandExec](IMPORTANT): got command set PAM.ShallowBoundRegainDepth 20 meter 2025-01-14T06:53:49.267Z,1736837629.267 [CommandExec](IMPORTANT): got command set PAM.DeepBoundInitial 50 meter 2025-01-14T06:53:49.271Z,1736837629.271 [CommandExec](IMPORTANT): got command set PAM.ShallowBoundInitial 30 meter 2025-01-14T06:53:49.272Z,1736837629.272 [CommandExec](IMPORTANT): got command set PAM.DeepBoundFineTune 55 meter 2025-01-14T06:53:49.273Z,1736837629.273 [CommandExec](IMPORTANT): got command set PAM.ShallowBoundFineTune 25 meter 2025-01-14T06:53:49.273Z,1736837629.273 [CommandExec](IMPORTANT): got command set PAM.MaxDepth 70 meter 2025-01-14T06:53:49.274Z,1736837629.274 [CommandExec](IMPORTANT): got command set PAM.LatListening 36.698 degree 2025-01-14T06:53:53.129Z,1736837633.129 [CommandExec](IMPORTANT): got command set PAM.LonListening -121.945 degree 2025-01-14T06:53:53.129Z,1736837633.129 [CommandExec](IMPORTANT): got command run 2025-01-14T06:53:53.131Z,1736837633.131 [CommandExec](IMPORTANT): Running 2025-01-14T06:53:53.393Z,1736837633.393 [MissionManager](IMPORTANT): Started mission PAM 2025-01-14T06:53:53.489Z,1736837633.489 [PAM:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 240.00 hours. 2025-01-14T06:53:57.914Z,1736837637.914 [PAM:V](IMPORTANT): NeutralBuoyancy = 401.869354 cc . 2025-01-14T06:53:58.247Z,1736837638.247 [PAM:X](IMPORTANT): BuoyancyAdjustmentStep = 16.000000 cc . 2025-01-14T06:53:58.658Z,1736837638.658 [PAM:Y](IMPORTANT): BuoyancyAdjustmentStepFineTune = 2.000000 cc . 2025-01-14T06:53:59.076Z,1736837639.076 [PAM:Z](IMPORTANT): MassPosition = 21.805965 mm . 2025-01-14T06:53:59.486Z,1736837639.486 [PAM:BA](IMPORTANT): MassPositionAdjustmentStep = 0.528000 mm . 2025-01-14T06:53:59.886Z,1736837639.886 [PAM:BB](IMPORTANT): MassPositionAdjustmentStepFineTune = 0.066000 mm . 2025-01-14T06:54:01.081Z,1736837641.081 [PAM:BE](IMPORTANT): Initially: ShallowBound = 30.000000 m , DeepBound = 50.000000 m , BuoyancyAdjustmentStep = 16.000000 cc , WaitAfterBuoyancyChange = 5.000000 min . 2025-01-14T06:54:01.909Z,1736837641.909 [PAM:BG](IMPORTANT): TargetDepthMinusShallowBound = 10.000000 m . 2025-01-14T06:54:02.674Z,1736837642.674 [PAM:BI](IMPORTANT): DeepBoundMinusTargetDepth = 10.000000 m . 2025-01-14T06:54:04.246Z,1736837644.246 [WetLabsUBAT](FAULT): UBAT flow rate is below the specified threshold of 0.05 l/s. 2025-01-14T06:57:12.795Z,1736837832.795 [PAM:InitialTransitToListeningLocation:InitialLevelRun:B](IMPORTANT): Initial level run transit to listening location LatListening = 36.698002 arcdeg , LonListening = -121.945000 arcdeg . 2025-01-14T06:57:13.158Z,1736837833.158 [PAM:InitialTransitToListeningLocation:InitialLevelRun:H.Waypoint](IMPORTANT): Navigating to waypoint: 36.698002,-121.945000 2025-01-14T07:03:07.074Z,1736838187.074 [PAM:InitialTransitToListeningLocation:InitialLevelRun:H.Waypoint](IMPORTANT): Reached waypoint: 36.698002,-121.945000 2025-01-14T07:06:26.816Z,1736838386.816 [BuoyancyServo](FAULT): Buoyancy uart error: serial timeout 2025-01-14T07:06:34.999Z,1736838394.999 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-01-14T07:08:36.414Z,1736838516.414 [PAM:PAM:SettingVariables:F](IMPORTANT): Cnt = 1.000000 count 2025-01-14T07:08:36.790Z,1736838516.790 [PAM:PAM:SettingVariables:G](IMPORTANT): NeutralBuoyancy = 401.869354 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 21.805965 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-14T07:08:39.720Z,1736838519.720 [PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOn:D](IMPORTANT): Depth 0.071905 m outside of the envelope defined by ShallowBoundRegainDepth = 20.000000 m and DeepBoundRegainDepth = 60.000000 m . Moving to 40.000000 m . Propeller on. 2025-01-14T07:14:26.776Z,1736838866.776 [PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.148338 m , settling for 5.000000 min at 0.000000 m/s 2025-01-14T07:19:31.796Z,1736839171.796 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:F](IMPORTANT): Now depth 50.077923 m is deeper than DeepBound 50.000000 m . 