tethys Path

trajectory

20231029T055758 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231029T055811 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231029T055845 [CommandExec]:got command schedule asap "load Engineering/passive_acoustic_monitoring.xml;set passive_acoustic_monitoring.MissionTimeout 12 h;set passive_acoustic_monitoring.SurfacingIntervalDuringListening 4 h;set passive_acoustic_monitoring.NeedCommsMaxWait 5 h" 31pvb 1 4.000000

20231029T055845 [CommandExec]:Scheduling command #1 of 4 with id=31pvb

20231029T055845 [CommandExec]:Scheduled #1 (#1 of 4 with id='31pvb'): "load Engineering/passive_acoustic_monitoring.xml;set passive_acoustic_monitoring.MissionTimeout 12 h;set passive_acoustic_monitoring.SurfacingIntervalDuringListening 4 h;set passive_acoustic_monitoring.NeedCommsMaxWait 5 h", ASAP

20231029T055854 [CommandExec]:got command schedule asap "set passive_acoustic_monitoring.Depth 50 m;set passive_acoustic_monitoring.SettleTime 5 min;set passive_acoustic_monitoring.DeepBound 52 m;set passive_acoustic_monitoring.ShallowBound 48 m" 31pvb 2 4.000000

20231029T055854 [CommandExec]:Scheduling command #2 of 4 with id=31pvb

20231029T055854 [CommandExec]:Scheduled #2 (#2 of 4 with id='31pvb'): "set passive_acoustic_monitoring.Depth 50 m;set passive_acoustic_monitoring.SettleTime 5 min;set passive_acoustic_monitoring.DeepBound 52 m;set passive_acoustic_monitoring.ShallowBound 48 m", ASAP

20231029T055902 [CommandExec]:got command schedule asap "set passive_acoustic_monitoring.MaxDepth 60 m;set passive_acoustic_monitoring.LatListening 36.771 degree;set passive_acoustic_monitoring.LonListening -121.860 degree;set passive_acoustic_monitoring.BuoyancyAdjustmentStepMin 2 cc" 31pvb 3 4.000000

20231029T055902 [CommandExec]:Scheduling command #3 of 4 with id=31pvb

20231029T055902 [CommandExec]:Scheduled #3 (#3 of 4 with id='31pvb'): "set passive_acoustic_monitoring.MaxDepth 60 m;set passive_acoustic_monitoring.LatListening 36.771 degree;set passive_acoustic_monitoring.LonListening -121.860 degree;set passive_acoustic_monitoring.BuoyancyAdjustmentStepMin 2 cc", ASAP

20231029T055914 [CommandExec]:got command schedule asap "run" 31pvb 4 4.000000

20231029T055914 [CommandExec]:Scheduled #4 (#4 of 4 with id='31pvb'): "run", ASAP

20231029T055915 [CommandExec]:got command load ./Missions/Engineering/passive_acoustic_monitoring.xml

20231029T055917 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231029T055920 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231029T055921 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231029T055921 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/AbortDrift.tx

20231029T055925 [CommandExec]:Loaded ./Missions/Engineering/passive_acoustic_monitoring.xml

20231029T055952 [CommandExec]:got command set passive_acoustic_monitoring.MissionTimeout 12 hour

20231029T055952 [CommandExec]:got command set passive_acoustic_monitoring.SurfacingIntervalDuringListening 4 hour

20231029T055952 [CommandExec]:got command set passive_acoustic_monitoring.NeedCommsMaxWait 5 hour

20231029T055952 [CommandExec]:got command schedule "load Transport/keepstation.tl;set keepstation.MissionTimeout 10 h;set keepstation.NeedCommsTime 1 h;set keepstation.Latitude 36.77064 degree;set keepstation.Longitude -121.8543 degree;set keepstation.ApproachDepth 25 m" 31pvx 1 2.000000

20231029T055952 [CommandExec]:Scheduling command #1 of 2 with id=31pvx

20231029T055952 [CommandExec]:Scheduled #5 (#1 of 2 with id='31pvx'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 10 h;set keepstation.NeedCommsTime 1 h;set keepstation.Latitude 36.77064 degree;set keepstation.Longitude -121.8543 degree;set keepstation.ApproachDepth 25 m", AFTER MISSION

