tethys Path

trajectory

20231210T183320 [CommandExec]:got command schedule resume

20231210T183320 [CommandExec]:Scheduling is resumed

20231210T183359 [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" 3a8g 1 3.000000

20231210T183359 [CommandExec]:Scheduling command #1 of 3 with id=3a8g

20231210T183359 [CommandExec]:Scheduled #1 (#1 of 3 with id='3a8g'): "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

20231210T183411 [CommandExec]:got command schedule asap "set passive_acoustic_monitoring.SkipStartComms 0 bool;set passive_acoustic_monitoring.Depth 40 m;set passive_acoustic_monitoring.DeepBound 45 m;set passive_acoustic_monitoring.ShallowBound 35 m" 3a8g 2 3.000000

20231210T183411 [CommandExec]:Scheduling command #2 of 3 with id=3a8g

20231210T183411 [CommandExec]:Scheduled #2 (#2 of 3 with id='3a8g'): "set passive_acoustic_monitoring.SkipStartComms 0 bool;set passive_acoustic_monitoring.Depth 40 m;set passive_acoustic_monitoring.DeepBound 45 m;set passive_acoustic_monitoring.ShallowBound 35 m", ASAP

20231210T183423 [CommandExec]:got command schedule asap "set passive_acoustic_monitoring.MaxDepth 60 m;set passive_acoustic_monitoring.LatListening 36.696 degree;set passive_acoustic_monitoring.LonListening -121.94146 degree;run" 3a8g 3 3.000000

20231210T183423 [CommandExec]:Scheduling command #3 of 3 with id=3a8g

20231210T183423 [CommandExec]:Scheduled #3 (#3 of 3 with id='3a8g'): "set passive_acoustic_monitoring.MaxDepth 60 m;set passive_acoustic_monitoring.LatListening 36.696 degree;set passive_acoustic_monitoring.LonListening -121.94146 degree;run", ASAP

20231210T183423 [CommandExec]:got command load ./Missions/Engineering/passive_acoustic_monitoring.xml

20231210T183424 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/Science.tx

20231210T183426 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx

20231210T183426 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx

20231210T183427 [MissionManager]:Loading Compiled TethysL script from file Missions/Insert/AbortDrift.tx

20231210T183428 [CommandExec]:Loaded ./Missions/Engineering/passive_acoustic_monitoring.xml id=passive_acoustic_monitoring

20231210T183443 [CommandExec]:got command set passive_acoustic_monitoring.MissionTimeout 10 hour

20231210T183443 [CommandExec]:got command set passive_acoustic_monitoring.SurfacingIntervalDuringListening 4 hour

20231210T183443 [CommandExec]:got command set passive_acoustic_monitoring.NeedCommsMaxWait 5 hour

20231210T183501 [CommandExec]:got command set passive_acoustic_monitoring.SkipStartComms 0 bool

20231210T183501 [CommandExec]:got command set passive_acoustic_monitoring.Depth 40 meter

20231210T183501 [CommandExec]:got command set passive_acoustic_monitoring.DeepBound 45 meter

20231210T183501 [CommandExec]:got command set passive_acoustic_monitoring.ShallowBound 35 meter

20231210T183512 [CommandExec]:got command set passive_acoustic_monitoring.MaxDepth 60 meter

20231210T183512 [CommandExec]:got command set passive_acoustic_monitoring.LatListening 36.696 degree

20231210T183512 [CommandExec]:got command set passive_acoustic_monitoring.LonListening -121.94146 degree

20231210T183512 [CommandExec]:got command run

20231210T183512 [CommandExec]:Running

20231210T183513 [MissionManager]:Started mission passive_acoustic_monitoring

20231210T183515 [passive_acoustic_monitoring:K]:NeutralBuoyancy = 472.818390 cc .

20231210T183515 [passive_acoustic_monitoring:L]:BuoyancyAdjustmentStep = 16.000000 cc .

20231210T183515 [passive_acoustic_monitoring:M]:Initial shallow bound = 35.000000 m .

20231210T183516 [passive_acoustic_monitoring:N]:Initial deep bound = 45.000000 m .

