tethys Path

trajectory

20231109T051112 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231109T051114 [SBIT]:Beginning Startup BIT

20231109T051114 [CBIT]:Beginning ground fault scan

20231109T051125 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231109T051138 [BPC1]:BPC1B got IPBS message with 6 sticks (min is 7).

20231109T051154 [SBIT]:Control surface position failure.

20231109T051208 [SBIT]:Listing configuration overrides from Data/persisted.cfg

20231109T051208 [SBIT]:BPC1.batteryMissingStickThreshold=6 count;#

20231109T051208 [SBIT]:DAT.verbosity=1 count;#

20231109T051208 [SBIT]:DockingStepper.slideValue=11710 count;#

20231109T051208 [SBIT]:ESPComponent.sampleTimeout=5 minute;#

20231109T051208 [SBIT]:Express linearApproximation DAT.acoustic_contact_range 5.000000 meter;#

20231109T051208 [SBIT]:Express linearApproximation height_above_sea_floor 5.000000 meter;#

20231109T051208 [SBIT]:LineCapture.rolloutSpeed=0 meter_per_second;#

20231109T051208 [SBIT]:LineCapture.rolloutTimeout=10 minute;#

20231109T051208 [SBIT]:LineCapture.searchTimeout=15 minute;#

20231109T051208 [SBIT]:LineCapture.shortFinalRange=10 meter;#

20231109T051208 [SBIT]:RudderServo.offsetAngle=2.5 degree;#

20231109T051208 [SBIT]:VerticalControl.buoyancyNeutral=346.601558 cubic_centimeter;#

20231109T051208 [SBIT]:VerticalControl.massDefault=21.981445 millimeter;#

20231109T051208 [CommandExec]:Scheduling is paused

20231109T051209 [MissionManager]:Started mission Startup

20231109T051310 [MissionManager]:Started mission DefaultWithUndock

20231109T051310 [DataOverHttps]:Could not stat file Logs/20231109T003833/Express0028.lzma

20231109T051310 [DataOverHttps]:Could not open file Logs/20231109T003833/Express0028.lzma

20231109T051318 [DataOverHttps]:Could not stat file Logs/20231109T003833/Express0028.lzma

20231109T051318 [DataOverHttps]:Could not open file Logs/20231109T003833/Express0028.lzma

20231109T051351 [DataOverHttps]:Could not stat file Logs/20231109T003833/Express0028.lzma

20231109T051351 [DataOverHttps]:Could not open file Logs/20231109T003833/Express0028.lzma

20231109T051352 [DAT]:No response from remote modem.

20231109T051402 [DAT]:No response from remote modem.

20231109T051412 [DAT]:No response from remote modem.

20231109T051422 [DockingStepper]:uart error: serial timeout moving from: 6143 to: 14900 response: #

20231109T051422 [DockingStepper]:Communications Fault

20231109T051422 [CBIT]:Communications Fault in component: DockingStepper

20231109T051434 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231109T051440 [CommandExec]:got command failComponent

20231109T051440 [CommandExec]:Failed components:

20231109T051440 [CommandExec]:No failed Components.

20231109T051710 [BPC1]:BPC1A got IPBS message with 6 sticks (min is 7).

20231109T052040 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 7.506562 min

20231109T052102 [CommandExec]:got command schedule asap "load Engineering/passive_acoustic_monitoring.xml;set passive_acoustic_monitoring.MissionTimeout 11 h;set passive_acoustic_monitoring.SurfacingIntervalDuringListening 5 h;set passive_acoustic_monitoring.NeedCommsMaxWait 6 h" 3m1ht 1 4.000000

20231109T052102 [CommandExec]:Scheduling command #1 of 4 with id=3m1ht

20231109T052102 [CommandExec]:Scheduled #1 (#1 of 4 with id='3m1ht'): "load Engineering/passive_acoustic_monitoring.xml;set passive_acoustic_monitoring.MissionTimeout 11 h;set passive_acoustic_monitoring.SurfacingIntervalDuringListening 5 h;set passive_acoustic_monitoring.NeedCommsMaxWait 6 h", ASAP

20231109T052111 [CommandExec]:got command schedule asap "set passive_acoustic_monitoring.Depth 40 m;set passive_acoustic_monitoring.SettleTime 5 min;set passive_acoustic_monitoring.DeepBound 45 m;set passive_acoustic_monitoring.ShallowBound 35 m" 3m1ht 2 4.000000