20231029T055952 [CommandExec]:got command schedule "set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 300 m;set keepstation:StandardEnvelopes.MinAltitude 9 m;run" 31pvx 2 2.000000

20231029T055952 [CommandExec]:Scheduling command #2 of 2 with id=31pvx

20231029T055952 [CommandExec]:Scheduled #6 (#2 of 2 with id='31pvx'): "set keepstation.DepthDeadband 10 m;set keepstation.Speed 0.8 m/s;set keepstation.Radius 300 m;set keepstation:StandardEnvelopes.MinAltitude 9 m;run", AFTER MISSION

20231029T060006 [CommandExec]:got command set passive_acoustic_monitoring.Depth 50 meter

20231029T060006 [CommandExec]:got command set passive_acoustic_monitoring.SettleTime 5 minute

20231029T060006 [CommandExec]:got command set passive_acoustic_monitoring.DeepBound 52 meter

20231029T060006 [CommandExec]:got command set passive_acoustic_monitoring.ShallowBound 48 meter

20231029T060026 [CommandExec]:got command set passive_acoustic_monitoring.MaxDepth 60 meter

20231029T060026 [CommandExec]:got command set passive_acoustic_monitoring.LatListening 36.771 degree

20231029T060026 [CommandExec]:got command set passive_acoustic_monitoring.LonListening -121.860 degree

20231029T060026 [CommandExec]:got command set passive_acoustic_monitoring.BuoyancyAdjustmentStepMin 2 cubic_centimeter

20231029T060026 [CommandExec]:got command run

20231029T060026 [CommandExec]:Running

20231029T060026 [MissionManager]:Started mission passive_acoustic_monitoring

20231029T060028 [passive_acoustic_monitoring:K]:NeutralBuoyancy = 311.989624 cc .

20231029T060029 [passive_acoustic_monitoring:L]:BuoyancyAdjustmentStep = 16.000000 cc .

20231029T060029 [passive_acoustic_monitoring:M]:Initial shallow bound = 48.000000 m .

20231029T060030 [passive_acoustic_monitoring:N]:Initial deep bound = 52.000000 m .

20231029T060030 [passive_acoustic_monitoring:P]:TargetDepthMinusShallowBound = 2.000000 m .

20231029T060031 [passive_acoustic_monitoring:U]:DeepBoundMinusTargetDepth = 2.000000 m .

20231029T060057 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231029T060151 level run transit to listening location LatListening = 36.771000 arcdeg , LonListening = -121.860001 arcdeg .

20231029T060939 [passive_acoustic_monitoring:PAM:D]:Cnt = 1.000000 count

20231029T060940 [passive_acoustic_monitoring:PAM:E]:NeutralBuoyancy = 311.989624 cc , BuoyancyAdjustmentStep = 16.000000 cc

20231029T062102 depth 44.229828 m is shallower than ShallowBound 48.000000 m , and TargetDepthMinusShallowBound 2.000000 m divided by 1.965400 s = 1.017605 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.

20231029T062104 [passive_acoustic_monitoring:PAM:D]:Cnt = 2.000000 count

20231029T062104 [passive_acoustic_monitoring:PAM:E]:NeutralBuoyancy = 295.989624 cc , BuoyancyAdjustmentStep = 16.000000 cc

20231029T062153 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231029T062805 depth 45.450703 m is shallower than ShallowBound 48.000000 m , and TargetDepthMinusShallowBound 2.000000 m divided by 2.019374 s = 0.990406 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.

20231029T062807 [passive_acoustic_monitoring:PAM:D]:Cnt = 3.000000 count

20231029T062807 [passive_acoustic_monitoring:PAM:E]:NeutralBuoyancy = 279.989624 cc , BuoyancyAdjustmentStep = 16.000000 cc

20231029T063531 depth 47.902683 m is shallower than ShallowBound 48.000000 m , and TargetDepthMinusShallowBound 2.000000 m divided by 35.966381 s = 0.055607 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too light. Decrease neutral buoyancy: 279.989617 cc - 16.000000 cc = 263.989624 cc . Then go back to the target depth.

20231029T064135 depth 52.797028 m is deeper than DeepBound 52.000000 m , and DeepBoundMinusTargetDepth 2.000000 m divided by 1.622149 s = 1.232932 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: 263.989612 cc + 8.000000 cc = 271.989624 cc . Then go back to the target depth.

