2025-01-23T04:20:02.179Z,1737606002.179 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg 2025-01-23T04:20:07.247Z,1737606007.247 [SBIT](IMPORTANT): git: 2025-01-23 2025-01-23T04:20:07.247Z,1737606007.247 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2025-01-23T04:20:07.336Z,1737606007.336 [TrnDataBridge](IMPORTANT): LCM Instance1 2025-01-23T04:20:07.417Z,1737606007.417 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser 2025-01-23T04:20:08.658Z,1737606008.658 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-23T04:20:12.132Z,1737606012.132 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2103 2025-01-23T04:20:49.147Z,1737606049.147 [DAT](FAULT): failed to enter command mode 2025-01-23T04:21:48.740Z,1737606108.740 [SBIT](IMPORTANT): Beginning Startup BIT 2025-01-23T04:21:48.749Z,1737606108.749 [CBIT](IMPORTANT): Beginning ground fault scan 2025-01-23T04:21:59.848Z,1737606119.848 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): 0.015014 CHAN A1 (24V): 0.015073 CHAN A2 (12V): 0.013581 CHAN A3 (5V): 0.005677 CHAN B0 (3.3V): 0.005196 CHAN B1 (3.15aV): 0.005115 CHAN B2 (3.15bV): 0.004512 CHAN B3 (GND): 0.002030 OPEN: -0.000212 Full Scale: +/- 1 mA 2025-01-23T04:22:28.465Z,1737606148.465 [SBIT](FAULT): Rudder: EXPECTED:-15.000000 ACTUAL:-14.258672 2025-01-23T04:22:28.465Z,1737606148.465 [SBIT](FAULT): Control surface position failure. 2025-01-23T04:22:42.496Z,1737606162.496 [SBIT](CRITICAL): SBIT FAILED 2025-01-23T04:22:42.496Z,1737606162.496 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2025-01-23T04:22:42.497Z,1737606162.497 [SBIT](IMPORTANT): CBIT.gf24Offset=173 microampere; 2025-01-23T04:22:42.497Z,1737606162.497 [SBIT](IMPORTANT): CBIT.runNavErrorCritical=0 bool; 2025-01-23T04:22:42.497Z,1737606162.497 [SBIT](IMPORTANT): DAT.convertPhaseDataToDirection=0 bool; 2025-01-23T04:22:42.497Z,1737606162.497 [SBIT](IMPORTANT): DockingStepper.closedValue=16450 count; 2025-01-23T04:22:42.498Z,1737606162.498 [SBIT](IMPORTANT): DockingStepper.slideValue=10700 count; 2025-01-23T04:22:42.498Z,1737606162.498 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour; 2025-01-23T04:22:42.498Z,1737606162.498 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt; 2025-01-23T04:22:42.498Z,1737606162.498 [SBIT](IMPORTANT): RudderServo.offsetAngle=0.2 degree; 2025-01-23T04:22:42.498Z,1737606162.498 [SBIT](IMPORTANT): TrnDataBridge.loadAtStartup=1 bool; 2025-01-23T04:22:42.498Z,1737606162.498 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=460.577328 cubic_centimeter; 2025-01-23T04:22:42.498Z,1737606162.498 [SBIT](IMPORTANT): VerticalControl.massDefault=20.377216 millimeter; 2025-01-23T04:22:42.500Z,1737606162.500 [CommandExec](FAULT): Scheduling is paused 2025-01-23T04:22:42.892Z,1737606162.892 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-01-23T04:23:35.002Z,1737606215.002 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-01-23T04:30:23.352Z,1737606623.352 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 7.667025 min 2025-01-23T04:33:55.202Z,1737606835.202 [DataOverHttps](IMPORTANT): SBD MTMSN=20250123T043403 2025-01-23T04:34:05.292Z,1737606845.292 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/passive_acoustic_monitoring.tl;set PAM.MissionTimeout 16 h;set PAM.SurfacingIntervalDuringListening 8 h;set PAM.NeedCommsMaxWait 9 h;set PAM.Depth 40 m;set PAM.DeepBoundRegainDepth 60 m" kq0r 1 3.000000 2025-01-23T04:34:05.292Z,1737606845.292 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=kq0r 2025-01-23T04:34:05.293Z,1737606845.293 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 3 with id='kq0r'): "load Engineering/passive_acoustic_monitoring.tl;set PAM.MissionTimeout 16 h;set PAM.SurfacingIntervalDuringListening 8 h;set PAM.NeedCommsMaxWait 9 h;set PAM.Depth 40 m;set PAM.DeepBoundRegainDepth 60 m", ASAP 2025-01-23T04:34:06.257Z,1737606846.257 [DataOverHttps](IMPORTANT): SBD MTMSN=20250123T043414 2025-01-23T04:34:17.176Z,1737606857.176 [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 36.797 degree" kq0r 2 3.000000 2025-01-23T04:34:17.176Z,1737606857.176 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=kq0r 2025-01-23T04:34:17.177Z,1737606857.177 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 3 with id='kq0r'): "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 36.797 degree", ASAP 2025-01-23T04:34:18.124Z,1737606858.124 [DataOverHttps](IMPORTANT): SBD MTMSN=20250123T043426 2025-01-23T04:34:30.842Z,1737606870.842 [CommandExec](IMPORTANT): got command schedule asap "set PAM.LonListening -121.847 degree;run" kq0r 3 3.000000 2025-01-23T04:34:30.843Z,1737606870.843 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=kq0r 2025-01-23T04:34:30.844Z,1737606870.844 [CommandExec](IMPORTANT): Scheduled #3 (#3 of 3 with id='kq0r'): "set PAM.LonListening -121.847 degree;run", ASAP 2025-01-23T04:34:31.070Z,1737606871.070 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/passive_acoustic_monitoring.tl 