tethys Path

trajectory

20231015T195716 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20231015T195716 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20231015T195716 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20231015T195716 [SBIT]:Express none height_above_sea_floor;#

20231015T195716 [SBIT]:Sonardyne_Nano.loadAtStartup=1 bool;#

20231015T195716 [SBIT]:VerticalControl.buoyancyNeutral=352.156577 cubic_centimeter;#

20231015T195716 [SBIT]:VerticalControl.massDefault=18.799268 millimeter;#

20231015T195717 [MissionManager]:Started mission Startup

20231015T195826 [MissionManager]:Started mission Default

20231015T200212 [BPC1]:BPC1A got IPBS message with 5 sticks (min is 7).

20231015T200224 [BPC1]:BPC1A got IPBS message with 5 sticks (min is 7).

20231015T200235 [BPC1]:BPC1A got IPBS message with 5 sticks (min is 7).

20231015T200304 [CommandExec]:got command schedule "load Engineering/passive_acoustic_monitoring.xml;set passive_acoustic_monitoring.MissionTimeout 120 min;set passive_acoustic_monitoring.DeepBound 32 m;set passive_acoustic_monitoring.ShallowBound 28 m" 2cvo0 1 2.000000

20231015T200304 [CommandExec]:Scheduling command #1 of 2 with id=2cvo0

20231015T200304 [CommandExec]:Scheduled #1 (#1 of 2 with id='2cvo0'): "load Engineering/passive_acoustic_monitoring.xml;set passive_acoustic_monitoring.MissionTimeout 120 min;set passive_acoustic_monitoring.DeepBound 32 m;set passive_acoustic_monitoring.ShallowBound 28 m", AFTER MISSION

20231015T200313 [CommandExec]:got command schedule "set passive_acoustic_monitoring.LatListening 36.772 degree;set passive_acoustic_monitoring.LonListening -121.850 degree;run" 2cvo0 2 2.000000

20231015T200313 [CommandExec]:Scheduling command #2 of 2 with id=2cvo0

20231015T200313 [CommandExec]:Scheduled #2 (#2 of 2 with id='2cvo0'): "set passive_acoustic_monitoring.LatListening 36.772 degree;set passive_acoustic_monitoring.LonListening -121.850 degree;run", AFTER MISSION

20231015T200313 [CommandExec]:got command load ./Missions/Engineering/passive_acoustic_monitoring.xml

20231015T200314 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231015T200315 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231015T200316 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231015T200316 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/AbortDrift.tx

20231015T200317 [CommandExec]:Loaded ./Missions/Engineering/passive_acoustic_monitoring.xml

20231015T200330 [CommandExec]:got command set passive_acoustic_monitoring.MissionTimeout 120 minute

20231015T200330 [CommandExec]:got command set passive_acoustic_monitoring.DeepBound 32 meter

20231015T200330 [CommandExec]:got command set passive_acoustic_monitoring.ShallowBound 28 meter

20231015T200337 [CommandExec]:got command set passive_acoustic_monitoring.LatListening 36.772 degree

20231015T200337 [CommandExec]:got command set passive_acoustic_monitoring.LonListening -121.850 degree

20231015T200337 [CommandExec]:got command run

20231015T200337 [CommandExec]:Running

20231015T200337 [MissionManager]:Started mission passive_acoustic_monitoring

20231015T200339 [passive_acoustic_monitoring:K]:NeutralBuoyancy = 352.156586 cc .

20231015T200340 [passive_acoustic_monitoring:L]:BuoyancyAdjustmentStep = 16.000000 cc .

20231015T200340 [passive_acoustic_monitoring:N]:DeepBoundMinusTargetDepth = 2.000000 m .

20231015T200341 [passive_acoustic_monitoring:P]:TargetDepthMinusShallowBound = 2.000000 m .

20231015T200443 level run transit to listening location LatListening = 36.771999 arcdeg , LonListening = -121.849998 arcdeg .

20231015T201238 [passive_acoustic_monitoring:PAM:D]:Cnt = 1.000000 count

20231015T201653 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231015T202036 depth 25.159767 m is shallower than ShallowBound 28.000000 m , and TargetDepthMinusShallowBound 2.000000 m divided by 2.832940 s = 0.705980 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too light. Decrease neutral buoyancy: 352.156581 cc - 16.000000 cc = 336.156586 cc . Then go back to the target depth (with propeller on).

20231015T202037 [passive_acoustic_monitoring:PAM:D]:Cnt = 2.000000 count

20231015T202545 [passive_acoustic_monitoring:PAM:D]:Cnt = 3.000000 count

20231015T203036 depth 34.580544 m is deeper than DeepBound 32.000000 m , and DeepBoundMinusTargetDepth 2.000000 m divided by 2.839858 s = 0.704261 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 344.156579 cc + 8.000000 cc = 352.156586 cc . Then go back to the target depth (with propeller on).