20231210T183517 [passive_acoustic_monitoring:P]:TargetDepthMinusShallowBound = 5.000000 m .

20231210T183517 [passive_acoustic_monitoring:U]:DeepBoundMinusTargetDepth = 5.000000 m .

20231210T183553 level run transit to listening location LatListening = 36.695999 arcdeg , LonListening = -121.941460 arcdeg .

20231210T185732 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -72.02, +7413, 0.00#

20231210T190214 [RDI_Pathfinder]:only read 1 of 4 data items for water velocity. Device response is::WS,9,A#

20231210T193430 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231210T193658 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231210T193750 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231210T201413 [passive_acoustic_monitoring:PAM:D]:Cnt = 1.000000 count

20231210T201414 [passive_acoustic_monitoring:PAM:E]:NeutralBuoyancy = 472.818390 cc , BuoyancyAdjustmentStep = 16.000000 cc

20231210T202521 depth 45.297520 m is deeper than DeepBound 45.000000 m . SinkingOrFloatingRate = DepthMinusTargetDepth 5.292023 m divided by 301.788025 s = 0.017536 m/s

20231210T202523 = 0.017536 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 472.818385 cc + 16.000000 cc = 488.818390 cc . Then go back to the target depth.

20231210T202525 [passive_acoustic_monitoring:PAM:D]:Cnt = 2.000000 count

20231210T202526 [passive_acoustic_monitoring:PAM:E]:NeutralBuoyancy = 488.818390 cc , BuoyancyAdjustmentStep = 16.000000 cc

20231210T204342 depth 45.001556 m is deeper than DeepBound 45.000000 m . SinkingOrFloatingRate = DepthMinusTargetDepth 5.003754 m divided by 989.824097 s = 0.005055 m/s

20231210T204344 = 0.005055 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 488.818390 cc + 16.000000 cc = 504.818390 cc . Then go back to the target depth.

20231210T204346 [passive_acoustic_monitoring:PAM:D]:Cnt = 3.000000 count

20231210T204347 [passive_acoustic_monitoring:PAM:E]:NeutralBuoyancy = 504.818390 cc , BuoyancyAdjustmentStep = 16.000000 cc

20231210T205031 depth 34.271976 m is shallower than ShallowBound 35.000000 m . SinkingOrFloatingRate = TargetDepthMinusDepth 5.720329 m divided by 301.801453 s = 0.018954 m/s .

20231210T205034 = 0.018954 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: 504.818396 cc - 8.000000 cc = 496.818390 cc . Then go back to the target depth.

20231210T205548 [RDI_Pathfinder]:DVL uart error: serial timeout

20231210T205548 [RDI_Pathfinder]:Communications Fault

20231210T205548 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231210T205550 [RDI_Pathfinder]:Expecting PD13 message format

20231210T205700 depth 46.237087 m is deeper than DeepBound 45.000000 m . SinkingOrFloatingRate = DepthMinusTargetDepth 6.255035 m divided by 301.796600 s = 0.020726 m/s

20231210T205703 = 0.020726 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: 496.818393 cc + 4.000000 cc = 500.818359 cc . Then go back to the target depth.

20231210T210354 depth 32.615479 m is shallower than ShallowBound 35.000000 m . SinkingOrFloatingRate = TargetDepthMinusDepth 7.369869 m divided by 301.763580 s = 0.024423 m/s .

20231210T210357 = 0.024423 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: 500.818365 cc - 2.000000 cc = 498.818359 cc . Then go back to the target depth.

20231210T210647 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -89.25, +83.99, 0.00#

20231210T212130 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -241.6.10, 0.00#

20231210T212606 [RDI_Pathfinder]:DVL uart error: serial timeout

20231210T212606 [RDI_Pathfinder]:Communications Fault

20231210T212606 [CBIT]:Communications Fault in component: RDI_Pathfinder

20231210T212607 [RDI_Pathfinder]:Expecting PD13 message format

20231210T213726 depth 29.971350 m is shallower than ShallowBound 30.000000 m . SinkingOrFloatingRate = TargetDepthMinusDepth 10.007404 m divided by 1891.128418 s = 0.005292 m/s .

