2023-11-09T05:09:22.359Z,1699506562.359 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2023-11-09T05:09:26.836Z,1699506566.836 [SBIT](IMPORTANT): git: 2023-11-09 2023-11-09T05:09:26.836Z,1699506566.836 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2023-11-09T05:09:27.042Z,1699506567.042 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/underIce/DefaultWithUndock.tx 2023-11-09T05:09:27.702Z,1699506567.702 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2023-11-09T05:09:31.196Z,1699506571.196 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2207 2023-11-09T05:09:59.434Z,1699506599.434 [DAT](FAULT): failed to enter command mode 2023-11-09T05:11:14.685Z,1699506674.685 [SBIT](IMPORTANT): Beginning Startup BIT 2023-11-09T05:11:14.697Z,1699506674.697 [CBIT](IMPORTANT): Beginning ground fault scan 2023-11-09T05:11:25.646Z,1699506685.646 [CBIT](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): 0.923387 CHAN A1 (24V): 0.837037 CHAN A2 (12V): 0.952759 CHAN A3 (5V): 0.781509 CHAN B0 (3.3V): 0.508847 CHAN B1 (3.15aV): 0.777427 CHAN B2 (3.15bV): 0.775163 CHAN B3 (GND): -0.000843 OPEN: 0.026065 Full Scale: +/- 1 mA 2023-11-09T05:11:28.016Z,1699506688.016 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.761023 2023-11-09T05:11:54.721Z,1699506714.721 [SBIT](FAULT): Rudder: EXPECTED:-15.000000 ACTUAL:-14.658376 2023-11-09T05:11:54.721Z,1699506714.721 [SBIT](FAULT): Control surface position failure. 2023-11-09T05:12:08.765Z,1699506728.765 [SBIT](CRITICAL): SBIT FAILED 2023-11-09T05:12:08.766Z,1699506728.766 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2023-11-09T05:12:08.767Z,1699506728.767 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count; 2023-11-09T05:12:08.767Z,1699506728.767 [SBIT](IMPORTANT): DAT.verbosity=1 count; 2023-11-09T05:12:08.767Z,1699506728.767 [SBIT](IMPORTANT): DockingStepper.slideValue=11710 count; 2023-11-09T05:12:08.767Z,1699506728.767 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute; 2023-11-09T05:12:08.767Z,1699506728.767 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 5.000000 meter; 2023-11-09T05:12:08.767Z,1699506728.767 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter; 2023-11-09T05:12:08.767Z,1699506728.767 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second; 2023-11-09T05:12:08.767Z,1699506728.767 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=10 minute; 2023-11-09T05:12:08.768Z,1699506728.768 [SBIT](IMPORTANT): LineCapture.searchTimeout=15 minute; 2023-11-09T05:12:08.768Z,1699506728.768 [SBIT](IMPORTANT): LineCapture.shortFinalRange=10 meter; 2023-11-09T05:12:08.768Z,1699506728.768 [SBIT](IMPORTANT): RudderServo.offsetAngle=2.5 degree; 2023-11-09T05:12:08.768Z,1699506728.768 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=346.601558 cubic_centimeter; 2023-11-09T05:12:08.768Z,1699506728.768 [SBIT](IMPORTANT): VerticalControl.massDefault=21.981445 millimeter; 2023-11-09T05:12:08.770Z,1699506728.770 [CommandExec](FAULT): Scheduling is paused 2023-11-09T05:12:09.161Z,1699506729.161 [MissionManager](IMPORTANT): Started mission Startup 2023-11-09T05:13:10.053Z,1699506790.053 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2023-11-09T05:13:10.104Z,1699506790.104 [DataOverHttps](IMPORTANT): Could not stat file Logs/20231109T003833/Express0028.lzma 2023-11-09T05:13:10.104Z,1699506790.104 [DataOverHttps](FAULT): Could not open file Logs/20231109T003833/Express0028.lzma 2023-11-09T05:13:18.699Z,1699506798.699 [DataOverHttps](IMPORTANT): Could not stat file Logs/20231109T003833/Express0028.lzma 2023-11-09T05:13:18.700Z,1699506798.700 [DataOverHttps](FAULT): Could not open file Logs/20231109T003833/Express0028.lzma 2023-11-09T05:13:51.132Z,1699506831.132 [DataOverHttps](IMPORTANT): Could not stat file Logs/20231109T003833/Express0028.lzma 2023-11-09T05:13:51.132Z,1699506831.132 [DataOverHttps](FAULT): Could not open file Logs/20231109T003833/Express0028.lzma 2023-11-09T05:14:22.799Z,1699506862.799 [DockingStepper](FAULT): uart error: serial timeout moving from: 6143 to: 14900 response: 2023-11-09T05:14:25.399Z,1699506865.399 [DataOverHttps](IMPORTANT): Could not stat file Logs/20231109T003833/Express0028.lzma 2023-11-09T05:14:25.400Z,1699506865.400 [DataOverHttps](FAULT): Could not open file Logs/20231109T003833/Express0028.lzma 2023-11-09T05:14:26.403Z,1699506866.403 [DataOverHttps](IMPORTANT): SBD MTMSN=20231109T051414 2023-11-09T05:14:34.722Z,1699506874.722 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete. 2023-11-09T05:14:40.039Z,1699506880.039 [CommandExec](IMPORTANT): got command failComponent 2023-11-09T05:14:40.039Z,1699506880.039 [CommandExec](IMPORTANT): Failed components: 2023-11-09T05:14:40.039Z,1699506880.039 [CommandExec](IMPORTANT): No failed Components. 