20231015T203439 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00010501411320.41, 338.81, 314.28#

20231015T203442 depth 26.932079 m is shallower than ShallowBound 28.000000 m , and TargetDepthMinusShallowBound 2.000000 m divided by 2.413237 s = 0.828762 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Sinking previously but floating now. Decrease BuoyancyAdjustmentStep from 8.000000 cc to 4.000000 cc . Decrease neutral buoyancy: 352.156581 cc - 4.000000 cc = 348.156586 cc . Then go back to the target depth (with propeller on).

20231015T205050 depth 32.202404 m is deeper than DeepBound 32.000000 m , and DeepBoundMinusTargetDepth 2.000000 m divided by 117.176247 s = 0.017068 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 348.156580 cc + 2.000000 cc = 350.156555 cc . Then go back to the target depth (with propeller on).

20231015T205642 depth 32.082981 m is deeper than DeepBound 32.000000 m , and DeepBoundMinusTargetDepth 2.000000 m divided by 90.474632 s = 0.022106 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 350.156566 cc + 2.000000 cc = 352.156555 cc . Then go back to the target depth (with propeller on).

20231015T210442 depth 24.752037 m is shallower than ShallowBound 28.000000 m . Elapsed time since the last GPS fix 60.005570 min is longer than SurfacingIntervalDuringListening 60.000000 min . Surface and optionally transit back to listening location.

20231015T210445 depth 24.811018 m is shallower than ShallowBound 28.000000 m , and TargetDepthMinusShallowBound 2.000000 m divided by 2.812696 s = 0.711062 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too light. Decrease neutral buoyancy: 354.156538 cc - 2.000000 cc = 352.156555 cc . Then go back to the target depth (with propeller on).

20231015T210459 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, +17.57244.44, -32.05, 3.00, 0.00#

20231015T210919 run back to listening location LatListening = 36.771999 arcdeg , LonListening = -121.849998 arcdeg .

20231015T213003 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231015T213620 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231015T213629 [RDI_Pathfinder]:only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 295.66, 283.40, 299.4,A#

20231015T214754 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231015T220338 [MissionManager]:Started mission Default

20231015T220740 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231015T221016 [CommandExec]:got command schedule asap "load Engineering/passive_acoustic_monitoring.xml;set passive_acoustic_monitoring.MissionTimeout 180 min;set passive_acoustic_monitoring.SurfacingIntervalDuringListening 180 min" 2d1ju 1 3.000000

20231015T221016 [CommandExec]:Scheduling command #1 of 3 with id=2d1ju

20231015T221016 [CommandExec]:Scheduled #3 (#1 of 3 with id='2d1ju'): "load Engineering/passive_acoustic_monitoring.xml;set passive_acoustic_monitoring.MissionTimeout 180 min;set passive_acoustic_monitoring.SurfacingIntervalDuringListening 180 min", ASAP

20231015T221028 [CommandExec]:got command schedule asap "set passive_acoustic_monitoring.NeedCommsMaxWait 180 min;set passive_acoustic_monitoring.DeepBound 32 m;set passive_acoustic_monitoring.ShallowBound 28 m;set passive_acoustic_monitoring.LatListening 36.772 degree" 2d1ju 2 3.000000

20231015T221028 [CommandExec]:Scheduling command #2 of 3 with id=2d1ju

20231015T221028 [CommandExec]:Scheduled #4 (#2 of 3 with id='2d1ju'): "set passive_acoustic_monitoring.NeedCommsMaxWait 180 min;set passive_acoustic_monitoring.DeepBound 32 m;set passive_acoustic_monitoring.ShallowBound 28 m;set passive_acoustic_monitoring.LatListening 36.772 degree", ASAP

20231015T221036 [CommandExec]:got command schedule asap "set passive_acoustic_monitoring.LonListening -121.850 degree;run" 2d1ju 3 3.000000

20231015T221036 [CommandExec]:Scheduling command #3 of 3 with id=2d1ju

20231015T221036 [CommandExec]:Scheduled #5 (#3 of 3 with id='2d1ju'): "set passive_acoustic_monitoring.LonListening -121.850 degree;run", ASAP

20231015T221036 [CommandExec]:got command load ./Missions/Engineering/passive_acoustic_monitoring.xml

20231015T221037 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231015T221039 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231015T221039 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231015T221039 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/AbortDrift.tx

20231015T221040 [CommandExec]:Loaded ./Missions/Engineering/passive_acoustic_monitoring.xml

20231015T221049 [CommandExec]:got command set passive_acoustic_monitoring.MissionTimeout 180 minute

20231015T221049 [CommandExec]:got command set passive_acoustic_monitoring.SurfacingIntervalDuringListening 180 minute

20231015T221106 [CommandExec]:got command set passive_acoustic_monitoring.NeedCommsMaxWait 180 minute

20231015T221106 [CommandExec]:got command set passive_acoustic_monitoring.DeepBound 32 meter

20231015T221106 [CommandExec]:got command set passive_acoustic_monitoring.ShallowBound 28 meter

20231015T221106 [CommandExec]:got command set passive_acoustic_monitoring.LatListening 36.772 degree

20231015T221111 [CommandExec]:got command set passive_acoustic_monitoring.LonListening -121.850 degree

20231015T221111 [CommandExec]:got command run

20231015T221111 [CommandExec]:Running

20231015T221111 [MissionManager]:Started mission passive_acoustic_monitoring

20231015T221113 [passive_acoustic_monitoring:K]:NeutralBuoyancy = 352.156586 cc .

