12:52 Fired up the application ************************ Logs: 20101012T195134 Restart on shore ************************ Logs: 20101012T200823 14:05 Started mission transit_2km 14:30 sent run_OceanTests_KeepStation_2km_xml.sbd Found potentially nasty typo in all keep station missions. Would advise not to run unless you can accept the risk of waiting the entire mission timeout. The fix has since been checked in. 1536 sent load_BloomEX_bloomex-xml.sbd set_bloomex_Bearing_300_degree.sbd set_bloomex_LaneDistance_9000_meter.sbd run.sbd not ack by GSS 1614 sent run_BloomEX_bloomex_xml.sbd not ack by GSS 1633 run_BloomEX_bloomex_xml.sbd ack from GSS This last message was sent from gmail were the previous efforts were sent from MBARI. 1651 "Started mission bloomex" reported by Tethys. 1739 Tethys on track with a left zag. 0155 sent load_BloomEX_bloomex-xml.sbd, rcvd ack, #1 in queu set_bloomex_LaneDistance_5000_meter.sbd, rcvd ack, #2 in queu set_bloomex_Bearing_300_degree.sbd, rcvd ack, #3 in queu run.sbd, rcvd ack, #4 in queu. Tethys reports receipt of commands (in sequence) and execution of run command. 0705 load_BloomEX_bloomex-xml.sbd, rcvd ack, #1 in queue (MTMSN is 1034) set_bloomex_Bearing_330_degree.sbd, rcvd ack, #1 in queue (MTMSN is 1035) run.sbd, rcvd ack, #2 in queue (MTMSN is 1036) Tethys reports receipt of commands (in sequence) and execution of run command. 0731 load_BloomEX_bloomex-xml.sbd, rcvd ack, #1 in queue (MTMSN is 1037) set_bloomex_Bearing_330_degree.sbd, rcvd ack, #1 in queue (MTMSN is 1038) run.sbd, rcvd ack, #1 in queue (MTMSN is 1039) Tethys reports receipt of commands (in sequence) and execution of run command. 1203 received direction (JGB) to drive to Lat_36_92_ Lon_m121_93_ Sent stop.sbd sent load_BloomEX_bloomex_xml.sbd sent set_bloomex_WpLat_36_92_degree.sbd sent set_bloomex_WpLon_m121_93_degree.sbd sent run.sbd All sends via gmail, rcvd ack from GSS 1338 Arrived at WaypointNorth 36.92 -121.93 Sent load_BloomEX_bloomex_xml.sbd set_bloomex_WpLat_36_87_degree.sbd set_bloomex_WpLon_m121_93_degree.sbd run.sbd 1357 started mission Bloomex WayPointMidpoint 36.870000° -121.930000° 1615 sent load_BloomEX_bloomex_xml.sbd set_bloomex_WpLon_m121_94_degree.sbd set_bloomex_WpLat_36_82_degree.sbd set_bloomex_yo_yo_max_depth_48.sbd set_bloomex_yo_yo_pitch_15.sbd run.sbd 16:17 Mission manager reported started mission Bloomex to WayPointSouth 36.820000° -121.940000° with max depth change to 48 meters and yoyo pitch change to 15 degrees expect 2hours 23 minutes -> 18:40 at this time I will run 15deg 6km 40meter deep 5km lane widht all from my phone from dinner... 2019 Tethys has been slow to check in and has had difficulty getting all messages transmitted prior to continuing on. Further she is off course to the southeast. It is not obvious what has led the vehicle off course. She seems to be attempting to dive but is unable to stay down. 2035 sent stop.sbd 2036 recvd ack from GSS 2126 Tethys is on the surface and logs indicate she is unable to stay submerged. The excess buoyancy is being attributed to a floating entanglement (kelp?). sent "run_BloomEX_keep_station_xml.sbd" which should keep her within 500 meters for her last received GPS fix for the next 500 minutes. I plan to see if she has come free later on tonight between 0001 and 0300 when I am back on watch. TTH Brian began watch 2130 2157 sent stop.sbd 2208 sent run_BloomEX_go_1000m_north_xml.sbd vehicle seems okay now. Mike suspects Offshore envolope acting on default value of max offshore 2308 sent load_BloomEX_bloomex_xml.sbd 2322 sent set_bloomex_Bearing_0_degree.sbd 2323 sent set_bloomex_LaneDistance_6000_meter.sbd 2324 sent set_bloomex_ZigZagAngle_45_degree.sbd 2351 sent set_bloomex_Bearing_0_degree.sbd after failing to receive confirmation from vehicle 2408 sent run.sbd 2415 watch over 0019 TTH assumed the watch 0027 Sent stop.sbd Once vehicle is on the surface will issue commands to send it toward WaypointMidpoint with parameters from JGB guidance. 