tethys Path

trajectory

20231026T055348 [SBIT]:Control surface position failure.

20231026T055402 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20231026T055402 [SBIT]:DockingStepper.slideValue=11710 count;#

20231026T055402 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20231026T055402 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20231026T055402 [SBIT]:Express linearApproximation height_above_sea_floor 5.000000 meter;#

20231026T055402 [SBIT]:LineCapture.rolloutSpeed=0 meter_per_second;#

20231026T055402 [SBIT]:LineCapture.rolloutTimeout=10 minute;#

20231026T055402 [SBIT]:LineCapture.shortFinalRange=10 meter;#

20231026T055402 [SBIT]:Sonardyne_Nano.loadAtStartup=1 bool;#

20231026T055402 [SBIT]:VerticalControl.buoyancyNeutral=311.989620 cubic_centimeter;#

20231026T055402 [SBIT]:VerticalControl.massDefault=20.662059 millimeter;#

20231026T055402 [CommandExec]:Scheduling is paused

20231026T055403 [MissionManager]:Started mission Startup

20231026T055448 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231026T055505 [MissionManager]:Started mission Default

20231026T060148 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231026T060148 [RDI_Pathfinder]:Communications Fault

20231026T060149 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231026T060150 [RDI_Pathfinder]:Expecting PD13 message format

20231026T060217 [Default:CheckIn:E]:Default mission has been running for 7.183704 min

20231026T060538 [CommandExec]:got command schedule clear

20231026T060538 [CommandExec]:Cleared 0 scheduled commands.

20231026T060538 [CommandExec]:got command schedule resume

20231026T060538 [CommandExec]:Scheduling is resumed

20231026T060546 [CommandExec]:got command schedule asap "load Engineering/passive_acoustic_monitoring.xml;set passive_acoustic_monitoring.MissionTimeout 10 h;set passive_acoustic_monitoring.SurfacingIntervalDuringListening 4 h;set passive_acoustic_monitoring.NeedCommsMaxWait 5 h" 2w67w 1 3.000000

20231026T060546 [CommandExec]:Scheduling command #1 of 3 with id=2w67w

20231026T060546 [CommandExec]:Scheduled #1 (#1 of 3 with id='2w67w'): "load Engineering/passive_acoustic_monitoring.xml;set passive_acoustic_monitoring.MissionTimeout 10 h;set passive_acoustic_monitoring.SurfacingIntervalDuringListening 4 h;set passive_acoustic_monitoring.NeedCommsMaxWait 5 h", ASAP

20231026T060556 [CommandExec]:got command schedule asap "set passive_acoustic_monitoring.Depth 60 m;set passive_acoustic_monitoring.DeepBound 62 m;set passive_acoustic_monitoring.ShallowBound 58 m;set passive_acoustic_monitoring.MaxDepth 75 m" 2w67w 2 3.000000

20231026T060556 [CommandExec]:Scheduling command #2 of 3 with id=2w67w

20231026T060556 [CommandExec]:Scheduled #2 (#2 of 3 with id='2w67w'): "set passive_acoustic_monitoring.Depth 60 m;set passive_acoustic_monitoring.DeepBound 62 m;set passive_acoustic_monitoring.ShallowBound 58 m;set passive_acoustic_monitoring.MaxDepth 75 m", ASAP

20231026T060606 [CommandExec]:got command schedule asap "set passive_acoustic_monitoring.LatListening 36.785 degree;set passive_acoustic_monitoring.LonListening -121.847 degree;run" 2w67w 3 3.000000

20231026T060606 [CommandExec]:Scheduling command #3 of 3 with id=2w67w

20231026T060606 [CommandExec]:Scheduled #3 (#3 of 3 with id='2w67w'): "set passive_acoustic_monitoring.LatListening 36.785 degree;set passive_acoustic_monitoring.LonListening -121.847 degree;run", ASAP

20231026T060606 [CommandExec]:got command load ./Missions/Engineering/passive_acoustic_monitoring.xml

20231026T060607 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231026T060609 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231026T060609 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231026T060609 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/AbortDrift.tx

20231026T060610 [CommandExec]:Loaded ./Missions/Engineering/passive_acoustic_monitoring.xml

20231026T060626 [CommandExec]:got command set passive_acoustic_monitoring.MissionTimeout 10 hour