2025-01-23T04:34:54.041Z,1737606894.041 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/passive_acoustic_monitoring.tl id=PAM 2025-01-23T04:35:13.417Z,1737606913.417 [CommandExec](IMPORTANT): got command set PAM.MissionTimeout 16 hour 2025-01-23T04:35:13.417Z,1737606913.417 [CommandExec](IMPORTANT): got command set PAM.SurfacingIntervalDuringListening 8 hour 2025-01-23T04:35:13.418Z,1737606913.418 [CommandExec](IMPORTANT): got command set PAM.NeedCommsMaxWait 9 hour 2025-01-23T04:35:13.419Z,1737606913.419 [CommandExec](IMPORTANT): got command set PAM.Depth 40 meter 2025-01-23T04:35:13.420Z,1737606913.420 [CommandExec](IMPORTANT): got command set PAM.DeepBoundRegainDepth 60 meter 2025-01-23T04:35:37.962Z,1737606937.962 [CommandExec](IMPORTANT): got command set PAM.ShallowBoundRegainDepth 20 meter 2025-01-23T04:35:37.962Z,1737606937.962 [CommandExec](IMPORTANT): got command set PAM.DeepBoundInitial 50 meter 2025-01-23T04:35:37.963Z,1737606937.963 [CommandExec](IMPORTANT): got command set PAM.ShallowBoundInitial 30 meter 2025-01-23T04:35:37.964Z,1737606937.964 [CommandExec](IMPORTANT): got command set PAM.DeepBoundFineTune 55 meter 2025-01-23T04:35:37.965Z,1737606937.965 [CommandExec](IMPORTANT): got command set PAM.ShallowBoundFineTune 25 meter 2025-01-23T04:35:37.965Z,1737606937.965 [CommandExec](IMPORTANT): got command set PAM.MaxDepth 70 meter 2025-01-23T04:35:37.966Z,1737606937.966 [CommandExec](IMPORTANT): got command set PAM.LatListening 36.797 degree 2025-01-23T04:35:39.918Z,1737606939.918 [CommandExec](IMPORTANT): got command set PAM.LonListening -121.847 degree 2025-01-23T04:35:39.918Z,1737606939.918 [CommandExec](IMPORTANT): got command run 2025-01-23T04:35:39.923Z,1737606939.923 [CommandExec](IMPORTANT): Running 2025-01-23T04:35:40.170Z,1737606940.170 [MissionManager](IMPORTANT): Started mission PAM 2025-01-23T04:35:40.233Z,1737606940.233 [PAM:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 240.00 hours. 2025-01-23T04:35:45.071Z,1737606945.071 [PAM:X](IMPORTANT): NeutralBuoyancy = 460.577332 cc . 2025-01-23T04:35:45.455Z,1737606945.455 [PAM:Y](IMPORTANT): BuoyancyAdjustmentStep = 16.000000 cc . 2025-01-23T04:35:45.866Z,1737606945.866 [PAM:Z](IMPORTANT): BuoyancyAdjustmentStepFineTune = 2.000000 cc . 2025-01-23T04:35:46.258Z,1737606946.258 [PAM:BA](IMPORTANT): MassPosition = 20.377216 mm . 2025-01-23T04:35:46.692Z,1737606946.692 [PAM:BB](IMPORTANT): MassPositionAdjustmentStep = 0.528000 mm . 2025-01-23T04:35:47.048Z,1737606947.048 [PAM:BC](IMPORTANT): MassPositionAdjustmentStepFineTune = 0.066000 mm . 2025-01-23T04:35:47.463Z,1737606947.463 [PAM:BD](IMPORTANT): WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T04:35:47.883Z,1737606947.883 [PAM:BE](IMPORTANT): WaitAfterBuoyancyChangeFineTune = 5.000000 min . 2025-01-23T04:35:49.084Z,1737606949.084 [PAM:BH](IMPORTANT): Initially: ShallowBound = 30.000000 m , DeepBound = 50.000000 m , BuoyancyAdjustmentStep = 16.000000 cc , WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T04:35:49.894Z,1737606949.894 [PAM:BJ](IMPORTANT): TargetDepthMinusShallowBound = 10.000000 m . 2025-01-23T04:35:50.677Z,1737606950.677 [PAM:BL](IMPORTANT): DeepBoundMinusTargetDepth = 10.000000 m . 2025-01-23T04:35:50.897Z,1737606950.897 [WetLabsUBAT](FAULT): UBAT flow rate is below the specified threshold of 0.05 l/s. 2025-01-23T04:37:19.945Z,1737607039.945 [PAM:InitialTransitToListeningLocation:InitialLevelRun:A](IMPORTANT): Initial level run transit to listening location LatListening = 36.797001 arcdeg , LonListening = -121.847000 arcdeg . 2025-01-23T04:37:20.349Z,1737607040.349 [PAM:InitialTransitToListeningLocation:InitialLevelRun:G.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000 2025-01-23T04:51:35.076Z,1737607895.076 [ThrusterServo](FAULT): Invalid EZ Servo response:"\r" 2025-01-23T04:59:53.767Z,1737608393.767 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-23T05:00:54.430Z,1737608454.430 [PAM:InitialTransitToListeningLocation:InitialLevelRun:G.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000 2025-01-23T05:07:45.794Z,1737608865.794 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 1.000000 count 2025-01-23T05:07:46.130Z,1737608866.130 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 460.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.377216 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T05:07:49.806Z,1737608869.806 [PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOn:D](IMPORTANT): Depth -0.003910 m outside of the envelope defined by ShallowBoundRegainDepth = 20.000000 m and DeepBoundRegainDepth = 60.000000 m . Moving to 40.000000 m . Propeller on. 2025-01-23T05:13:50.158Z,1737609230.158 [PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.157375 m , settling for 5.000000 min at 0.000000 m/s 2025-01-23T05:14:31.715Z,1737609271.715 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-23T05:24:26.542Z,1737609866.542 [PAM:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE 2025-01-23T05:31:17.260Z,1737610277.260 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:G](IMPORTANT): Now depth 50.021626 m is deeper than DeepBound 50.000000 m . 