2025-01-16T00:39:18.073Z,1736987958.073 [CommandExec](IMPORTANT): got command restart logs
2025-01-16T00:39:19.451Z,1736987959.451 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003602/Courier0000.lzma.bak
2025-01-16T00:39:19.451Z,1736987959.451 [DataOverHttps](IMPORTANT): SBD MOMSN=23908293, MTMSN=20250116T003918
2025-01-16T00:39:23.376Z,1736987963.376 [Startup:StartupSatComms:B](INFO): Timed out from 2025-01-16T00:38:22.0Z
2025-01-16T00:39:23.376Z,1736987963.376 [Startup:StartupSatComms:B] Stopped
2025-01-16T00:39:23.376Z,1736987963.376 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-01-16T00:39:23.376Z,1736987963.376 [Startup:StartupSatComms] Stopped
2025-01-16T00:39:23.377Z,1736987963.377 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-01-16T00:39:23.377Z,1736987963.377 [Startup](INFO): Completed Startup
2025-01-16T00:39:23.378Z,1736987963.378 [MissionManager](INFO): Startup is completed.
2025-01-16T00:39:23.378Z,1736987963.378 [MissionManager](INFO): Uninitializing Mission Startup
2025-01-16T00:39:23.378Z,1736987963.378 [Startup] Stopped
2025-01-16T00:39:23.378Z,1736987963.378 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-01-16T00:39:23.378Z,1736987963.378 [Startup:A.GoToSurface] Stopped
2025-01-16T00:39:23.378Z,1736987963.378 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T00:39:23.759Z,1736987963.759 [MissionManager](IMPORTANT): Started mission Default
2025-01-16T00:39:23.759Z,1736987963.759 [Default] Running Loop=1
2025-01-16T00:39:23.759Z,1736987963.759 [Default](DEBUG): Aggregate::initialize Default
2025-01-16T00:39:23.759Z,1736987963.759 [Default:B.GoToSurface] Running Loop=1
2025-01-16T00:39:23.768Z,1736987963.768 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T00:39:23.768Z,1736987963.768 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T00:39:23.768Z,1736987963.768 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T00:39:23.769Z,1736987963.769 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T00:39:23.769Z,1736987963.769 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T00:39:23.769Z,1736987963.769 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T00:39:23.769Z,1736987963.769 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T00:39:23.770Z,1736987963.770 [Default:A.Wait] Running Loop=1
2025-01-16T00:39:23.770Z,1736987963.770 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-16T00:39:25.828Z,1736987965.828 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T00:39:32.668Z,1736987972.668 [DataOverHttps](INFO): Received command: sched asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.MissionTimeout 70 min;set optimize_roll_speed.NeedCommsTime 70 min;set optimize_roll_speed.Latitude 36.79636 degree;set optimize_roll_speed.Longitude -121.90301 degree" 7gh5 1 2
2025-01-16T00:39:32.677Z,1736987972.677 [CommandExec](IMPORTANT): got command schedule asap "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.MissionTimeout 70 min;set optimize_roll_speed.NeedCommsTime 70 min;set optimize_roll_speed.Latitude 36.79636 degree;set optimize_roll_speed.Longitude -121.90301 degree" 7gh5 1 2.000000
2025-01-16T00:39:32.678Z,1736987972.678 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=7gh5
2025-01-16T00:39:32.679Z,1736987972.679 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='7gh5'): "load Maintenance/optimize_roll_speed.tl;set optimize_roll_speed.MissionTimeout 70 min;set optimize_roll_speed.NeedCommsTime 70 min;set optimize_roll_speed.Latitude 36.79636 degree;set optimize_roll_speed.Longitude -121.90301 degree", ASAP
2025-01-16T00:39:33.675Z,1736987973.675 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T003933
2025-01-16T00:39:36.897Z,1736987976.897 [Default:A.Wait](INFO): Done Waiting.
2025-01-16T00:39:36.897Z,1736987976.897 [Default:A.Wait] Stopped
2025-01-16T00:39:36.897Z,1736987976.897 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T00:39:37.606Z,1736987977.606 [Default:CheckIn] Running Loop=1
2025-01-16T00:39:37.606Z,1736987977.606 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T00:39:37.606Z,1736987977.606 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T00:39:38.013Z,1736987978.013 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T00:39:39.373Z,1736987979.373 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003936.00,A,3647.87828,N,12150.66631,W,0.369,331.84,160125,,,A*7B
2025-01-16T00:39:39.375Z,1736987979.375 [NAL9602](INFO): GPS fix at 20250116T003936: (36.797971, -121.844438)
2025-01-16T00:39:39.408Z,1736987979.408 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T00:39:39.408Z,1736987979.408 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T00:39:39.816Z,1736987979.816 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-16T00:39:43.507Z,1736987983.507 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250116T003602/Courier0004.lzma
2025-01-16T00:39:43.510Z,1736987983.510 [DataOverHttps](INFO): Received command: sched asap "set optimize_roll_speed.RollError 0.5 degree;set optimize_roll_speed.WindowLen 10 min;run" 7gh5 2 2