2023-11-09T05:20:40.842Z,1699507240.842 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 7.506562 min 2023-11-09T05:20:53.754Z,1699507253.754 [DataOverHttps](IMPORTANT): SBD MOMSN=19053448, MTMSN=20231109T052041 2023-11-09T05:21:02.694Z,1699507262.694 [CommandExec](IMPORTANT): 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 2023-11-09T05:21:02.695Z,1699507262.695 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=3m1ht 2023-11-09T05:21:02.696Z,1699507262.696 [CommandExec](IMPORTANT): 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 2023-11-09T05:21:03.805Z,1699507263.805 [DataOverHttps](IMPORTANT): SBD MTMSN=20231109T052051 2023-11-09T05:21:11.271Z,1699507271.271 [CommandExec](IMPORTANT): 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 2023-11-09T05:21:11.272Z,1699507271.272 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=3m1ht 2023-11-09T05:21:11.276Z,1699507271.276 [CommandExec](IMPORTANT): 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 2023-11-09T05:21:12.512Z,1699507272.512 [DataOverHttps](IMPORTANT): SBD MOMSN=19053452, MTMSN=20231109T052100 2023-11-09T05:21:20.024Z,1699507280.024 [CommandExec](IMPORTANT): 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 2023-11-09T05:21:20.024Z,1699507280.024 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=3m1ht 2023-11-09T05:21:20.025Z,1699507280.025 [CommandExec](IMPORTANT): 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 2023-11-09T05:21:21.203Z,1699507281.203 [DataOverHttps](IMPORTANT): SBD MTMSN=20231109T052108 2023-11-09T05:21:28.680Z,1699507288.680 [CommandExec](IMPORTANT): got command schedule asap "run" 3m1ht 4 4.000000 2023-11-09T05:21:28.681Z,1699507288.681 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=3m1ht 2023-11-09T05:21:28.682Z,1699507288.682 [CommandExec](IMPORTANT): Scheduled #4 (#4 of 4 with id='3m1ht'): "run", ASAP 2023-11-09T05:21:28.824Z,1699507288.824 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/passive_acoustic_monitoring.xml 2023-11-09T05:21:30.221Z,1699507290.221 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/Science.tx 2023-11-09T05:21:31.921Z,1699507291.921 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx 2023-11-09T05:21:32.115Z,1699507292.115 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx 2023-11-09T05:21:32.302Z,1699507292.302 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/AbortDrift.tx 2023-11-09T05:21:34.543Z,1699507294.543 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/passive_acoustic_monitoring.xml 2023-11-09T05:21:56.880Z,1699507316.880 [CommandExec](IMPORTANT): got command set passive_acoustic_monitoring.MissionTimeout 11 hour 2023-11-09T05:21:56.881Z,1699507316.881 [CommandExec](IMPORTANT): got command set passive_acoustic_monitoring.SurfacingIntervalDuringListening 5 hour 2023-11-09T05:21:56.882Z,1699507316.882 [CommandExec](IMPORTANT): got command set passive_acoustic_monitoring.NeedCommsMaxWait 6 hour 2023-11-09T05:22:20.976Z,1699507340.976 [CommandExec](IMPORTANT): got command set passive_acoustic_monitoring.Depth 40 meter 2023-11-09T05:22:20.977Z,1699507340.977 [CommandExec](IMPORTANT): got command set passive_acoustic_monitoring.SettleTime 5 minute 2023-11-09T05:22:20.977Z,1699507340.977 [CommandExec](IMPORTANT): got command set passive_acoustic_monitoring.DeepBound 45 meter 2023-11-09T05:22:20.986Z,1699507340.986 [CommandExec](IMPORTANT): got command set passive_acoustic_monitoring.ShallowBound 35 meter 2023-11-09T05:22:59.570Z,1699507379.570 [CommandExec](IMPORTANT): got command set passive_acoustic_monitoring.MaxDepth 60 meter 2023-11-09T05:22:59.571Z,1699507379.571 [CommandExec](IMPORTANT): got command set passive_acoustic_monitoring.LatListening 36.77064 degree 2023-11-09T05:22:59.571Z,1699507379.571 [CommandExec](IMPORTANT): got command set passive_acoustic_monitoring.LonListening -121.8543 degree 2023-11-09T05:22:59.572Z,1699507379.572 [CommandExec](IMPORTANT): got command set passive_acoustic_monitoring.BuoyancyAdjustmentStepMin 2 cubic_centimeter 2023-11-09T05:22:59.573Z,1699507379.573 [CommandExec](IMPORTANT): got command run 2023-11-09T05:22:59.579Z,1699507379.579 [CommandExec](IMPORTANT): Running 2023-11-09T05:22:59.787Z,1699507379.787 [MissionManager](IMPORTANT): Started mission passive_acoustic_monitoring 2023-11-09T05:22:59.826Z,1699507379.826 [passive_acoustic_monitoring:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 240.00 hours. 2023-11-09T05:23:01.822Z,1699507381.822 [passive_acoustic_monitoring:K](IMPORTANT): NeutralBuoyancy = 346.601562 cc . 2023-11-09T05:23:02.186Z,1699507382.186 [passive_acoustic_monitoring:L](IMPORTANT): BuoyancyAdjustmentStep = 16.000000 cc . 2023-11-09T05:23:02.622Z,1699507382.622 [passive_acoustic_monitoring:M](IMPORTANT): Initial shallow bound = 35.000000 m . 2023-11-09T05:23:03.012Z,1699507383.012 [passive_acoustic_monitoring:N](IMPORTANT): Initial deep bound = 45.000000 m . 