20231109T052111 [CommandExec]:Scheduling command #2 of 4 with id=3m1ht

20231109T052111 [CommandExec]:Scheduled #2 (#2 of 4 with id='3m1ht'): "set passive_acoustic_monitoring.Depth 40 m;set passive_acoustic_monitoring.SettleTime 5 min;set passive_acoustic_monitoring.DeepBound 45 m;set passive_acoustic_monitoring.ShallowBound 35 m", ASAP

20231109T052120 [CommandExec]:got command schedule asap "set passive_acoustic_monitoring.MaxDepth 60 m;set passive_acoustic_monitoring.LatListening 36.77064 degree;set passive_acoustic_monitoring.LonListening -121.8543 degree;set passive_acoustic_monitoring.BuoyancyAdjustmentStepMin 2 cc" 3m1ht 3 4.000000

20231109T052120 [CommandExec]:Scheduling command #3 of 4 with id=3m1ht

20231109T052120 [CommandExec]:Scheduled #3 (#3 of 4 with id='3m1ht'): "set passive_acoustic_monitoring.MaxDepth 60 m;set passive_acoustic_monitoring.LatListening 36.77064 degree;set passive_acoustic_monitoring.LonListening -121.8543 degree;set passive_acoustic_monitoring.BuoyancyAdjustmentStepMin 2 cc", ASAP

20231109T052128 [CommandExec]:got command schedule asap "run" 3m1ht 4 4.000000

20231109T052128 [CommandExec]:Scheduled #4 (#4 of 4 with id='3m1ht'): "run", ASAP

20231109T052128 [CommandExec]:got command load ./Missions/Engineering/passive_acoustic_monitoring.xml

20231109T052130 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231109T052131 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231109T052132 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231109T052132 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/AbortDrift.tx

20231109T052134 [CommandExec]:Loaded ./Missions/Engineering/passive_acoustic_monitoring.xml

20231109T052156 [CommandExec]:got command set passive_acoustic_monitoring.MissionTimeout 11 hour

20231109T052156 [CommandExec]:got command set passive_acoustic_monitoring.SurfacingIntervalDuringListening 5 hour

20231109T052156 [CommandExec]:got command set passive_acoustic_monitoring.NeedCommsMaxWait 6 hour

20231109T052220 [CommandExec]:got command set passive_acoustic_monitoring.Depth 40 meter

20231109T052220 [CommandExec]:got command set passive_acoustic_monitoring.SettleTime 5 minute

20231109T052220 [CommandExec]:got command set passive_acoustic_monitoring.DeepBound 45 meter

20231109T052220 [CommandExec]:got command set passive_acoustic_monitoring.ShallowBound 35 meter

20231109T052259 [CommandExec]:got command set passive_acoustic_monitoring.MaxDepth 60 meter

20231109T052259 [CommandExec]:got command set passive_acoustic_monitoring.LatListening 36.77064 degree

20231109T052259 [CommandExec]:got command set passive_acoustic_monitoring.LonListening -121.8543 degree

20231109T052259 [CommandExec]:got command set passive_acoustic_monitoring.BuoyancyAdjustmentStepMin 2 cubic_centimeter

20231109T052259 [CommandExec]:got command run

20231109T052259 [CommandExec]:Running

20231109T052259 [MissionManager]:Started mission passive_acoustic_monitoring

20231109T052301 [passive_acoustic_monitoring:K]:NeutralBuoyancy = 346.601562 cc .

20231109T052302 [passive_acoustic_monitoring:L]:BuoyancyAdjustmentStep = 16.000000 cc .

20231109T052302 [passive_acoustic_monitoring:M]:Initial shallow bound = 35.000000 m .

20231109T052303 [passive_acoustic_monitoring:N]:Initial deep bound = 45.000000 m .

20231109T052303 [passive_acoustic_monitoring:P]:TargetDepthMinusShallowBound = 5.000000 m .

20231109T052304 [passive_acoustic_monitoring:U]:DeepBoundMinusTargetDepth = 5.000000 m .

20231109T052459 level run transit to listening location LatListening = 36.770641 arcdeg , LonListening = -121.854301 arcdeg .