2025-01-16T00:39:43.591Z,1736987983.591 [CommandExec](IMPORTANT): got command schedule asap "set optimize_roll_speed.RollError 0.5 degree;set optimize_roll_speed.WindowLen 10 min;run" 7gh5 2 2.000000
2025-01-16T00:39:43.592Z,1736987983.592 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=7gh5
2025-01-16T00:39:43.593Z,1736987983.593 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='7gh5'): "set optimize_roll_speed.RollError 0.5 degree;set optimize_roll_speed.WindowLen 10 min;run", ASAP
2025-01-16T00:39:44.617Z,1736987984.617 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-16T00:39:44.617Z,1736987984.617 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-16T00:39:44.617Z,1736987984.617 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-16T00:39:44.695Z,1736987984.695 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/optimize_roll_speed.tl
2025-01-16T00:39:45.109Z,1736987985.109 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003602/Courier0004.lzma.bak
2025-01-16T00:39:45.109Z,1736987985.109 [DataOverHttps](INFO): SBD MOMSN=23908306
2025-01-16T00:39:46.586Z,1736987986.586 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/optimize_roll_speed.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="optimize_roll_speed">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="StartSpeed">
        <Units:meter_per_second />
        <Value>0.9</Value>
    </DefineArg>
    <DefineArg Name="TargetRollAngle">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RollError">
        <Units:degree />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxSpeed">
        <Units:meter_per_second />
        <Value>1.1</Value>
    </DefineArg>
    <DefineArg Name="MinSpeed">
        <Units:meter_per_second />
        <Value>0.6</Value>
    </DefineArg>
    <DefineArg Name="WindowLen">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="InitStep">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="MinStep">
        <Units:meter_per_second />
        <Value>0.025</Value>
    </DefineArg>
    <DefineArg Name="Verbose">
        <True />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Call RefId="NeedComms" Id="StartingMission" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetRollSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetRollSpeed.targetRoll />
                <Arg Name="TargetRollAngle" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.rollError />
                <Arg Name="RollError" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.maxSpeed />
                <Arg Name="MaxSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.startSpeed />
                <Arg Name="StartSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minSpeed />
                <Arg Name="MinSpeed" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.estimationWindow />
                <Arg Name="WindowLen" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.initStep />
                <Arg Name="InitStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.minStep />
                <Arg Name="MinStep" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.verbose />
                <Arg Name="Verbose" />
            </Setting>
            <Setting>
                <Guidance:SetRollSpeed.persistResult />
                <True />
            </Setting>
        </Guidance:SetRollSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-01-16T00:39:46.597Z,1736987986.597 [MissionManager](INFO): DefineArg optimize_roll_speed.MissionTimeout = 60.000000 min
2025-01-16T00:39:46.600Z,1736987986.600 [MissionManager](INFO): DefineArg optimize_roll_speed.NeedCommsTime = 30.000000 min
2025-01-16T00:39:46.603Z,1736987986.603 [MissionManager](INFO): DefineArg optimize_roll_speed.Latitude = nan arcdeg
2025-01-16T00:39:46.606Z,1736987986.606 [MissionManager](INFO): DefineArg optimize_roll_speed.Longitude = nan arcdeg
2025-01-16T00:39:46.609Z,1736987986.609 [MissionManager](INFO): DefineArg optimize_roll_speed.Depth = 30.000000 m
2025-01-16T00:39:46.612Z,1736987986.612 [MissionManager](INFO): DefineArg optimize_roll_speed.StartSpeed = 0.900000 m/s
2025-01-16T00:39:46.615Z,1736987986.615 [MissionManager](INFO): DefineArg optimize_roll_speed.TargetRollAngle = 0.000000 arcdeg
2025-01-16T00:39:46.618Z,1736987986.618 [MissionManager](INFO): DefineArg optimize_roll_speed.RollError = 2.000000 arcdeg
2025-01-16T00:39:46.621Z,1736987986.621 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxSpeed = 1.100000 m/s
2025-01-16T00:39:46.624Z,1736987986.624 [MissionManager](INFO): DefineArg optimize_roll_speed.MinSpeed = 0.600000 m/s
2025-01-16T00:39:46.627Z,1736987986.627 [MissionManager](INFO): DefineArg optimize_roll_speed.WindowLen = 5.000000 min
2025-01-16T00:39:46.630Z,1736987986.630 [MissionManager](INFO): DefineArg optimize_roll_speed.InitStep = 0.050000 m/s
2025-01-16T00:39:46.633Z,1736987986.633 [MissionManager](INFO): DefineArg optimize_roll_speed.MinStep = 0.025000 m/s
2025-01-16T00:39:46.635Z,1736987986.635 [MissionManager](INFO): DefineArg optimize_roll_speed.Verbose = 1 bool