2025-01-23T05:31:19.690Z,1737610279.690 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 460.577343 cc + 16.000000 cc = 476.577362 cc . Move mass backwards: 20.377217 mm - 0.528000 mm = 19.849216 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T05:31:24.154Z,1737610284.154 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 2.000000 count 2025-01-23T05:31:24.594Z,1737610284.594 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 476.577362 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 19.849216 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T05:31:29.029Z,1737610289.029 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T05:54:36.481Z,1737611676.481 [PAM:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE 2025-01-23T06:24:43.712Z,1737613483.712 [PAM:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE 2025-01-23T07:05:20.725Z,1737615920.725 [PAM:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE 2025-01-23T07:50:50.297Z,1737618650.297 [PAM:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE 2025-01-23T08:16:10.982Z,1737620170.982 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:G](IMPORTANT): Now depth 29.978102 m is shallower than ShallowBound 30.000000 m . 2025-01-23T08:16:15.017Z,1737620175.017 [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: 476.577348 cc - 8.000000 cc = 468.577332 cc . Move mass forward: 19.849217 mm + 0.264000 mm = 20.113216 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T08:16:20.690Z,1737620180.690 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 3.000000 count 2025-01-23T08:16:21.090Z,1737620181.090 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 468.577332 cc , BuoyancyAdjustmentStep = 8.000000 cc , MassPosition = 20.113216 mm , MassPositionAdjustmentStep = 0.264000 mm 2025-01-23T08:16:25.521Z,1737620185.521 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T10:22:00.105Z,1737627720.105 [CBIT](IMPORTANT): Beginning ground fault scan 2025-01-23T10:22:10.985Z,1737627730.985 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): 0.005108 CHAN A1 (24V): 0.004946 CHAN A2 (12V): 0.004086 CHAN A3 (5V): -0.003876 CHAN B0 (3.3V): -0.002865 CHAN B1 (3.15aV): -0.002751 CHAN B2 (3.15bV): -0.002618 CHAN B3 (GND): 0.000411 OPEN: 0.004864 Full Scale: +/- 1 mA 2025-01-23T11:30:04.676Z,1737631804.676 [PAM:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE 2025-01-23T11:47:21.773Z,1737632841.773 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-23T11:56:25.636Z,1737633385.636 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:G](IMPORTANT): Now depth 29.959370 m is shallower than ShallowBound 30.000000 m . 2025-01-23T11:56:28.027Z,1737633388.027 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:E](IMPORTANT): Vehicle is too light. Decrease neutral buoyancy: 468.577346 cc - 16.000000 cc = 452.577332 cc . Move mass forward: 20.113217 mm + 0.528000 mm = 20.641216 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T11:56:32.862Z,1737633392.862 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 4.000000 count 2025-01-23T11:56:33.266Z,1737633393.266 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 452.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.641216 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T11:56:37.702Z,1737633397.702 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T12:06:50.271Z,1737634010.271 [PAM:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE 2025-01-23T12:31:38.620Z,1737635498.620 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-23T12:49:12.332Z,1737636552.332 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:G](IMPORTANT): Now depth 50.031815 m is deeper than DeepBound 50.000000 m . 2025-01-23T12:49:16.390Z,1737636556.390 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:J](IMPORTANT): Floating previously but sinking now. Decrease BuoyancyAdjustmentStep from 16.000000 cc to 8.000000 cc . Decrease MassPositionAdjustmentStep from 0.528000 mm to 0.264000 mm . Increase neutral buoyancy: 452.577340 cc + 8.000000 cc = 460.577332 cc . Move mass backwards: 20.641217 mm - 0.264000 mm = 20.377216 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T12:49:21.653Z,1737636561.653 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 5.000000 count 2025-01-23T12:49:22.034Z,1737636562.034 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 460.577332 cc , BuoyancyAdjustmentStep = 8.000000 cc , MassPosition = 20.377216 mm , MassPositionAdjustmentStep = 0.264000 mm 2025-01-23T12:49:26.466Z,1737636566.466 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T13:22:42.318Z,1737638562.318 [PAM:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE 2025-01-23T14:07:42.522Z,1737641262.522 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 6.000000 count 2025-01-23T14:07:42.942Z,1737641262.942 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 460.