2) Proceed from south end to WaypointMidpoint a. Heading is 015 b. Lane distance is 6km c. Lane width is 5km d. Max depth is 48m e. YoYo pitch is 15 degree f. Zigzag angle is 60 degree 0106 Vehicle on surface and logs reveal "2010-10-14T07:39:44.69050Z,1287041984.6905 [CBIT](CRITICAL): Hardware Fault in component: ThrusterServo" 0109 sent load_BloomEX_bloomex_xml.sbd, rcvd ack from GSS #1 in queu 0110 sent yoyo depth 50, rcvd ack from GSS #2 in queu Set heading to 015, rcvd ack from GSS #3 in queu Lane width to 5km, rcvd ack from GSS #4 in queu Lane Distance 3km (to get to Midpoint), rcvd ack from GSS #5 in queu YoYo pitch at 15, rcvd ack from GSS #6 in queu 0113 sent run, rcvd ack from GSS #7 in queu 0134 shore.asc indicates vehicle received the listed sbd messages and has commenced mission. 0209 message batch incomplete (waiting for 2 more) 0244 recvd two messages 0255 recvd full set She failed the mission again. "2010-10-14T09:41:08.50250Z,1287049268.5025 [CBIT](CRITICAL): Hardware Fault in component: ThrusterServo" I am going to let her clear her back log of messages and then figure out what to do. 0322 sent run_BloomEX_go_1000m_east_xml.sbd See if I can get her to run. East would not be a bad direction, if only to remove the question of the 10km offshore envelope. 0343 command appears to have failed due to syntax error "2010-10-14T10:24:39.83570Z,1287051879.8357 [CommandLine](FAULT): Incomplete syntax. Try: help run " 0350 sent run_OceanTests_transit_2km_xml.sbd This should move Tethys up to 6km in the direction of 2km waypoint. Transit is at 10 km with science off. If this is successful we can either look at recovery or send her back northwest toward M0. 0350 Tethys reports start of mission transit_2km 0355 relieved by Mike G. -TTH 0410 sent run_OceanTests_transit_2km_xml.sbd No reply from Iridium 0415 sent run_OceanTests_transit_2km_xml.sbd This should move Tethys up to 6km in the direction of 2km waypoint. Transit is at 10 km with science off. If this is successful we can either look at recovery or send her back northwest toward M0. This follows a recent ThrusterServo overcurrent fault 0419 resending with attachment The MTMSN is 1076, and the message is number 1 in the queue 0447 run_OceanTests_transit_2km_xml.sbd Grrrr, thruster keeps failing at a few meters depth The MTMSN is 1077, and the message is number 1 in the queue. 0815 TTH on watch 0924 sent run_BloomEX_go_1000m_west_xml_fixed.sbd 1015 sent load_BloomEX_bloomex_xml.sbd 1020 sent set_bloomex_WpLon_m121_94_degree.sbd 1022 sent set_bloomex_WpLat_36_82_degree.sbd Jim requested to drive through the patch that Dorado detected yesterday 1044 sent set_bloomex_WpLat_36_83_degree.sbd 1045 sent set_bloomex_WpLon_m121_93_degree.sbd 1046 sent restart -- since this is a new mission phase, clean logs were requested 1122 appears restart delayed somewhere in e-mail hell. 1123 sent bloomex2.xml000.sbd The MTMSN is 1079, and the message is number 1 in the queue. 1124 sent bloomex2.xml001.sbd The MTMSN is 1080, and the message is number 1 in the queue. 