20231029T064806 depth 47.302330 m is shallower than ShallowBound 48.000000 m , and TargetDepthMinusShallowBound 2.000000 m divided by 2.011848 s = 0.994111 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: 271.989615 cc - 4.000000 cc = 267.989624 cc . Then go back to the target depth.

20231029T070038 [RDI_Pathfinder]:only read 1 of 4 data items for water velocity. Device response is::WS, -4 +70, +12,A#

20231029T072416 depth 52.082790 m is deeper than DeepBound 52.000000 m , and DeepBoundMinusTargetDepth 2.000000 m divided by 170.515884 s = 0.011729 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Floating previously but sinking now. Decrease BuoyancyAdjustmentStep from 4.000000 cc to 2.000000 cc . Increase neutral buoyancy: 267.989613 cc + 2.000000 cc = 269.989594 cc . Then go back to the target depth.

20231029T072740 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, +165.27, +128.2#

20231029T073041 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231029T073414 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231029T082554 depth 55.091457 m is deeper than DeepBound 54.000000 m , and DeepBoundMinusTargetDepth 4.000000 m divided by 1.607807 s = 2.487861 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 269.989599 cc + 2.000000 cc = 271.989594 cc . Then go back to the target depth.

20231029T083216 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -77.60, -305.50, 00#

20231029T084804 [RDI_Pathfinder]:only read -1 of 1 data item for BIT error. Device response is::TS,00011714535891,35.0, #

20231029T085252 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231029T090130 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231029T090515 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231029T095404 [RDI_Pathfinder]:only read 2 of 4 data items for water velocity. Device response is::WS, -42, -19, :WE, -42, -19, +0,A#

20231029T101734 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231029T101904 [RDI_Pathfinder]:DVL uart error: serial timeout

20231029T101904 [RDI_Pathfinder]:Communications Fault

20231029T101904 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231029T101906 [RDI_Pathfinder]:Expecting PD13 message format

20231029T102612 depth 54.001785 m is deeper than DeepBound 54.000000 m . Elapsed time since the last GPS fix 264.362988 min is longer than SurfacingIntervalDuringListening 240.000000 min . Surface and optionally transit back to listening location.

20231029T102909 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231029T102909 [RDI_Pathfinder]:Communications Fault

20231029T102909 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231029T102911 [RDI_Pathfinder]:Expecting PD13 message format

20231029T103117 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231029T103117 [RDI_Pathfinder]:Communications Fault

20231029T103117 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231029T103118 [RDI_Pathfinder]:Expecting PD13 message format

20231029T103308 run back to listening location LatListening = 36.771000 arcdeg , LonListening = -121.860001 arcdeg .

20231029T104739 [RDI_Pathfinder]:only read 1 of 4 data items for beam range. Device response is::RA, 0.00, 595.37, #

20231029T104828 [RDI_Pathfinder]:only read -1 of 1 data item for water mass range. Device response is::WD, -44.90, +774.19, #

20231029T110217 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS35.0, +14.5, 0.0,1505.2, 0#

20231029T110511 [RDI_Pathfinder]:only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 638.71, 556.18, 0.00+141, -72, +56,A#

20231029T112039 [RDI_Pathfinder]:only read 0 of 4 data items for water velocity. Device response is::WS +1541.33, -39.15, 3.00, 0.00#

20231029T112054 depth 56.256161 m is deeper than DeepBound 54.000000 m , and DeepBoundMinusTargetDepth 4.000000 m divided by 1.616598 s = 2.474332 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 271.989586 cc + 2.000000 cc = 273.989563 cc . Then go back to the target depth.

20231029T112859 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231029T113714 depth 54.039799 m is deeper than DeepBound 54.000000 m , and DeepBoundMinusTargetDepth 4.000000 m divided by 558.748291 s = 0.007159 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 273.989572 cc + 2.000000 cc = 275.989563 cc . Then go back to the target depth.

20231029T114431 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -31.8.00#

20231029T114836 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231029T115246 [CBIT]:Beginning ground fault scan

20231029T123003 [RDI_Pathfinder]:only read 1 of 4 data items for bottom velocity. Device response is::BS, -8 -84, +63, -7,A#

20231029T124059 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -35.93, +1462.42, -92.0#

20231029T125623 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231029T131937 [BPC1]:Failed to receive data from 2 sticks prior to timeout. Missing stick IDs are: 44, 45.