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.377216 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T14:11:24.641Z,1737641484.641 [PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Depth 0.036342 m breaches the envelope defined by ShallowBoundRegainDepth = 20.000000 m and DeepBoundRegainDepth = 60.000000 m . Moving to 40.000000 m . Propeller off. 2025-01-23T14:13:31.135Z,1737641611.135 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout 2025-01-23T14:14:06.184Z,1737641646.184 [PAM:NeedCommsTransit:CommsTransit:Transit:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000 2025-01-23T14:20:11.724Z,1737642011.724 [PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.149197 m , settling for 5.000000 min at 0.000000 m/s 2025-01-23T14:26:12.219Z,1737642372.219 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:G](IMPORTANT): Now depth 29.372080 m is shallower than ShallowBound 30.000000 m . 2025-01-23T14:26:16.270Z,1737642376.270 [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: 460.577343 cc - 8.000000 cc = 452.577332 cc . Move mass forward: 20.377217 mm + 0.264000 mm = 20.641216 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T14:26:21.948Z,1737642381.948 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 7.000000 count 2025-01-23T14:26:22.319Z,1737642382.319 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 452.577332 cc , BuoyancyAdjustmentStep = 8.000000 cc , MassPosition = 20.641216 mm , MassPositionAdjustmentStep = 0.264000 mm 2025-01-23T14:26:26.791Z,1737642386.791 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T14:32:28.880Z,1737642748.880 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:G](IMPORTANT): Now depth 29.221640 m is shallower than ShallowBound 30.000000 m . 2025-01-23T14:32:31.327Z,1737642751.327 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:E](IMPORTANT): Vehicle is too light. Decrease neutral buoyancy: 452.577340 cc - 16.000000 cc = 436.577332 cc . Move mass forward: 20.641217 mm + 0.528000 mm = 21.169218 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T14:32:36.166Z,1737642756.166 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 8.000000 count 2025-01-23T14:32:36.594Z,1737642756.594 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 436.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 21.169218 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T14:32:41.028Z,1737642761.028 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T14:38:40.108Z,1737643120.108 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:G](IMPORTANT): Now depth 29.356440 m is shallower than ShallowBound 30.000000 m . 2025-01-23T14:38:42.464Z,1737643122.464 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:E](IMPORTANT): Vehicle is too light. Decrease neutral buoyancy: 436.577335 cc - 16.000000 cc = 420.577332 cc . Move mass forward: 21.169217 mm + 0.528000 mm = 21.697218 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T14:38:47.346Z,1737643127.346 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 9.000000 count 2025-01-23T14:38:47.746Z,1737643127.746 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 420.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 21.697218 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T14:38:52.158Z,1737643132.158 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T14:39:28.479Z,1737643168.479 [ThrusterServo](FAULT): Unknown EZ Servo Error: 10 2025-01-23T14:44:50.656Z,1737643490.656 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:G](IMPORTANT): Now depth 29.264612 m is shallower than ShallowBound 30.000000 m . 2025-01-23T14:44:53.082Z,1737643493.082 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:E](IMPORTANT): Vehicle is too light. Decrease neutral buoyancy: 420.577329 cc - 16.000000 cc = 404.577332 cc . Move mass forward: 21.697218 mm + 0.528000 mm = 22.225218 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T14:44:57.928Z,1737643497.928 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 10.000000 count 2025-01-23T14:44:58.342Z,1737643498.342 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 404.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 22.225218 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T14:45:02.776Z,1737643502.776 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T14:47:29.077Z,1737643649.077 [PAM:NeedCommsTransit:CommsTransit:Transit:E.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000 2025-01-23T14:52:35.743Z,1737643955.743 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:G](IMPORTANT): Now depth 50.078270 m is deeper than DeepBound 50.000000 m . 