2025-01-16T00:39:46.638Z,1736987986.638 [MissionManager](INFO): DefineArg optimize_roll_speed.MaxDepth = 35.000000 m
2025-01-16T00:39:46.657Z,1736987986.657 [MissionManager](INFO): DefineArg optimize_roll_speed.MinOffshore = 1.000000 km
2025-01-16T00:39:46.664Z,1736987986.664 [MissionManager](INFO): DefineArg optimize_roll_speed.MinAltitude = 7.000000 m
2025-01-16T00:39:46.672Z,1736987986.672 [MissionManager](INFO): DefineArg optimize_roll_speed.MassHold = 1 bool
2025-01-16T00:39:46.675Z,1736987986.675 [MissionManager](INFO): DefineArg optimize_roll_speed.BuoyancyHold = 1 bool
2025-01-16T00:39:46.675Z,1736987986.675 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-16T00:39:46.680Z,1736987986.680 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-16T00:39:46.681Z,1736987986.681 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-16T00:39:47.088Z,1736987987.088 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-01-16T00:39:47.093Z,1736987987.093 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.DiveInterval = 1.000000 h
2025-01-16T00:39:47.096Z,1736987987.096 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-16T00:39:47.099Z,1736987987.099 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-16T00:39:47.102Z,1736987987.102 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceDepthRate = nan m/s
2025-01-16T00:39:47.105Z,1736987987.105 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-16T00:39:47.108Z,1736987987.108 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-16T00:39:47.111Z,1736987987.111 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.GPSTimeout = 7.000000 min
2025-01-16T00:39:47.114Z,1736987987.114 [MissionManager](INFO): DefineArg optimize_roll_speed:NeedComms.CommsTimeout = 30.000000 min
2025-01-16T00:39:47.121Z,1736987987.121 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T00:39:47.271Z,1736987987.271 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-16T00:39:47.271Z,1736987987.271 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-16T00:39:47.281Z,1736987987.281 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-16T00:39:47.447Z,1736987987.447 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-16T00:39:47.460Z,1736987987.460 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-16T00:39:47.463Z,1736987987.463 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-16T00:39:47.477Z,1736987987.477 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-16T00:39:47.484Z,1736987987.484 [MissionManager](INFO): DefineArg optimize_roll_speed:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-16T00:39:47.485Z,1736987987.485 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-16T00:39:47.501Z,1736987987.501 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-16T00:39:47.519Z,1736987987.519 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-16T00:39:47.590Z,1736987987.590 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-16T00:39:47.591Z,1736987987.591 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-16T00:39:47.608Z,1736987987.608 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-16T00:39:47.685Z,1736987987.685 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-01-16T00:39:47.693Z,1736987987.693 [MissionManager](INFO): DefineArg optimize_roll_speed:BackseatDriver.EnableBackseat = 0 bool
2025-01-16T00:39:47.716Z,1736987987.716 [optimize_roll_speed:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-16T00:39:47.719Z,1736987987.719 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-16T00:39:47.719Z,1736987987.719 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-16T00:39:47.728Z,1736987987.728 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-16T00:39:48.081Z,1736987988.081 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-01-16T00:39:48.094Z,1736987988.094 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleAll = 0 bool
2025-01-16T00:39:48.101Z,1736987988.101 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad1 = 0 bool
2025-01-16T00:39:48.103Z,1736987988.103 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad2 = 0 bool
2025-01-16T00:39:48.122Z,1736987988.122 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.SampleLoad3 = 0 bool
2025-01-16T00:39:48.137Z,1736987988.137 [MissionManager](INFO): DefineArg optimize_roll_speed:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-16T00:39:48.156Z,1736987988.156 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-16T00:39:48.159Z,1736987988.159 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T00:39:48.215Z,1736987988.215 [optimize_roll_speed:MassHold.Pitch](DEBUG): Construct.
2025-01-16T00:39:48.239Z,1736987988.239 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Construct.
2025-01-16T00:39:48.257Z,1736987988.257 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Construct.
2025-01-16T00:39:48.282Z,1736987988.282 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T00:39:48.331Z,1736987988.331 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission optimize_roll_speed {
  """
  Vehicle transits to desired waypoint while optimizing speed to achieve a target roll angle.
  """