20231029T131937 [CBIT]:Data Fault in component: BPC1

20231029T133431 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231029T134103 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00011719465846,35.0, +11, 0#

20231029T140039 [BPC1]:Failed to receive data from 2 sticks prior to timeout. Missing stick IDs are: 44, 45.

20231029T140039 [CBIT]:Data Fault in component: BPC1

20231029T140639 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00011720123446,35.0, +11.8, 6.3, 0#

20231029T142738 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231029T144140 [BPC1]:Failed to receive data from 2 sticks prior to timeout. Missing stick IDs are: 44, 45.

20231029T144141 [CBIT]:Data Fault in component: BPC1

20231029T145821 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, +34.24, 3.00, 0.00#

20231029T150230 depth 45.959442 m is shallower than ShallowBound 46.000000 m . Elapsed time since the last GPS fix 269.386051 min is longer than SurfacingIntervalDuringListening 240.000000 min . Surface and optionally transit back to listening location.

20231029T150854 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231029T150949 [RDI_Pathfinder]:No DVL communication! Re-initializing

20231029T150950 [BPC1]:BPC1A failed to parse battery data due to unrecognized msg size.

20231029T151008 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231029T151010 run back to listening location LatListening = 36.771000 arcdeg , LonListening = -121.860001 arcdeg .

20231029T153241 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -35.85, +1205.59, +6.0#

20231029T153253 [RDI_Pathfinder]:only read -1 of 1 data item for altitude. Device response is::BD, -35.90, #

20231029T153418 [BPC1]:BPC1B: No match for serial number FFFF in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231029T154521 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, +108.64, +1556.77, -21#

20231029T160843 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD +1578.55, -26.56, 3.00, 0.00#

20231029T162600 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231029T165321 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -469.70, +1686.64, 0.00#

20231029T165641 [RDI_Pathfinder]:only read -1 of 1 data item for altitude. Device response is::BD,#

20231029T171955 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,RA, 0.00, 101.58, 90.86, 96.47, 94.43#

20231029T175257 [CBIT]:Beginning ground fault scan

20231029T180026 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20231029T180027 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20231029T180027 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231029T180027 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231029T180027 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231029T180028 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl

20231029T180028 [MissionManager]:Started mission Default

20231029T180043 [CommandExec]:got command set keepstation.MissionTimeout 10 hour

20231029T180043 [CommandExec]:got command set keepstation.NeedCommsTime 1 hour

20231029T180043 [CommandExec]:got command set keepstation.Latitude 36.77064 degree

20231029T180043 [CommandExec]:got command set keepstation.Longitude -121.8543 degree

20231029T180043 [CommandExec]:got command set keepstation.ApproachDepth 25 meter

20231029T180047 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00011800064243,35. 0#

20231029T180055 [CommandExec]:got command set keepstation.DepthDeadband 10 meter

20231029T180055 [CommandExec]:got command set keepstation.Speed 0.8 meter_per_second

20231029T180055 [CommandExec]:got command set keepstation.Radius 300 meter

20231029T180055 [CommandExec]:got command set keepstation:StandardEnvelopes.MinAltitude 9 meter

20231029T180055 [CommandExec]:got command run

20231029T180055 [CommandExec]:Running

20231029T180055 [MissionManager]:Started mission keepstation

20231029T180728 [keepstation:TransitToStation:Wpt1.Waypoint]:Navigating to waypoint: 36.770641,-121.854301

20231029T181034 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -5.26, +105.31, :BS, -203, +464, +10,A#

20231029T181758 [RDI_Pathfinder]:only read 1 of 4 data items for bottom velocity. Device response is::BS,0#

20231029T184707 [keepstation:TransitToStation:Wpt1.Waypoint]:Reached waypoint: 36.770641,-121.854301

20231029T184920 [RDI_Pathfinder]:only read 1 of 4 data items for water velocity. Device response is::WS, -1#

20231029T194530 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -349.5.00#

20231029T200910 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -347.99, +.00#

20231029T202320 [RDI_Pathfinder]:only read -1 of 1 data item for altitude. Device response is::BD, -395.16, +1783.60, -23.17,#

20231029T203042 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -422.57, , 31.12, 0.00#

20231029T205234 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00011811.7, 0.0,1495.9, 0#

20231029T205606 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -233.15, 3.00, 0.00#