2025-01-23T14:52:39.773Z,1737643959.773 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:J](IMPORTANT): Floating previously but sinking now. Decrease BuoyancyAdjustmentStep from 16.000000 cc to 8.000000 cc . Decrease MassPositionAdjustmentStep from 0.528000 mm to 0.264000 mm . Increase neutral buoyancy: 404.577324 cc + 8.000000 cc = 412.577332 cc . Move mass backwards: 22.225218 mm - 0.264000 mm = 21.961218 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T14:52:45.082Z,1737643965.082 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 11.000000 count 2025-01-23T14:52:45.427Z,1737643965.427 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 412.577332 cc , BuoyancyAdjustmentStep = 8.000000 cc , MassPosition = 21.961218 mm , MassPositionAdjustmentStep = 0.264000 mm 2025-01-23T14:52:49.868Z,1737643969.868 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T14:57:52.495Z,1737644272.495 [PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Depth 61.894272 m breaches the envelope defined by ShallowBoundRegainDepth = 20.000000 m and DeepBoundRegainDepth = 60.000000 m . Moving to 40.000000 m . Propeller off. 2025-01-23T15:01:41.111Z,1737644501.111 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-01-23T15:01:49.159Z,1737644509.159 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-01-23T15:01:57.068Z,1737644517.068 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-01-23T15:02:07.863Z,1737644527.863 [PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 39.818226 m , settling for 5.000000 min at 0.000000 m/s 2025-01-23T15:08:29.634Z,1737644909.634 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:G](IMPORTANT): Now depth 50.088432 m is deeper than DeepBound 50.000000 m . 2025-01-23T15:08:32.110Z,1737644912.110 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 412.577327 cc + 16.000000 cc = 428.577332 cc . Move mass backwards: 21.961218 mm - 0.528000 mm = 21.433218 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T15:08:36.504Z,1737644916.504 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 12.000000 count 2025-01-23T15:08:36.923Z,1737644916.923 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 428.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 21.433218 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T15:08:41.351Z,1737644921.351 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T15:13:46.024Z,1737645226.024 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:G](IMPORTANT): Now depth 59.623642 m is deeper than DeepBound 50.000000 m . 2025-01-23T15:13:48.454Z,1737645228.454 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 428.577332 cc + 16.000000 cc = 444.577332 cc . Move mass backwards: 21.433217 mm - 0.528000 mm = 20.905216 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T15:13:52.878Z,1737645232.878 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 13.000000 count 2025-01-23T15:13:53.270Z,1737645233.270 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 444.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.905216 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T15:13:57.718Z,1737645237.718 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T15:19:00.382Z,1737645540.382 [PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Depth 65.889694 m breaches the envelope defined by ShallowBoundRegainDepth = 20.000000 m and DeepBoundRegainDepth = 60.000000 m . Moving to 40.000000 m . Propeller off. 2025-01-23T15:23:39.526Z,1737645819.526 [PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 39.894024 m , settling for 5.000000 min at 0.000000 m/s 2025-01-23T15:29:23.376Z,1737646163.376 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:G](IMPORTANT): Now depth 50.057171 m is deeper than DeepBound 50.000000 m . 2025-01-23T15:29:25.777Z,1737646165.777 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 444.577337 cc + 16.000000 cc = 460.577332 cc . Move mass backwards: 20.905217 mm - 0.528000 mm = 20.377216 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T15:29:30.237Z,1737646170.237 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 14.000000 count 2025-01-23T15:29:30.623Z,1737646170.623 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 460.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.377216 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T15:29:35.110Z,1737646175.110 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T15:34:39.702Z,1737646479.702 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:G](IMPORTANT): Now depth 56.028549 m is deeper than DeepBound 50.000000 m . 2025-01-23T15:34:42.168Z,1737646482.168 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 460.577343 cc + 16.000000 cc = 476.577362 cc . Move mass backwards: 20.377217 mm - 0.528000 mm = 19.849216 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T15:34:46.604Z,1737646486.604 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 15.000000 count 2025-01-23T15:34:46.976Z,1737646486.976 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 476.577362 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 19.849216 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T15:34:51.452Z,1737646491.452 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T15:39:56.141Z,1737646796.141 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:G](IMPORTANT): Now depth 53.369896 m is deeper than DeepBound 50.000000 m . 