  arguments {
    MissionTimeout = 60 minute
      """
      Maximum duration of mission
      """

    NeedCommsTime = 30 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to seek. If set to NaN, uses latitude at mission
      initialization.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to seek. If set to NaN, uses longitude at mission
      initialization.
      """

    Depth = 30 meter
      """
      Depth of flat and level flight during the mission.
      """

    StartSpeed = 0.9 meter_per_second
      """
      Initial speed for roll optimization.
      """

    TargetRollAngle = 0 degree
      """
      Target roll angle for roll speed optimization.
      """

    RollError = 2 degree
      """
      Error tolerance for roll angle during speed optimization.
      """

    MaxSpeed = 1.1 meter_per_second
      """
      Maximum speed for roll speed optimization.
      """

    MinSpeed = 0.6 meter_per_second
      """
      Minimum speed for roll speed optimization.
      """

    WindowLen = 5 minute
      """
      Time window for roll speed optimization.
      """

    InitStep = 0.05 meter_per_second
      """
      Initial step size for roll speed optimization.
      """

    MinStep = 0.025 meter_per_second
      """
      Minimum step size for roll speed optimization.
      """

    Verbose = true
      """
      Enable verbose logging for roll speed optimization.
      """

    MaxDepth = 35 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance offshore for the entire mission.
      """

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MassHold = true
      """
      Set to True in order to hold mass at default position, False to allow
      mass to run on its own.
      """

    BuoyancyHold = true
      """
      Set to True in order to hold buoyancy at neutral position, False to
      allow buoyancy to run on its own.
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  call id="StartingMission" refId="NeedComms"

  behavior Guidance:Buoyancy id="BuoyancyHold" {
    run while ( BuoyancyHold )