2023-11-09T05:23:03.862Z,1699507383.862 [passive_acoustic_monitoring:P](IMPORTANT): TargetDepthMinusShallowBound = 5.000000 m . 2023-11-09T05:23:04.624Z,1699507384.624 [passive_acoustic_monitoring:U](IMPORTANT): DeepBoundMinusTargetDepth = 5.000000 m . 2023-11-09T05:24:59.648Z,1699507499.648 [passive_acoustic_monitoring:InitialTransitToListeningLocation:InitialLevelRun:B](IMPORTANT): Initial level run transit to listening location LatListening = 36.770641 arcdeg , LonListening = -121.854301 arcdeg . 2023-11-09T05:25:00.050Z,1699507500.050 [passive_acoustic_monitoring:InitialTransitToListeningLocation:InitialLevelRun:H.Waypoint](IMPORTANT): Navigating to waypoint: 36.770641,-121.854301 2023-11-09T05:33:38.727Z,1699508018.727 [passive_acoustic_monitoring:InitialTransitToListeningLocation:InitialLevelRun:H.Waypoint](IMPORTANT): Reached waypoint: 36.770641,-121.854301 2023-11-09T05:33:40.338Z,1699508020.338 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 1.000000 count 2023-11-09T05:33:40.749Z,1699508020.749 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 346.601562 cc , BuoyancyAdjustmentStep = 16.000000 cc 2023-11-09T05:33:41.957Z,1699508021.957 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOn:B](IMPORTANT): Moving to 40.000000 m 2023-11-09T05:39:20.512Z,1699508360.512 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.182178 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T05:47:33.791Z,1699508853.791 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:DeeperThanDeepBound:D](IMPORTANT): Now 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 2023-11-09T05:47:35.816Z,1699508855.816 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:C](IMPORTANT): SinkingOrFloatingRate = 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. 2023-11-09T05:47:37.844Z,1699508857.844 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 2.000000 count 2023-11-09T05:47:38.257Z,1699508858.257 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 362.601562 cc , BuoyancyAdjustmentStep = 16.000000 cc 2023-11-09T05:47:40.667Z,1699508860.667 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T05:49:39.040Z,1699508979.040 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 39.812576 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T06:01:59.979Z,1699509719.979 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 3.000000 count 2023-11-09T06:02:00.375Z,1699509720.375 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 362.601562 cc , BuoyancyAdjustmentStep = 16.000000 cc 2023-11-09T06:02:02.802Z,1699509722.802 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T06:03:21.599Z,1699509801.599 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.160934 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T06:08:24.990Z,1699510104.990 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:DeeperThanDeepBound:D](IMPORTANT): Now 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 2023-11-09T06:08:27.005Z,1699510107.005 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:C](IMPORTANT): SinkingOrFloatingRate = 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. 2023-11-09T06:08:29.038Z,1699510109.038 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 4.000000 count 2023-11-09T06:08:29.456Z,1699510109.456 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 378.601562 cc , BuoyancyAdjustmentStep = 16.000000 cc 2023-11-09T06:08:31.847Z,1699510111.847 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T06:10:30.623Z,1699510230.623 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 39.747372 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T06:15:34.442Z,1699510534.442 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:D](IMPORTANT): Now 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 . 2023-11-09T06:15:37.304Z,1699510537.304 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:F](IMPORTANT): SinkingOrFloatingRate = 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. 2023-11-09T06:15:39.726Z,1699510539.726 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 5.000000 count 2023-11-09T06:15:40.098Z,1699510540.098 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 370.601562 cc , BuoyancyAdjustmentStep = 8.000000 cc 2023-11-09T06:15:42.527Z,1699510542.527 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T06:17:15.843Z,1699510635.843 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.221375 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T06:22:19.299Z,1699510939.299 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:DeeperThanDeepBound:D](IMPORTANT): Now 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 2023-11-09T06:22:22.097Z,1699510942.097 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:F](IMPORTANT): SinkingOrFloatingRate = 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. 