2025-01-23T15:39:58.502Z,1737646798.502 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 476.577348 cc + 16.000000 cc = 492.577332 cc . Move mass backwards: 19.849217 mm - 0.528000 mm = 19.321217 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T15:40:02.918Z,1737646802.918 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 16.000000 count 2025-01-23T15:40:03.341Z,1737646803.341 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 492.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 19.321217 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T15:40:07.770Z,1737646807.770 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T16:04:05.295Z,1737648245.295 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:G](IMPORTANT): Now depth 29.951921 m is shallower than ShallowBound 30.000000 m . 2025-01-23T16:04:09.360Z,1737648249.360 [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: 492.577325 cc - 8.000000 cc = 484.577332 cc . Move mass forward: 19.321216 mm + 0.264000 mm = 19.585217 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T16:04:14.928Z,1737648254.928 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 17.000000 count 2025-01-23T16:04:15.354Z,1737648255.354 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 484.577332 cc , BuoyancyAdjustmentStep = 8.000000 cc , MassPosition = 19.585217 mm , MassPositionAdjustmentStep = 0.264000 mm 2025-01-23T16:04:19.766Z,1737648259.766 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T16:06:13.364Z,1737648373.364 [PAM:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE 2025-01-23T16:09:24.820Z,1737648564.820 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:G](IMPORTANT): Now depth 26.226582 m is shallower than ShallowBound 30.000000 m . 2025-01-23T16:09:27.300Z,1737648567.300 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:E](IMPORTANT): Vehicle is too light. Decrease neutral buoyancy: 484.577322 cc - 16.000000 cc = 468.577332 cc . Move mass forward: 19.585216 mm + 0.528000 mm = 20.113216 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T16:09:32.077Z,1737648572.077 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 18.000000 count 2025-01-23T16:09:32.478Z,1737648572.478 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 468.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.113216 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T16:09:36.934Z,1737648576.934 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T16:22:11.359Z,1737649331.359 [CBIT](IMPORTANT): Beginning ground fault scan 2025-01-23T16:22:22.198Z,1737649342.198 [CBIT](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): 0.003941 CHAN A1 (24V): 0.005169 CHAN A2 (12V): 0.004516 CHAN A3 (5V): -0.003773 CHAN B0 (3.3V): -0.004206 CHAN B1 (3.15aV): -0.005201 CHAN B2 (3.15bV): -0.002442 CHAN B3 (GND): -0.002991 OPEN: 0.004665 Full Scale: +/- 1 mA 2025-01-23T16:31:56.295Z,1737649916.295 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 19.000000 count 2025-01-23T16:31:56.662Z,1737649916.662 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 468.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.113216 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T16:32:05.129Z,1737649925.129 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:G](IMPORTANT): Now depth 50.266979 m is deeper than DeepBound 50.000000 m . 2025-01-23T16:32:09.182Z,1737649929.182 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:J](IMPORTANT): Floating previously but sinking now. Decrease BuoyancyAdjustmentStep from 16.000000 cc to 8.000000 cc . Decrease MassPositionAdjustmentStep from 0.528000 mm to 0.264000 mm . Increase neutral buoyancy: 468.577316 cc + 8.000000 cc = 476.577332 cc . Move mass backwards: 20.113217 mm - 0.264000 mm = 19.849216 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T16:32:14.470Z,1737649934.470 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 20.000000 count 2025-01-23T16:32:14.821Z,1737649934.821 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 476.577332 cc , BuoyancyAdjustmentStep = 8.000000 cc , MassPosition = 19.849216 mm , MassPositionAdjustmentStep = 0.264000 mm 2025-01-23T16:32:19.254Z,1737649939.254 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T16:37:23.916Z,1737650243.916 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:G](IMPORTANT): Now depth 50.180244 m is deeper than DeepBound 50.000000 m . 2025-01-23T16:37:26.348Z,1737650246.348 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 476.577319 cc + 16.000000 cc = 492.577332 cc . Move mass backwards: 19.849217 mm - 0.528000 mm = 19.321217 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T16:37:30.765Z,1737650250.765 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 21.000000 count 2025-01-23T16:37:31.161Z,1737650251.161 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 492.