2025-01-14T07:19:34.247Z,1736839174.247 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 401.869358 cc + 16.000000 cc = 417.869354 cc . Move mass backwards: 21.805966 mm - 0.528000 mm = 21.277966 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-14T07:19:38.662Z,1736839178.662 [PAM:PAM:SettingVariables:F](IMPORTANT): Cnt = 2.000000 count 2025-01-14T07:19:39.056Z,1736839179.056 [PAM:PAM:SettingVariables:G](IMPORTANT): NeutralBuoyancy = 417.869354 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 21.277966 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-14T07:19:40.650Z,1736839180.650 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-14T07:24:44.480Z,1736839484.480 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:F](IMPORTANT): Now depth 55.518398 m is deeper than DeepBound 50.000000 m . 2025-01-14T07:24:46.886Z,1736839486.886 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 417.869363 cc + 16.000000 cc = 433.869354 cc . Move mass backwards: 21.277966 mm - 0.528000 mm = 20.749966 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-14T07:24:51.324Z,1736839491.324 [PAM:PAM:SettingVariables:F](IMPORTANT): Cnt = 3.000000 count 2025-01-14T07:24:51.794Z,1736839491.794 [PAM:PAM:SettingVariables:G](IMPORTANT): NeutralBuoyancy = 433.869354 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.749966 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-14T07:24:53.359Z,1736839493.359 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-14T07:29:55.623Z,1736839795.623 [PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Depth 60.245728 m breaches the envelope defined by ShallowBoundRegainDepth = 20.000000 m and DeepBoundRegainDepth = 60.000000 m . Moving to 40.000000 m . Propeller off. 2025-01-14T07:33:00.504Z,1736839980.504 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-01-14T07:33:08.224Z,1736839988.224 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-01-14T07:33:15.915Z,1736839995.915 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-01-14T07:33:23.573Z,1736840003.573 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-01-14T07:33:31.268Z,1736840011.268 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-01-14T07:33:32.153Z,1736840012.153 [PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 39.824818 m , settling for 5.000000 min at 0.000000 m/s 2025-01-14T07:33:38.956Z,1736840018.956 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-01-14T07:33:47.040Z,1736840027.040 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-01-14T07:33:54.885Z,1736840034.885 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-01-14T07:46:31.944Z,1736840791.944 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:F](IMPORTANT): Now depth 50.031029 m is deeper than DeepBound 50.000000 m . 2025-01-14T07:46:34.327Z,1736840794.327 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 433.869369 cc + 16.000000 cc = 449.869385 cc . Move mass backwards: 20.749966 mm - 0.528000 mm = 20.221966 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-14T07:46:38.799Z,1736840798.799 [PAM:PAM:SettingVariables:F](IMPORTANT): Cnt = 4.000000 count 2025-01-14T07:46:39.191Z,1736840799.191 [PAM:PAM:SettingVariables:G](IMPORTANT): NeutralBuoyancy = 449.869385 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.221966 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-14T07:46:40.846Z,1736840800.846 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-14T08:03:38.116Z,1736841818.116 [PAM:PAM:SettingVariables:F](IMPORTANT): Cnt = 5.000000 count 2025-01-14T08:03:38.528Z,1736841818.528 [PAM:PAM:SettingVariables:G](IMPORTANT): NeutralBuoyancy = 449.869385 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.221966 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-14T08:03:43.364Z,1736841823.364 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:F](IMPORTANT): Now depth 50.043530 m is deeper than DeepBound 50.000000 m . 