1125 sent bloomex2.xml002.sbd The MTMSN is 1081, and the message is number 1 in the queue. 1126 sent bloomex2.xml003.sbd The MTMSN is 1082, and the message is number 2 in the queue. 1128 sent bloomex2.xml004.sbd The MTMSN is 1083, and the message is number 3 in the queue. 1130 sent bloomex2.xml005.sbd The MTMSN is 1084, and the message is number 4 in the queue. 1132 sent bloomex2.xml006.sbd The MTMSN is 1085, and the message is number 5 in the queue. 1134 sent bloomex2.xml007.sbd The MTMSN is 1086, and the message is number 2 in the queue. 1136 sent bloomex2.xml008.sbd The MTMSN is 1087, and the message is number 2 in the queue. 1138 sent bloomex2.xml009.sbd The MTMSN is 1088, and the message is number 3 in the queue. 1140 sent bloomex2.xml010.sbd The MTMSN is 1089, and the message is number 2 in the queue. 1142 sent bloomex2.xml011.sbd The MTMSN is 1090, and the message is number 1 in the queue. 1144 sent bloomex2.xml012.sbd The MTMSN is 1091, and the message is number 2 in the queue. Mission sent and decryped. Appears checksum is bad. 1210 sent restart.sbd The MTMSN is 1092, and the message is number 1 in the queue. ************************ Logs: 20101014T190812 1227 sent load_BloomEX_bloomex_xml.sbd The MTMSN is 1093, and the message is number 1 in the queue. 1258 sent set_bloomex_WpLat_36_83_degree.sbd The MTMSN is 1094, and the message is number 1 in the queue. 1259 sent set_bloomex_WpLon_m121_93_degree.sbd The MTMSN is 1095, and the message is number 1 in the queue. 13:01 sent run.sbd The MTMSN is 1096, and the message is number 1 in the queue. 1309 From the logs: 2010-10-14T19:20:01.95890Z,1287084001.9589 [CBIT](CRITICAL): Communications Fault in component: RudderServo 2010-10-14T19:53:37.47450Z,1287086017.4745 [CBIT](CRITICAL): Communications Fault in component: ElevatorServo 1311 sent restart.sbd The MTMSN is 1097, and the message is number 1 in the queue. ************************ Logs: 20101014T201203 13:16 sent load_BloomEX_bloomex_xml.sbd The MTMSN is 1098, and the message is number 1 in the queue. 1318 sent set_bloomex_WpLat_36_83_degree.sbd The MTMSN is 1099, and the message is number 1 in the queue. 1318 sent set_bloomex_WpLon_m121_93_degree.sbd The MTMSN is 1100, and the message is number 2 in the queue. *** Reset killed other messages 1326 sent load_BloomEX_bloomex_xml.sbd The MTMSN is 1101, and the message is number 1 in the queue. 1330 sent set_bloomex_yo_yo_max_depth_38.sbd The MTMSN is 1102, and the message is number 1 in the queue. 1330 sent set_bloomex_WpLat_36_83_degree.sbd The MTMSN is 1103, and the message is number 2 in the queue. 1330 sent set_bloomex_WpLon_m121_93_degree.sbd The MTMSN is 1104, and the message is number 3 in the queue. 1334 RE-sent set_bloomex_yo_yo_max_depth_38.sbd The MTMSN is 1105, and the message is number 1 in the queue. 1336 sent run.sbd The MTMSN is 1106, and the message is number 2 in the queue. 1550 sent bloomex2.xml000.sbd The MTMSN is 1107, and the message is number 1 in the queue. 1552 sent bloomex2.xml001.sbd The MTMSN is 1108, and the message is number 2 in the queue 1554 sent bloomex2.xml002.sbd The MTMSN is 1109, and the message is number 3 in the queue. 1555 sent bloomex2.xml003.sbd The MTMSN is 1110, and the message is number 4 in the queue. 1556 sent bloomex2.xml004.sbd The MTMSN is 1111, and the message is number 5 in the queue. 1601 sent bloomex2.xml005.sbd The MTMSN is 1112, and the message is number 6 in the queue. 