20231026T060626 [CommandExec]:got command set passive_acoustic_monitoring.SurfacingIntervalDuringListening 4 hour

20231026T060626 [CommandExec]:got command set passive_acoustic_monitoring.NeedCommsMaxWait 5 hour

20231026T060644 [CommandExec]:got command set passive_acoustic_monitoring.Depth 60 meter

20231026T060644 [CommandExec]:got command set passive_acoustic_monitoring.DeepBound 62 meter

20231026T060644 [CommandExec]:got command set passive_acoustic_monitoring.ShallowBound 58 meter

20231026T060644 [CommandExec]:got command set passive_acoustic_monitoring.MaxDepth 75 meter

20231026T060648 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD44.74, +15.36, -0.18, 57.19, 2.00#

20231026T060656 [CommandExec]:got command set passive_acoustic_monitoring.LatListening 36.785 degree

20231026T060656 [CommandExec]:got command set passive_acoustic_monitoring.LonListening -121.847 degree

20231026T060656 [CommandExec]:got command run

20231026T060656 [CommandExec]:Running

20231026T060656 [MissionManager]:Started mission passive_acoustic_monitoring

20231026T060658 [passive_acoustic_monitoring:K]:NeutralBuoyancy = 311.989624 cc .

20231026T060658 [passive_acoustic_monitoring:L]:BuoyancyAdjustmentStep = 16.000000 cc .

20231026T060659 [passive_acoustic_monitoring:M]:Initial shallow bound = 58.000000 m .

20231026T060659 [passive_acoustic_monitoring:N]:Initial deep bound = 62.000000 m .

20231026T060700 [passive_acoustic_monitoring:P]:TargetDepthMinusShallowBound = 2.000000 m .

20231026T060701 [passive_acoustic_monitoring:U]:DeepBoundMinusTargetDepth = 2.000000 m .

20231026T060830 level run transit to listening location LatListening = 36.785000 arcdeg , LonListening = -121.847000 arcdeg .

20231026T061648 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231026T062227 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231026T064146 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231026T064146 [RDI_Pathfinder]:Communications Fault

20231026T064146 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231026T064147 [RDI_Pathfinder]:Expecting PD13 message format

20231026T064517 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -4.42, +42.83, 10.00#

20231026T064825 [RDI_Pathfinder]:only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 971.50,1012.3,A#

20231026T065035 [passive_acoustic_monitoring:PAM:D]:Cnt = 1.000000 count

20231026T065035 [passive_acoustic_monitoring:PAM:E]:NeutralBuoyancy = 311.989624 cc , BuoyancyAdjustmentStep = 16.000000 cc

20231026T065324 [RDI_Pathfinder]:only read 2 of 4 data items for bottom velocity. Device response is::BS, +2, +6#

20231026T070048 depth 56.273678 m is shallower than ShallowBound 58.000000 m , and TargetDepthMinusShallowBound 2.000000 m divided by 2.019337 s = 0.990424 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too light. Decrease neutral buoyancy: 311.989628 cc - 16.000000 cc = 295.989624 cc . Then go back to the target depth.

20231026T070049 [passive_acoustic_monitoring:PAM:D]:Cnt = 2.000000 count

20231026T070050 [passive_acoustic_monitoring:PAM:E]:NeutralBuoyancy = 295.989624 cc , BuoyancyAdjustmentStep = 16.000000 cc

20231026T070713 [RDI_Pathfinder]:only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 0.00, 56WI, +35, +32, -21, +18,A#

20231026T070734 depth 57.910198 m is shallower than ShallowBound 58.000000 m , and TargetDepthMinusShallowBound 2.000000 m divided by 133.354446 s = 0.014998 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too light. Decrease neutral buoyancy: 295.989623 cc - 16.000000 cc = 279.989624 cc . Then go back to the target depth.

20231026T070736 [passive_acoustic_monitoring:PAM:D]:Cnt = 3.000000 count

20231026T070736 [passive_acoustic_monitoring:PAM:E]:NeutralBuoyancy = 279.989624 cc , BuoyancyAdjustmentStep = 16.000000 cc

20231026T070919 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -37.59, -32,A#

20231026T071149 depth 63.149685 m is deeper than DeepBound 62.000000 m , and DeepBoundMinusTargetDepth 2.000000 m divided by 1.638129 s = 1.220905 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Floating previously but sinking now. Decrease BuoyancyAdjustmentStep from 16.000000 cc to 8.000000 cc . Increase neutral buoyancy: 279.989617 cc + 8.000000 cc = 287.989624 cc . Then go back to the target depth.