2023-11-09T06:22:24.910Z,1699510944.910 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 6.000000 count 2023-11-09T06:22:25.341Z,1699510945.341 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 374.601562 cc , BuoyancyAdjustmentStep = 4.000000 cc 2023-11-09T06:22:27.784Z,1699510947.784 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T06:24:22.883Z,1699511062.883 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 39.781075 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T06:29:26.691Z,1699511366.691 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:D](IMPORTANT): Now 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 . 2023-11-09T06:29:29.551Z,1699511369.551 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:F](IMPORTANT): SinkingOrFloatingRate = 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. 2023-11-09T06:29:31.581Z,1699511371.581 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 7.000000 count 2023-11-09T06:29:31.947Z,1699511371.947 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 372.601593 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T06:29:34.372Z,1699511374.372 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:LoosenDepthBandIfBuoyancyDeltaDropsToMinimum:E](IMPORTANT): Loosened shallow bound = 30.000000 m . 2023-11-09T06:29:34.771Z,1699511374.771 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:LoosenDepthBandIfBuoyancyDeltaDropsToMinimum:F](IMPORTANT): Loosened deep bound = 50.000000 m . 2023-11-09T06:29:36.801Z,1699511376.801 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T06:31:15.793Z,1699511475.793 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.160934 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T07:38:59.272Z,1699515539.272 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:DeeperThanDeepBound:D](IMPORTANT): Now depth 50.042904 m is deeper than DeepBound 50.000000 m . SinkingOrFloatingRate = DepthMinusTargetDepth 10.020195 m divided by 4061.853516 s = 0.002467 m/s 2023-11-09T07:39:02.076Z,1699515542.076 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 8.000000 count 2023-11-09T07:39:02.478Z,1699515542.478 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 372.601593 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T07:39:04.902Z,1699515544.902 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T07:41:38.423Z,1699515698.423 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 39.852497 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T08:09:09.635Z,1699517349.635 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:D](IMPORTANT): Now 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 . 2023-11-09T08:09:11.623Z,1699517351.623 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:C](IMPORTANT): SinkingOrFloatingRate = 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. 2023-11-09T08:09:13.250Z,1699517353.250 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 9.000000 count 2023-11-09T08:09:13.651Z,1699517353.651 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 370.601593 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T08:09:16.063Z,1699517356.063 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T08:11:44.711Z,1699517504.711 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.312946 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T08:30:50.082Z,1699518650.082 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 10.000000 count 2023-11-09T08:30:50.479Z,1699518650.479 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 370.601593 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T08:30:52.911Z,1699518652.911 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T08:33:24.815Z,1699518804.815 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 39.905247 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T08:52:18.844Z,1699519938.844 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:D](IMPORTANT): Now depth 29.923510 m is shallower than ShallowBound 30.000000 m . SinkingOrFloatingRate = TargetDepthMinusDepth 10.032166 m divided by 1132.406372 s = 0.008859 m/s . 2023-11-09T08:52:20.853Z,1699519940.853 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:C](IMPORTANT): SinkingOrFloatingRate = 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. 2023-11-09T08:52:22.470Z,1699519942.470 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 11.000000 count 2023-11-09T08:52:22.870Z,1699519942.870 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 368.601624 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T08:52:25.324Z,1699519945.324 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T08:54:44.680Z,1699520084.680 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.155800 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T09:05:42.804Z,1699520742.804 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:DeeperThanDeepBound:D](IMPORTANT): Now depth 50.066341 m is deeper than DeepBound 50.000000 m . SinkingOrFloatingRate = DepthMinusTargetDepth 10.017262 m divided by 656.499268 s = 0.015259 m/s 2023-11-09T09:05:44.820Z,1699520744.820 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:C](IMPORTANT): SinkingOrFloatingRate = 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. 