2025-01-14T08:03:45.814Z,1736841825.814 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 449.869374 cc + 16.000000 cc = 465.869385 cc . Move mass backwards: 20.221965 mm - 0.528000 mm = 19.693966 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-14T08:03:50.233Z,1736841830.233 [PAM:PAM:SettingVariables:F](IMPORTANT): Cnt = 6.000000 count 2025-01-14T08:03:50.638Z,1736841830.638 [PAM:PAM:SettingVariables:G](IMPORTANT): NeutralBuoyancy = 465.869385 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 19.693966 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-14T08:03:52.264Z,1736841832.264 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-14T08:07:43.346Z,1736842063.346 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-14T08:10:18.478Z,1736842218.478 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-14T10:31:55.839Z,1736850715.839 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-14T10:38:35.813Z,1736851115.813 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-14T11:07:30.696Z,1736852850.696 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:F](IMPORTANT): Now depth 50.061413 m is deeper than DeepBound 50.000000 m . 2025-01-14T11:07:33.096Z,1736852853.096 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 465.869380 cc + 16.000000 cc = 481.869385 cc . Move mass backwards: 19.693965 mm - 0.528000 mm = 19.165964 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-14T11:07:37.571Z,1736852857.571 [PAM:PAM:SettingVariables:F](IMPORTANT): Cnt = 7.000000 count 2025-01-14T11:07:37.953Z,1736852857.953 [PAM:PAM:SettingVariables:G](IMPORTANT): NeutralBuoyancy = 481.869385 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 19.165964 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-14T11:07:39.589Z,1736852859.589 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-14T11:47:13.326Z,1736855233.326 [CBIT](IMPORTANT): Beginning ground fault scan 2025-01-14T11:47:24.122Z,1736855244.122 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): 0.015353 CHAN A1 (24V): 0.015398 CHAN A2 (12V): 0.008375 CHAN A3 (5V): -0.002639 CHAN B0 (3.3V): -0.002608 CHAN B1 (3.15aV): -0.003777 CHAN B2 (3.15bV): -0.002524 CHAN B3 (GND): -0.007864 OPEN: 0.004114 Full Scale: +/- 1 mA 2025-01-14T11:56:25.518Z,1736855785.518 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:F](IMPORTANT): Now depth 29.968904 m is shallower than ShallowBound 30.000000 m . 2025-01-14T11:56:29.551Z,1736855789.551 [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: 481.869385 cc - 8.000000 cc = 473.869385 cc . Move mass forward: 19.165965 mm + 0.264000 mm = 19.429964 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-14T11:56:35.240Z,1736855795.240 [PAM:PAM:SettingVariables:F](IMPORTANT): Cnt = 8.000000 count 2025-01-14T11:56:35.632Z,1736855795.632 [PAM:PAM:SettingVariables:G](IMPORTANT): NeutralBuoyancy = 473.869385 cc , BuoyancyAdjustmentStep = 8.000000 cc , MassPosition = 19.429964 mm , MassPositionAdjustmentStep = 0.264000 mm 2025-01-14T11:56:37.265Z,1736855797.265 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-14T12:13:30.495Z,1736856810.495 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:SurfacingShallowerThanShallowBound:B](IMPORTANT): Depth = 29.970465 m . Elapsed time since the last GPS fix 304.941211 min is longer than SurfacingIntervalDuringListening 300.000000 min . Surface and optionally transit back to listening location. 2025-01-14T12:15:31.749Z,1736856931.749 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-01-14T12:20:44.790Z,1736857244.790 [PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:B](IMPORTANT): Level run back to listening location LatListening = 36.698002 arcdeg , LonListening = -121.945000 arcdeg . 2025-01-14T12:20:45.258Z,1736857245.258 [PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:H.Waypoint](IMPORTANT): Navigating to waypoint: 36.698002,-121.945000 2025-01-14T14:18:30.102Z,1736864310.102 [PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:H.Waypoint](IMPORTANT): Reached waypoint: 36.698002,-121.945000 2025-01-14T15:00:00.037Z,1736866800.037 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl 2025-01-14T15:00:02.292Z,1736866802.292 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation 2025-01-14T15:00:02.459Z,1736866802.459 [MissionManager](IMPORTANT): Started mission DefaultWithUndock