20231210T213728 = 0.005292 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too light. Decrease neutral buoyancy: 498.818350 cc - 2.000000 cc = 496.818329 cc . Then go back to the target depth.

20231210T214139 [ElevatorServo]:Reading outside of valid range:0.000000#

20231210T214139 [ElevatorServo]:Elevator reporting null position

20231210T214140 [ElevatorServo]:getPosition uart error serial timeout

20231210T214140 [ElevatorServo]:Elevator uart error - getPosition.serial timeout

20231210T214140 [ElevatorServo]:Communications Fault

20231210T214140 [CBIT]:Communications Fault in component: ElevatorServo

20231210T215611 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,0.0, +13.1, 0.0,1500.5, 0#

20231210T221743 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00010600374793,3, 0#

20231210T225323 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00010601132793,37, 648.19#

20231210T225704 [BPC1]:BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).

20231210T231655 [RDI_Pathfinder]:only read 0 of 1 data item for BIT error. Device response is::TS,00010601365993,35.0, +0.0,1503.0, 0#

20231210T232625 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, +11.32, -17.23, +6.70, I, -282, +0, -53, -3,A#

20231210T233708 SinkingOrFloatingRate = 0.001422 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.

20231210T234317 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -3,A#

20231211T000237 = 0.007192 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too light. Decrease neutral buoyancy: 496.818335 cc - 2.000000 cc = 494.818329 cc . Then go back to the target depth.

20231211T000316 [RDI_Pathfinder]:only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 828.42, 683.35, 8:BS, -136, +216, -164,A#

20231211T002333 [CBIT]:Beginning ground fault scan

20231211T003555 time since the last GPS fix 261.726123 min is longer than SurfacingIntervalDuringListening 240.000000 min . Surface and optionally transit back to listening location.

20231211T003836 [NAL9602]:Failed to initiate SBD session. Error code: 2

20231211T004151 run back to listening location LatListening = 36.695999 arcdeg , LonListening = -121.941460 arcdeg .

20231211T004747 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -1072.24, 0.00#

20231211T005756 [ElevatorServo]:getPosition uart error serial timeout

20231211T005756 [ElevatorServo]:Elevator uart error - getPosition.serial timeout

20231211T005756 [ElevatorServo]:Communications Fault

20231211T005756 [CBIT]:Communications Fault in component: ElevatorServo

20231211T005757 [ElevatorServo]:LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Current Limiter Activated.

20231211T005757 [ElevatorServo]:Hardware Fault

20231211T010750 [RDI_Pathfinder]:only read -1 of 1 data item for BIT error. Device response is::TS,00010603275593,#

20231211T022027 [RDI_Pathfinder]:only read 2 of 4 data items for bottom velocity. Device response is::BS, +593, -170,A#

20231211T023802 [RDI_Pathfinder]:only read 0 of 1 data item for altitude. Device response is::BD, -682.1000#

20231211T030844 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, , +48.94, 3.00, 0.00#

20231211T040910 [RDI_Pathfinder]:only read 0 of 1 data item for water mass range. Device response is::WD, -70.8 +40.30, 3.00, 0.00#

20231211T040922 SinkingOrFloatingRate = 0.001707 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.

20231211T041322 [VerticalControl]:Excessive depth excursion=10.285286 m, failToGoUpDepth_=41.021671 m, depthRate=0.064785 m/s, pitch=0.176784 deg.

20231211T041322 [CommandExec]:Scheduling is paused

20231211T041323 [MissionManager]:Started mission DefaultWithUndock

20231211T041405 [DAT]:No response from remote modem.

20231211T041415 [DAT]:No response from remote modem.

20231211T041425 [DAT]:No response from remote modem.

20231211T041453 [DefaultWithUndock:LeaveDock:B.Undock]:Undocking sequence complete.

20231211T042427 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 11.054077 min

20231211T042957 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 16.557736 min

20231211T043535 [DefaultWithUndock:SurfaceDefault:CheckIn:E]:Default mission has been running for 22.191628 min