2023-11-09T09:05:46.860Z,1699520746.860 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 12.000000 count 2023-11-09T09:05:47.276Z,1699520747.276 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 370.601593 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T09:05:49.684Z,1699520749.684 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T09:08:19.182Z,1699520899.182 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 39.845173 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T09:22:14.226Z,1699521734.226 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:D](IMPORTANT): Now depth 29.998974 m is shallower than ShallowBound 30.000000 m . SinkingOrFloatingRate = TargetDepthMinusDepth 10.004692 m divided by 833.495300 s = 0.012003 m/s . 2023-11-09T09:22:15.444Z,1699521735.444 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 13.000000 count 2023-11-09T09:22:15.839Z,1699521735.839 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 370.601593 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T09:22:18.264Z,1699521738.264 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T09:24:41.684Z,1699521881.684 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.113312 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T09:54:50.794Z,1699523690.794 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:D](IMPORTANT): Now depth 29.981390 m is shallower than ShallowBound 30.000000 m . SinkingOrFloatingRate = TargetDepthMinusDepth 10.001759 m divided by 1807.496704 s = 0.005533 m/s . 2023-11-09T09:54:52.824Z,1699523692.824 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:C](IMPORTANT): SinkingOrFloatingRate = 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. 2023-11-09T09:54:54.438Z,1699523694.438 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 14.000000 count 2023-11-09T09:54:54.847Z,1699523694.847 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 368.601624 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T09:54:57.290Z,1699523697.290 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T09:57:23.911Z,1699523843.911 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.203423 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T11:05:07.007Z,1699527907.007 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 15.000000 count 2023-11-09T11:05:07.426Z,1699527907.426 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 368.601624 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T11:05:09.820Z,1699527909.820 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T11:07:39.707Z,1699528059.707 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 39.762028 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T11:11:25.958Z,1699528285.958 [CBIT](IMPORTANT): Beginning ground fault scan 2023-11-09T11:11:36.910Z,1699528296.910 [CBIT](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): 0.930875 CHAN A1 (24V): 0.843126 CHAN A2 (12V): 0.958884 CHAN A3 (5V): 0.779662 CHAN B0 (3.3V): 0.502306 CHAN B1 (3.15aV): 0.773354 CHAN B2 (3.15bV): 0.771203 CHAN B3 (GND): -0.000630 OPEN: 0.026040 Full Scale: +/- 1 mA 2023-11-09T11:25:36.371Z,1699529136.371 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 16.000000 count 2023-11-09T11:25:36.766Z,1699529136.766 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 368.601624 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T11:25:39.210Z,1699529139.210 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T11:27:21.001Z,1699529241.001 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=25499, MT Status=1, MTMSN=1214 2023-11-09T11:27:21.500Z,1699529241.500 [CommandExec](IMPORTANT): got command schedule resume 2023-11-09T11:27:21.500Z,1699529241.500 [CommandExec](IMPORTANT): Scheduling is resumed 2023-11-09T11:29:31.604Z,1699529371.604 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=25500, MT Status=1, MTMSN=1215 2023-11-09T11:29:32.608Z,1699529372.608 [CommandExec](IMPORTANT): 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 2023-11-09T11:29:32.608Z,1699529372.608 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3m2k7 2023-11-09T11:29:32.609Z,1699529372.609 [CommandExec](IMPORTANT): 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 2023-11-09T11:29:51.705Z,1699529391.705 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=25501, MT Status=1, MTMSN=1216 2023-11-09T11:29:52.588Z,1699529392.588 [CommandExec](IMPORTANT): 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 2023-11-09T11:29:52.588Z,1699529392.588 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3m2k7 2023-11-09T11:29:52.589Z,1699529392.589 [CommandExec](IMPORTANT): 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 2023-11-09T11:41:53.075Z,1699530113.075 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.218819 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T12:16:08.245Z,1699532168.245 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:D](IMPORTANT): Now depth 29.960522 m is shallower than ShallowBound 30.000000 m . SinkingOrFloatingRate = TargetDepthMinusDepth 10.016401 m divided by 2053.564453 s = 0.004878 m/s . 2023-11-09T12:16:10.252Z,1699532170.252 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:C](IMPORTANT): SinkingOrFloatingRate = 0.004878 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too light. Decrease neutral buoyancy: 368.601613 cc - 2.000000 cc = 366.601624 cc . Then go back to the target depth. 2023-11-09T12:16:11.863Z,1699532171.863 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 17.000000 count 2023-11-09T12:16:12.280Z,1699532172.280 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 366.601624 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T12:16:14.693Z,1699532174.693 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T12:18:39.353Z,1699532319.353 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.185856 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T12:19:46.386Z,1699532386.386 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Missing stick IDs are: 1, 2, 44, 45. 2023-11-09T12:47:34.139Z,1699534054.139 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:DeeperThanDeepBound:D](IMPORTANT): Now depth 50.054283 m is deeper than DeepBound 50.000000 m . SinkingOrFloatingRate = DepthMinusTargetDepth 10.021317 m divided by 1733.249023 s = 0.005782 m/s 2023-11-09T12:47:36.157Z,1699534056.157 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:C](IMPORTANT): SinkingOrFloatingRate = 0.005782 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 366.601627 cc + 2.000000 cc = 368.601624 cc . Then go back to the target depth. 2023-11-09T12:47:38.158Z,1699534058.158 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 18.000000 count 2023-11-09T12:47:38.563Z,1699534058.563 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 368.601624 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T12:47:41.017Z,1699534061.017 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T12:51:15.975Z,1699534275.975 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 39.722847 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T13:00:48.394Z,1699534848.394 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Missing stick IDs are: 1, 2, 44, 45. 2023-11-09T13:04:31.004Z,1699535071.004 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:D](IMPORTANT): Now depth 29.924627 m is shallower than ShallowBound 30.000000 m . SinkingOrFloatingRate = TargetDepthMinusDepth 10.039473 m divided by 793.491638 s = 0.012652 m/s . 2023-11-09T13:04:33.025Z,1699535073.025 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:C](IMPORTANT): SinkingOrFloatingRate = 0.012652 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too light. Decrease neutral buoyancy: 368.601613 cc - 2.000000 cc = 366.601624 cc . Then go back to the target depth. 2023-11-09T13:04:34.639Z,1699535074.639 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 19.000000 count 2023-11-09T13:04:35.050Z,1699535075.050 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 366.601624 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T13:04:37.471Z,1699535077.471 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T13:07:12.217Z,1699535232.217 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.282932 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T13:41:50.392Z,1699537310.392 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Missing stick IDs are: 1, 2, 44, 45. 2023-11-09T14:05:30.919Z,1699538730.919 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:DeeperThanDeepBound:D](IMPORTANT): Now depth 50.020603 m is deeper than DeepBound 50.000000 m . SinkingOrFloatingRate = DepthMinusTargetDepth 10.008518 m divided by 3497.105957 s = 0.002862 m/s 2023-11-09T14:05:33.315Z,1699538733.315 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 20.000000 count 2023-11-09T14:05:33.740Z,1699538733.740 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 366.601624 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T14:05:36.147Z,1699538736.147 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T14:09:07.851Z,1699538947.851 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 39.839714 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T14:22:52.454Z,1699539772.454 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Missing stick IDs are: 1, 2, 44, 45. 