20231109T053340 [passive_acoustic_monitoring:PAM:D]:Cnt = 1.000000 count

20231109T053340 [passive_acoustic_monitoring:PAM:E]:NeutralBuoyancy = 346.601562 cc , BuoyancyAdjustmentStep = 16.000000 cc

20231109T054733 depth 45.072311 m is deeper than DeepBound 45.000000 m . SinkingOrFloatingRate = DepthMinusTargetDepth 5.040443 m divided by 491.640594 s = 0.010252 m/s

20231109T054735 = 0.010252 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 346.601562 cc + 16.000000 cc = 362.601562 cc . Then go back to the target depth.

20231109T054737 [passive_acoustic_monitoring:PAM:D]:Cnt = 2.000000 count

20231109T054738 [passive_acoustic_monitoring:PAM:E]:NeutralBuoyancy = 362.601562 cc , BuoyancyAdjustmentStep = 16.000000 cc

20231109T055651 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -11.67, +634.57, -#

20231109T060159 [passive_acoustic_monitoring:PAM:D]:Cnt = 3.000000 count

20231109T060200 [passive_acoustic_monitoring:PAM:E]:NeutralBuoyancy = 362.601562 cc , BuoyancyAdjustmentStep = 16.000000 cc

20231109T060824 depth 46.704525 m is deeper than DeepBound 45.000000 m . SinkingOrFloatingRate = DepthMinusTargetDepth 6.721375 m divided by 301.807220 s = 0.022270 m/s

20231109T060827 = 0.022270 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 362.601568 cc + 16.000000 cc = 378.601562 cc . Then go back to the target depth.

20231109T061534 depth 33.727760 m is shallower than ShallowBound 35.000000 m . SinkingOrFloatingRate = TargetDepthMinusDepth 6.295315 m divided by 302.202332 s = 0.020831 m/s .

20231109T061537 = 0.020831 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: 378.601573 cc - 8.000000 cc = 370.601562 cc . Then go back to the target depth.

20231109T061820 [BPC1]:BPC1A got IPBS message with 6 sticks (min is 7).

20231109T061832 [BPC1]:BPC1A got IPBS message with 6 sticks (min is 7).

20231109T062219 depth 46.771191 m is deeper than DeepBound 45.000000 m . SinkingOrFloatingRate = DepthMinusTargetDepth 6.755806 m divided by 301.787842 s = 0.022386 m/s

20231109T062222 = 0.022386 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: 370.601570 cc + 4.000000 cc = 374.601562 cc . Then go back to the target depth.

20231109T062926 depth 34.169540 m is shallower than ShallowBound 35.000000 m . SinkingOrFloatingRate = TargetDepthMinusDepth 5.796394 m divided by 302.182037 s = 0.019182 m/s .

20231109T062929 = 0.019182 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Sinking previously but floating now. Decrease BuoyancyAdjustmentStep from 4.000000 cc to 2.000000 cc . Decrease neutral buoyancy: 374.601572 cc - 2.000000 cc = 372.601593 cc . Then go back to the target depth.

20231109T064814 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231109T070027 [RDI_Pathfinder]:only read 2 of 4 data items for water velocity. Device response is::WS, -25, 35,A#

20231109T080909 depth 29.929373 m is shallower than ShallowBound 30.000000 m . SinkingOrFloatingRate = TargetDepthMinusDepth 10.027401 m divided by 1649.560303 s = 0.006079 m/s .

20231109T080911 = 0.006079 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too light. Decrease neutral buoyancy: 372.601586 cc - 2.000000 cc = 370.601593 cc . Then go back to the target depth.

20231109T085220 = 0.008859 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too light. Decrease neutral buoyancy: 370.601600 cc - 2.000000 cc = 368.601624 cc . Then go back to the target depth.

20231109T090544 = 0.015259 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 368.601613 cc + 2.000000 cc = 370.601593 cc . Then go back to the target depth.

20231109T091632 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231109T093647 [BPC1]:BPC1A failed to parse battery data due to unrecognized msg size.

20231109T094116 [BPC1]:Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.

20231109T095452 = 0.005533 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too light. Decrease neutral buoyancy: 370.601600 cc - 2.000000 cc = 368.601624 cc . Then go back to the target depth.