1603 sent bloomex2.xml006.sbd The MTMSN is 1113, and the message is number 7 in the queue. 1608 sent bloomex2.xml007.sbd The MTMSN is 1114, and the message is number 8 in the queue. 1611 sent bloomex2.xml008.sbd The MTMSN is 1115, and the message is number 9 in the queue. 1613 sent bloomex2.xml009.sbd The MTMSN is 1116, and the message is number 10 in the queue. 1616 sent bloomex2.xml010.sbd The MTMSN is 1117, and the message is number 9 in the queue. 1618 sent bloomex2.xml011.sbd The MTMSN is 1118, and the message is number 8 in the queue. ********** Expect to see: fec91fc569651641c5619460fe18d7ca workspace/LRAUV/BloomEX/bloomex2.xml 1632 sent stop.sbd 1718 sent "load_BloomEX_bloomex2.xml.sbd", #1 in queu, MTMSN 1120 1719 sent "set_bloomex_EastBound_3km_box.sbd", #2 in queu, MTMSN 1121 1730 just saw six messages from Brian's e-mail go flying by!!! 1731 sent "stop.sbd', #1 in queue, MTMSN is 1128. This makes sense if the earlier six all made it. 1734 sent "load_BloomEX_bloomex2.xml.sbd", #1 in queu, MTMSN 1129 1735 sent "set_bloomex_EastBound_3km_box.sbd", #2 in queu, MTMSN 1130 Mission failed due to thruster overload 1821 Attachment Filename: load_BloomEX_bloomex2_xml.sbd Attachment Size: 36 The MTMSN is 1131, and the message is number 1 in the queue. 1822 Attachment Filename: set_bloomex_EastBound_3km_box.sbd Attachment Size: 196 The MTMSN is 1132, and the message is number 1 in the queue. 1825 left the office ... on cell phone Brian began watch 2100 2353 Critical failure CTD 2355 sent load_BloomEX_bloomex2_xml.sbd The MTMSN is 1133, and the message is number 1 in the queue. 2400 sent set_bloomex_EastBound_3km_box.sbd The MTMSN is 1134, and the message is number 1 in the queue. end of watch 0000 TTH on watch 0012 CTD continues to fail 0013 Sent restart to reset CTD ************************ Logs: 20101015T070928 The MTMSN is 1135, and the message is number 1 in the queue. 0015 sent load_BloomEX_bloomex2_xml.sbd The MTMSN is 1136, and the message is number 1 in the queue. 0019 sent set_bloomex_EastBound_3km_box.sbd Attachment Size: 196 The MTMSN is 1137, and the message is number 1 in the queue. new log file http://aosn.mbari.org/TethysLogs/20101015T070928/ 0114 sent load_BloomEX_bloomex2_xml.sbd Attachment Size: 36 The MTMSN is 1138, and the message is number 1 in the queue. 0124 MTMSN 1138 received, 14 parts to upload 0129 sent set_bloomex_WestBound_3km_box.sbd Attachment Size: 196 The MTMSN is 1139, and the message is number 1 in the queue. 0133 MTMSN 1139 recvd. 0136 recvd final message in group. Tethys should now be WestBound. 0300 Looks like a westbound mission is running with out problem. TTH out MAG in 0538 sent run_OceanTests_transit_2km_xml.sbd Attachment Size: 36 The MTMSN is 1140, and the message is number 1 in the queue. Transit should commence about 6:15 AM. 0641 message received MAG out MAG in 0900 sent transit_2km.sbd No response from Iridium 0906 sent run_OceanTests_transit_2km_xml.sbd Attachment Size: 36 The MTMSN is 1141, and the message is number 1 in the queue. 0907 message recieved at vehicle MAG out BCK in (wishing his initials were as manly as "MAG") 1023 sent run_BloomEX_transit_1km_xml.sbd will send restart from boat Vehicle recovered at 1KM around 1101 sent restart.sbd from boat ************************ Logs: 20101015T180033 ********************* scratch pad data@sbd.iridium.com 300034012930410 ZigZagBearingDistance mode at 3km lane width, 60 degree angle -> 1.125 km/hr YoYoWaypoint mode -> 2.35 km/hr 7 hours between GMT and local time