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 19.321217 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T16:37:35.617Z,1737650255.617 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T17:01:39.187Z,1737651699.187 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:G](IMPORTANT): Now depth 29.980055 m is shallower than ShallowBound 30.000000 m . 2025-01-23T17:01:43.188Z,1737651703.188 [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: 492.577325 cc - 8.000000 cc = 484.577332 cc . Move mass forward: 19.321216 mm + 0.264000 mm = 19.585217 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T17:01:48.873Z,1737651708.873 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 22.000000 count 2025-01-23T17:01:49.241Z,1737651709.241 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 484.577332 cc , BuoyancyAdjustmentStep = 8.000000 cc , MassPosition = 19.585217 mm , MassPositionAdjustmentStep = 0.264000 mm 2025-01-23T17:01:53.690Z,1737651713.690 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T17:32:40.833Z,1737653560.833 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 23.000000 count 2025-01-23T17:32:41.249Z,1737653561.249 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 484.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 19.585217 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T17:32:50.135Z,1737653570.135 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:G](IMPORTANT): Now depth 29.977713 m is shallower than ShallowBound 30.000000 m . 2025-01-23T17:32:52.588Z,1737653572.588 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:E](IMPORTANT): Vehicle is too light. Decrease neutral buoyancy: 484.577322 cc - 16.000000 cc = 468.577332 cc . Move mass forward: 19.585216 mm + 0.528000 mm = 20.113216 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T17:32:57.409Z,1737653577.409 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 24.000000 count 2025-01-23T17:32:57.810Z,1737653577.810 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 468.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.113216 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T17:33:02.314Z,1737653582.314 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T17:58:40.741Z,1737655120.741 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 25.000000 count 2025-01-23T17:58:41.154Z,1737655121.154 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 468.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.113216 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T17:58:49.641Z,1737655129.641 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:G](IMPORTANT): Now depth 50.081409 m is deeper than DeepBound 50.000000 m . 2025-01-23T17:58:53.684Z,1737655133.684 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:J](IMPORTANT): Floating previously but sinking now. Decrease BuoyancyAdjustmentStep from 16.000000 cc to 8.000000 cc . Decrease MassPositionAdjustmentStep from 0.528000 mm to 0.264000 mm . Increase neutral buoyancy: 468.577316 cc + 8.000000 cc = 476.577332 cc . Move mass backwards: 20.113217 mm - 0.264000 mm = 19.849216 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T17:58:58.939Z,1737655138.939 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 26.000000 count 2025-01-23T17:58:59.338Z,1737655139.338 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 476.577332 cc , BuoyancyAdjustmentStep = 8.000000 cc , MassPosition = 19.849216 mm , MassPositionAdjustmentStep = 0.264000 mm 2025-01-23T17:59:03.793Z,1737655143.793 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T18:04:08.428Z,1737655448.428 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:G](IMPORTANT): Now depth 51.906754 m is deeper than DeepBound 50.000000 m . 2025-01-23T18:04:10.831Z,1737655450.831 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 476.577319 cc + 16.000000 cc = 492.577332 cc . Move mass backwards: 19.849217 mm - 0.528000 mm = 19.321217 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T18:04:15.274Z,1737655455.274 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 27.000000 count 2025-01-23T18:04:15.681Z,1737655455.681 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 492.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 19.321217 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T18:04:20.254Z,1737655460.254 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T18:33:21.861Z,1737657201.861 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:G](IMPORTANT): Now depth 29.942945 m is shallower than ShallowBound 30.000000 m . 