2023-11-09T15:03:54.446Z,1699542234.446 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Missing stick IDs are: 1, 2, 44, 45. 2023-11-09T15:36:47.620Z,1699544207.620 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:D](IMPORTANT): Now depth 29.915478 m is shallower than ShallowBound 30.000000 m . SinkingOrFloatingRate = TargetDepthMinusDepth 10.040930 m divided by 5258.194336 s = 0.001910 m/s . 2023-11-09T15:36:48.028Z,1699544208.028 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:ShallowerThanShallowBound:DoNotDecreaseNeutralBuoyancy:A](IMPORTANT): But 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. 2023-11-09T15:36:50.067Z,1699544210.067 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 21.000000 count 2023-11-09T15:36:50.452Z,1699544210.452 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 366.601624 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T15:36:52.911Z,1699544212.911 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T15:39:17.126Z,1699544357.126 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 40.211151 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T15:44:56.447Z,1699544696.447 [BPC1](FAULT): Failed to receive data from 4 sticks prior to timeout. Missing stick IDs are: 1, 2, 44, 45. 2023-11-09T16:08:54.308Z,1699546134.308 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:DeeperThanDeepBound:D](IMPORTANT): Now depth 50.091667 m is deeper than DeepBound 50.000000 m . SinkingOrFloatingRate = DepthMinusTargetDepth 10.011448 m divided by 1775.592896 s = 0.005638 m/s 2023-11-09T16:08:56.336Z,1699546136.336 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:PAMHover:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:C](IMPORTANT): SinkingOrFloatingRate = 0.005638 m/s is greater than SinkingOrFloatingRateThreshold 0.002000 m/s . Vehicle is a little too heavy. Increase neutral buoyancy: 366.601627 cc + 2.000000 cc = 368.601624 cc . Then go back to the target depth. 2023-11-09T16:08:58.347Z,1699546138.347 [passive_acoustic_monitoring:PAM:D](IMPORTANT): Cnt = 22.000000 count 2023-11-09T16:08:58.759Z,1699546138.759 [passive_acoustic_monitoring:PAM:E](IMPORTANT): NeutralBuoyancy = 368.601624 cc , BuoyancyAdjustmentStep = 2.000000 cc 2023-11-09T16:09:01.195Z,1699546141.195 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C](IMPORTANT): Moving to 40.000000 m 2023-11-09T16:11:44.025Z,1699546304.025 [passive_acoustic_monitoring:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A](IMPORTANT): Reached 39.758396 m , settling for 5.000000 min at 0.000000 m/s 2023-11-09T16:22:59.969Z,1699546979.969 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl 2023-11-09T16:23:00.176Z,1699546980.176 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file ./Missions/Transport/keepstation.tx 2023-11-09T16:23:00.414Z,1699546980.414 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/NeedComms.tx 2023-11-09T16:23:00.739Z,1699546980.739 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx 2023-11-09T16:23:00.891Z,1699546980.891 [MissionManager](IMPORTANT): Loading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx 2023-11-09T16:23:01.049Z,1699546981.049 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl 2023-11-09T16:23:01.114Z,1699546981.114 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2023-11-09T16:23:13.441Z,1699546993.441 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 20 minute 2023-11-09T16:23:13.442Z,1699546993.442 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.771 degree 2023-11-09T16:23:13.442Z,1699546993.442 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.860001 degree 2023-11-09T16:23:13.443Z,1699546993.443 [CommandExec](IMPORTANT): got command set keepstation.ApproachDepth 25 meter 2023-11-09T16:23:13.444Z,1699546993.444 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 4 meter 2023-11-09T16:23:23.412Z,1699547003.412 [CommandExec](IMPORTANT): got command set keepstation.Speed 0.8 meter_per_second 2023-11-09T16:23:23.412Z,1699547003.412 [CommandExec](IMPORTANT): got command set keepstation.Radius 200 meter 2023-11-09T16:23:23.413Z,1699547003.413 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 50 meter 2023-11-09T16:23:23.414Z,1699547003.414 [CommandExec](IMPORTANT): got command set keepstation:StandardEnvelopes.MinAltitude 9 meter 2023-11-09T16:23:23.414Z,1699547003.414 [CommandExec](IMPORTANT): got command run 2023-11-09T16:23:23.416Z,1699547003.416 [CommandExec](IMPORTANT): Running 2023-11-09T16:23:23.766Z,1699547003.766 [MissionManager](IMPORTANT): Started mission keepstation 2023-11-09T16:25:49.981Z,1699547149.981 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=25506, MT Status=1, MTMSN=1217