20231026T071623 depth 57.086449 m is shallower than ShallowBound 58.000000 m , and TargetDepthMinusShallowBound 2.000000 m divided by 2.038041 s = 0.981334 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: 287.989620 cc - 4.000000 cc = 283.989624 cc . Then go back to the target depth.

20231026T072037 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00011413303552,35.0, +11.6,0#

20231026T072310 depth 55.947693 m is shallower than ShallowBound 56.000000 m , and TargetDepthMinusShallowBound 4.000000 m divided by 147.074005 s = 0.027197 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too light. Decrease neutral buoyancy: 283.989619 cc - 4.000000 cc = 279.989624 cc . Then go back to the target depth.

20231026T072601 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00011413, 0#

20231026T072740 depth 64.232361 m is deeper than DeepBound 64.000000 m , and DeepBoundMinusTargetDepth 4.000000 m divided by 1.582773 s = 2.527210 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 279.989617 cc + 4.000000 cc = 283.989624 cc . Then go back to the target depth.

20231026T073025 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231026T073217 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -10.99, +539.51, -300#

20231026T073255 [RDI_Pathfinder]:only read 1 of 4 data items for bottom velocity. Device response is::BS, +57, BE, +57, -30, +5,A#

20231026T074257 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231026T074257 [RDI_Pathfinder]:Communications Fault

20231026T074257 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231026T074258 [RDI_Pathfinder]:Expecting PD13 message format

20231026T081824 depth 64.003456 m is deeper than DeepBound 64.000000 m , but DeepBoundMinusTargetDepth 4.000000 m divided by 2479.371826 s = 0.001613 m/s is less than SinkingOrFloatingRateThreshold 0.002000 m/s , or the vehicle is surfacing. Do not increase neutral buoyancy. Just go back to the target depth.

20231026T083810 [RDI_Pathfinder]:only read 1 of 4 data items for bottom velocity. Device response is::BS, +66, BE, +66, -68, -60,A#

20231026T084323 depth 64.432358 m is deeper than DeepBound 64.000000 m , and DeepBoundMinusTargetDepth 4.000000 m divided by 1.617742 s = 2.472582 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 275.989616 cc + 4.000000 cc = 279.989624 cc . Then go back to the target depth.

20231026T091333 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231026T091605 depth 64.075256 m is deeper than DeepBound 64.000000 m , and DeepBoundMinusTargetDepth 4.000000 m divided by 372.537659 s = 0.010737 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 279.989617 cc + 4.000000 cc = 283.989624 cc . Then go back to the target depth.

20231026T091748 [BPC1]:Battery stick #38 (s/n: 019C) reported OVER_TEMP_ALARM. Status code: 0x1717.

20231026T091748 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231026T093754 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -29.43, 4,A#

20231026T095238 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS08, 57.53, 62.30, 62.30#

20231026T095932 [RDI_Pathfinder]:DVL uart error: serial timeout

20231026T095949 [RDI_Pathfinder]:only read -1 of 1 data item for altitude. Device response is::BD, +0.03, +0.17, #

20231026T101207 depth 64.021034 m is deeper than DeepBound 64.000000 m . Elapsed time since the last GPS fix 243.640088 min is longer than SurfacingIntervalDuringListening 240.000000 min . Surface and optionally transit back to listening location.

20231026T101409 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, +5.36, +103. 3.00, 0.00#

20231026T101552 depth 3.248574 m is shallower than ShallowBound 56.000000 m . Elapsed time since the last GPS fix 247.391829 min is longer than SurfacingIntervalDuringListening 240.000000 min . Surface and optionally transit back to listening location.

20231026T101552 depth 3.092866 m is shallower than ShallowBound 56.000000 m , but TargetDepthMinusShallowBound 4.000000 m divided by 1.210276 s = 3.305031 m/s is less than SinkingOrFloatingRateThreshold 0.002000 m/s , or the vehicle is surfacing. Do not decrease neutral buoyancy. Just go back to the target depth.

20231026T102001 run back to listening location LatListening = 36.785000 arcdeg , LonListening = -121.847000 arcdeg .