2025-01-23T18:33:25.885Z,1737657205.885 [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: 492.577325 cc - 8.000000 cc = 484.577332 cc . Move mass forward: 19.321216 mm + 0.264000 mm = 19.585217 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T18:33:31.547Z,1737657211.547 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 28.000000 count 2025-01-23T18:33:31.959Z,1737657211.959 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 484.577332 cc , BuoyancyAdjustmentStep = 8.000000 cc , MassPosition = 19.585217 mm , MassPositionAdjustmentStep = 0.264000 mm 2025-01-23T18:33:36.409Z,1737657216.409 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T18:38:41.415Z,1737657521.415 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:G](IMPORTANT): Now depth 29.078239 m is shallower than ShallowBound 30.000000 m . 2025-01-23T18:38:43.850Z,1737657523.850 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:E](IMPORTANT): Vehicle is too light. Decrease neutral buoyancy: 484.577322 cc - 16.000000 cc = 468.577332 cc . Move mass forward: 19.585216 mm + 0.528000 mm = 20.113216 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T18:38:48.725Z,1737657528.725 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 29.000000 count 2025-01-23T18:38:49.096Z,1737657529.096 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 468.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 20.113216 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T18:38:53.557Z,1737657533.557 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T18:58:57.913Z,1737658737.913 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:G](IMPORTANT): Now depth 50.050949 m is deeper than DeepBound 50.000000 m . 2025-01-23T18:59:01.973Z,1737658741.973 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:J](IMPORTANT): Floating previously but sinking now. Decrease BuoyancyAdjustmentStep from 16.000000 cc to 8.000000 cc . Decrease MassPositionAdjustmentStep from 0.528000 mm to 0.264000 mm . Increase neutral buoyancy: 468.577316 cc + 8.000000 cc = 476.577332 cc . Move mass backwards: 20.113217 mm - 0.264000 mm = 19.849216 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T18:59:07.360Z,1737658747.360 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 30.000000 count 2025-01-23T18:59:07.796Z,1737658747.796 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 476.577332 cc , BuoyancyAdjustmentStep = 8.000000 cc , MassPosition = 19.849216 mm , MassPositionAdjustmentStep = 0.264000 mm 2025-01-23T18:59:12.216Z,1737658752.216 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T19:04:16.850Z,1737659056.850 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:G](IMPORTANT): Now depth 50.526432 m is deeper than DeepBound 50.000000 m . 2025-01-23T19:04:19.315Z,1737659059.315 [PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E](IMPORTANT): Vehicle is too heavy. Increase neutral buoyancy: 476.577319 cc + 16.000000 cc = 492.577332 cc . Move mass backwards: 19.849217 mm - 0.528000 mm = 19.321217 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T19:04:23.720Z,1737659063.720 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 31.000000 count 2025-01-23T19:04:24.193Z,1737659064.193 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 492.577332 cc , BuoyancyAdjustmentStep = 16.000000 cc , MassPosition = 19.321217 mm , MassPositionAdjustmentStep = 0.528000 mm 2025-01-23T19:04:28.586Z,1737659068.586 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T19:31:33.224Z,1737660693.224 [PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:G](IMPORTANT): Now depth 29.950378 m is shallower than ShallowBound 30.000000 m . 2025-01-23T19:31:37.242Z,1737660697.242 [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: 492.577325 cc - 8.000000 cc = 484.577332 cc . Move mass forward: 19.321216 mm + 0.264000 mm = 19.585217 mm . FineTune = 0 bool . WaitAfterBuoyancyChange = 5.000000 min . 2025-01-23T19:31:42.894Z,1737660702.894 [PAM:PAM:SetVariables:F](IMPORTANT): Cnt = 32.000000 count 2025-01-23T19:31:43.305Z,1737660703.305 [PAM:PAM:SetVariables:G](IMPORTANT): NeutralBuoyancy = 484.577332 cc , BuoyancyAdjustmentStep = 8.000000 cc , MassPosition = 19.585217 mm , MassPositionAdjustmentStep = 0.264000 mm 2025-01-23T19:31:47.749Z,1737660707.749 [PAM:PAM:Waits:WaitBuoyancyChange:A](IMPORTANT): After buoyancy change, wait for 5.000000 min 2025-01-23T20:01:44.897Z,1737662504.897 [PAM:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE 2025-01-23T20:25:22.586Z,1737663922.586 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-01-23T20:35:40.773Z,1737664540.773 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-01-23T20:35:41.072Z,1737664541.072 [WetLabsBB2FL](FAULT): LCB fault: Current Limiter Activated. 2025-01-23T20:37:04.803Z,1737664624.803 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2025-01-23T20:39:51.983Z,1737664791.983 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout 2025-01-23T20:41:08.396Z,1737664868.396 [DataOverHttps](IMPORTANT): SBD MTMSN=20250123T204117 2025-01-23T20:41:16.229Z,1737664876.229 [CommandExec](IMPORTANT): got command restart logs