20231015T221114 [passive_acoustic_monitoring:L]:BuoyancyAdjustmentStep = 16.000000 cc .

20231015T221115 [passive_acoustic_monitoring:N]:DeepBoundMinusTargetDepth = 2.000000 m .

20231015T221115 [passive_acoustic_monitoring:P]:TargetDepthMinusShallowBound = 2.000000 m .

20231015T221240 level run transit to listening location LatListening = 36.771999 arcdeg , LonListening = -121.849998 arcdeg .

20231015T224311 depth 27.672062 m is shallower than ShallowBound 28.000000 m , and TargetDepthMinusShallowBound 2.000000 m divided by 2.452655 s = 0.815443 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Sinking previously but floating now. Decrease BuoyancyAdjustmentStep from 16.000000 cc to 8.000000 cc . Decrease neutral buoyancy: 384.156592 cc - 8.000000 cc = 376.156586 cc . Then go back to the target depth (with propeller on).

20231015T225031 depth 27.899914 m is shallower than ShallowBound 28.000000 m , and TargetDepthMinusShallowBound 2.000000 m divided by 222.208557 s = 0.009001 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too light. Decrease neutral buoyancy: 376.156589 cc - 8.000000 cc = 368.156586 cc . Then go back to the target depth (with propeller on).

20231015T225753 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231015T225753 depth 33.204647 m is deeper than DeepBound 32.000000 m , and DeepBoundMinusTargetDepth 2.000000 m divided by 2.025977 s = 0.987178 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Floating previously but sinking now. Decrease BuoyancyAdjustmentStep from 8.000000 cc to 4.000000 cc . Increase neutral buoyancy: 360.156584 cc + 4.000000 cc = 364.156586 cc . Then go back to the target depth (with propeller on).

20231015T230459 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231015T231856 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231016T003115 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231016T004401 depth 32.070118 m is deeper than DeepBound 32.000000 m , but DeepBoundMinusTargetDepth 2.000000 m divided by 1595.380371 s = 0.001254 m/s is less than SinkingOrFloatingRateThreshold 0.002000 m/s . Do not increase neutral buoyancy. Just go back to the target depth (with propeller on).

20231016T005655 [RDI_Pathfinder]:only read 0 of 4 data items for water velocity. Device response is::WS, -#

20231016T011112 [MissionManager]:Started mission Default

20231016T011238 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231016T011458 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231016T011833 [CommandExec]:got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 12 h;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.772886 degree;set keepstation.Longitude -121.86307 degree;set keepstation.Depth 40 m" 2daa8 1 2.000000

20231016T011833 [CommandExec]:Scheduling command #1 of 2 with id=2daa8

20231016T011833 [CommandExec]:Scheduled #6 (#1 of 2 with id='2daa8'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 12 h;set keepstation.NeedCommsTime 30 min;set keepstation.Latitude 36.772886 degree;set keepstation.Longitude -121.86307 degree;set keepstation.Depth 40 m", ASAP

20231016T011842 [CommandExec]:got command schedule asap "set keepstation.ApproachDepth 35 m;set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 500 m;set keepstation.MaxDepth 60 m;run" 2daa8 2 2.000000

20231016T011842 [CommandExec]:Scheduling command #2 of 2 with id=2daa8

20231016T011842 [CommandExec]:Scheduled #7 (#2 of 2 with id='2daa8'): "set keepstation.ApproachDepth 35 m;set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 500 m;set keepstation.MaxDepth 60 m;run", ASAP

20231016T011842 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20231016T011842 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20231016T011842 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231016T011843 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231016T011843 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231016T011843 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl

20231016T011854 [CommandExec]:got command set keepstation.MissionTimeout 12 hour

20231016T011854 [CommandExec]:got command set keepstation.NeedCommsTime 30 minute

20231016T011854 [CommandExec]:got command set keepstation.Latitude 36.772886 degree

20231016T011854 [CommandExec]:got command set keepstation.Longitude -121.86307 degree

20231016T011854 [CommandExec]:got command set keepstation.Depth 40 meter

20231016T011904 [CommandExec]:got command set keepstation.ApproachDepth 35 meter

20231016T011904 [CommandExec]:got command set keepstation.DepthDeadband 10 meter

20231016T011904 [CommandExec]:got command set keepstation.Speed 0.8 meter_per_second

20231016T011904 [CommandExec]:got command set keepstation.Radius 500 meter

20231016T011904 [CommandExec]:got command set keepstation.MaxDepth 60 meter

20231016T011904 [CommandExec]:got command run

20231016T011904 [CommandExec]:Running

20231016T011904 [MissionManager]:Started mission keepstation

20231016T011949 [keepstation:TransitToStation:Wpt1.Waypoint]:Navigating to waypoint: 36.772884,-121.863068

20231016T013705 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231016T013837 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231016T013853 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231016T014438 [RDI_Pathfinder]:only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 755.56, 976.98, 787.3,A#