20231026T103957 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231026T112458 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -60.61, + -42, -2,A#

20231026T113302 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -57.17, +1014.84, +19.95, ,A#

20231026T114231 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231026T114245 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231026T114744 [RDI_Pathfinder]:only read 1 of 4 data items for beam range. Device response is::RA, 0.00, 424.8 +71, +12, -4,A#

20231026T114754 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -3#

20231026T115320 [CBIT]:Beginning ground fault scan

20231026T115550 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -57.04 +19.82, 3.00, 0.00#

20231026T124814 [RDI_Pathfinder]:only read 1 of 4 data items for beam range. Device response is::RA, 0.00, 58.88, A#

20231026T124908 depth 55.963081 m is shallower than ShallowBound 56.000000 m , but TargetDepthMinusShallowBound 4.000000 m divided by 7135.482422 s = 0.000561 m/s is less than SinkingOrFloatingRateThreshold 0.002000 m/s , or the vehicle is surfacing. Do not decrease neutral buoyancy. Just go back to the target depth.

20231026T125421 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231026T130111 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -159.11, +1065.71, +22.0#

20231026T130225 [BuoyancyServo]:getPosition uart error serial timeout

20231026T130225 [BuoyancyServo]:Buoyancy getPosition uart error.serial timeout

20231026T130225 [BuoyancyServo]:Communications Fault

20231026T130225 [CBIT]:Communications Fault in component: BuoyancyServo

20231026T130227 [BuoyancyServo]:LCB fault: Current Limiter Activated.

20231026T130227 [BuoyancyServo]:Hardware Fault

20231026T130245 [BuoyancyServo]:getPosition uart error serial timeout

20231026T130245 [BuoyancyServo]:Buoyancy getPosition uart error.serial timeout

20231026T130245 [BuoyancyServo]:Communications Fault

20231026T130245 [CBIT]:Communications Fault in component: BuoyancyServo

20231026T130247 [BuoyancyServo]:LCB fault: Current Limiter Activated.

20231026T130247 [BuoyancyServo]:Hardware Fault

20231026T130304 [BuoyancyServo]:getPosition uart error serial timeout

20231026T130304 [BuoyancyServo]:Buoyancy getPosition uart error.serial timeout

20231026T130304 [BuoyancyServo]:Communications Fault

20231026T130304 [CBIT]:Communications Fault in component: BuoyancyServo

20231026T130307 [BuoyancyServo]:LCB fault: Current Limiter Activated.

20231026T130307 [BuoyancyServo]:Hardware Fault

20231026T141221 [RDI_Pathfinder]:only read 1 of 4 data items for water velocity. Device response is::WS,-32 +0.00, +0.00, 3.00,3713.71#

20231026T154756 [BPC1]:Failed to receive data from 2 sticks prior to timeout. Missing stick IDs are: 44, 45.

20231026T154756 [CBIT]:Data Fault in component: BPC1

20231026T154943 [RDI_Pathfinder]:only read 1 of 4 data items for beam range. Device response is::RA, 0.00, 032768,V#

20231026T160657 [MissionManager]:Started mission Default

20231026T160739 [Default:B.GoToSurface]:Altitude too low: 0.51

20231026T160740 [Default:B.GoToSurface]:Altitude too low: 0.60

20231026T160741 [Default:B.GoToSurface]:Altitude too low: 0.60

20231026T160756 [ThrusterHE]:Status lock Detected.

20231026T160757 [ThrusterHE]:Status lock Detected.

20231026T160758 [ThrusterHE]:Status lock Detected.

20231026T161001 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231026T161057 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231026T161512 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, +0,A#

20231026T161721 [Default:CheckIn:E]:Default mission has been running for 10.397296 min

20231026T161950 [CommandExec]:got command run ./Missions/underIce/DefaultWithUndock.tl

20231026T161950 [MissionManager]:Loading Compiled TethysL script from file ./Missions/underIce/DefaultWithUndock.tx

20231026T161951 [CommandExec]:Running ./Missions/underIce/DefaultWithUndock.tl

20231026T161951 [MissionManager]:Started mission DefaultWithUndock

20231026T162033 [DAT]:No response from remote modem.

20231026T162043 [DAT]:No response from remote modem.

20231026T162054 [DAT]:No response from remote modem.

20231026T162110 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231026T162219 [CommandExec]:got command restart application

20231026T162221 [MissionManager]:Started mission Default