20231109T095757 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, - +30, -66, -38, +0,A#

20231109T102815 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD#

20231109T105129 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00012418,A#

20231109T111125 [CBIT]:Beginning ground fault scan

20231109T112721 [CommandExec]:got command schedule resume

20231109T112721 [CommandExec]:Scheduling is resumed

20231109T112932 [CommandExec]:got command schedule "load Transport/keepstation.tl;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.771 degree;set keepstation.Longitude -121.860001 degree;set keepstation.ApproachDepth 25 m;set keepstation.DepthDeadband 4 m" 3m2k7 1 2.000000

20231109T112932 [CommandExec]:Scheduling command #1 of 2 with id=3m2k7

20231109T112932 [CommandExec]:Scheduled #5 (#1 of 2 with id='3m2k7'): "load Transport/keepstation.tl;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.771 degree;set keepstation.Longitude -121.860001 degree;set keepstation.ApproachDepth 25 m;set keepstation.DepthDeadband 4 m", AFTER MISSION

20231109T112952 [CommandExec]:got command schedule "set keepstation.Speed 0.8 m/s;set keepstation.Radius 200 m;set keepstation.MaxDepth 50 m;set keepstation:StandardEnvelopes.MinAltitude 9 m;run" 3m2k7 2 2.000000

20231109T112952 [CommandExec]:Scheduling command #2 of 2 with id=3m2k7

20231109T112952 [CommandExec]:Scheduled #6 (#2 of 2 with id='3m2k7'): "set keepstation.Speed 0.8 m/s;set keepstation.Radius 200 m;set keepstation.MaxDepth 50 m;set keepstation:StandardEnvelopes.MinAltitude 9 m;run", AFTER MISSION

20231109T113949 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD#

20231109T114149 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, .00#

20231109T121946 [BPC1]:Failed to receive data from 4 sticks prior to timeout. Missing stick IDs are: 1, 2, 44, 45.

20231109T121946 [CBIT]:Data Fault in component: BPC1

20231109T123315 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231109T123441 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231109T123601 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231109T124455 [RDI_Pathfinder]:only read 0 of 4 data items for bottom velocity. Device response is::BSBD, +320.36, +843.24, +13.73, 5.76, 0.00#

20231109T130048 [BPC1]:Failed to receive data from 4 sticks prior to timeout. Missing stick IDs are: 1, 2, 44, 45.

20231109T130048 [CBIT]:Data Fault in component: BPC1

20231109T132749 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231109T132819 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231109T134150 [BPC1]:Failed to receive data from 4 sticks prior to timeout. Missing stick IDs are: 1, 2, 44, 45.

20231109T134150 [CBIT]:Data Fault in component: BPC1

20231109T134459 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, +374#

20231109T140341 [BPC1]:BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).

20231109T140841 [BPC1]:BPC1A failed to parse battery data due to unrecognized msg size.

20231109T153648 SinkingOrFloatingRate = 0.001910 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.

20231109T155950 [BPC1]:BPC1B failed to parse battery data due to unrecognized msg size.

20231109T160210 [BPC1]:BPC1A failed to parse battery data due to unrecognized msg size.

20231109T161743 [RDI_Pathfinder]:only read 0 of 4 data items for beam range. Device response is::RA, , +13, +87,A#

20231109T162259 [CommandExec]:got command load ./Missions/Transport/keepstation.tl

20231109T162300 [MissionManager]:Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx

20231109T162300 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231109T162300 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231109T162300 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx

20231109T162301 [CommandExec]:Loaded ./Missions/Transport/keepstation.tl

20231109T162301 [MissionManager]:Started mission DefaultWithUndock

20231109T162313 [CommandExec]:got command set keepstation.NeedCommsTime 20 minute

20231109T162313 [CommandExec]:got command set keepstation.Latitude 36.771 degree

20231109T162313 [CommandExec]:got command set keepstation.Longitude -121.860001 degree

20231109T162313 [CommandExec]:got command set keepstation.ApproachDepth 25 meter

20231109T162313 [CommandExec]:got command set keepstation.DepthDeadband 4 meter

20231109T162323 [CommandExec]:got command set keepstation.Speed 0.8 meter_per_second

20231109T162323 [CommandExec]:got command set keepstation.Radius 200 meter

20231109T162323 [CommandExec]:got command set keepstation.MaxDepth 50 meter

20231109T162323 [CommandExec]:got command set keepstation:StandardEnvelopes.MinAltitude 9 meter

20231109T162323 [CommandExec]:got command run

20231109T162323 [CommandExec]:Running

20231109T162323 [MissionManager]:Started mission keepstation