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch id="MassHold" {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetRollSpeed {
      run in parallel

      set targetRoll = TargetRollAngle
      set rollError = RollError
      set maxSpeed = MaxSpeed
      set startSpeed = StartSpeed
      set minSpeed = MinSpeed
      set estimationWindow = WindowLen
      set initStep = InitStep
      set minStep = MinStep
      set verbose = Verbose
      set persistResult = true
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }

    call id="PhoneHome" refId="NeedComms"
  }
}


2025-01-16T00:39:48.331Z,1736987988.331 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/optimize_roll_speed.tl id=optimize_roll_speed
2025-01-16T00:40:00.582Z,1736988000.582 [NAL9602](INFO): SBD MO Status=0, MOMSN=11761, MT Status=0, MTMSN=0
2025-01-16T00:40:00.583Z,1736988000.583 [NAL9602](INFO): No messages in MT queue
2025-01-16T00:40:12.578Z,1736988012.578 [CommandExec](IMPORTANT): got command set optimize_roll_speed.MissionTimeout 70 minute
2025-01-16T00:40:12.578Z,1736988012.578 [CommandExec](IMPORTANT): got command set optimize_roll_speed.NeedCommsTime 70 minute
2025-01-16T00:40:12.579Z,1736988012.579 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Latitude 36.79636 degree
2025-01-16T00:40:12.604Z,1736988012.604 [CommandExec](IMPORTANT): got command set optimize_roll_speed.Longitude -121.90301 degree
2025-01-16T00:40:15.259Z,1736988015.259 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250116T003837/Courier0000.lzma
2025-01-16T00:40:16.263Z,1736988016.263 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003837/Courier0000.lzma.bak
2025-01-16T00:40:16.263Z,1736988016.263 [DataOverHttps](INFO): SBD MOMSN=23908309
2025-01-16T00:40:18.101Z,1736988018.101 [CommandExec](IMPORTANT): got command set optimize_roll_speed.RollError 0.5 degree
2025-01-16T00:40:18.102Z,1736988018.102 [CommandExec](IMPORTANT): got command set optimize_roll_speed.WindowLen 10 minute
2025-01-16T00:40:18.102Z,1736988018.102 [CommandExec](IMPORTANT): got command run
2025-01-16T00:40:18.109Z,1736988018.109 [CommandExec](IMPORTANT): Running 
2025-01-16T00:40:18.143Z,1736988018.143 [Default] Stopped
2025-01-16T00:40:18.143Z,1736988018.143 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-16T00:40:18.143Z,1736988018.143 [Default:B.GoToSurface] Stopped
2025-01-16T00:40:18.143Z,1736988018.143 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T00:40:18.143Z,1736988018.143 [Default:CheckIn] Stopped
2025-01-16T00:40:18.143Z,1736988018.143 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T00:40:18.143Z,1736988018.143 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T00:40:18.148Z,1736988018.148 [MissionManager](IMPORTANT): Started mission optimize_roll_speed
2025-01-16T00:40:18.148Z,1736988018.148 [optimize_roll_speed] Running Loop=1
2025-01-16T00:40:18.148Z,1736988018.148 [optimize_roll_speed](DEBUG): Aggregate::initialize optimize_roll_speed
2025-01-16T00:40:18.148Z,1736988018.148 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-01-16T00:40:18.148Z,1736988018.148 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::initialize optimize_roll_speed:StandardEnvelopes
2025-01-16T00:40:18.149Z,1736988018.149 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T00:40:18.149Z,1736988018.149 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-16T00:40:18.149Z,1736988018.149 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T00:40:18.149Z,1736988018.149 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-16T00:40:18.149Z,1736988018.149 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T00:40:18.149Z,1736988018.149 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-16T00:40:18.149Z,1736988018.149 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-01-16T00:40:18.149Z,1736988018.149 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::initialize optimize_roll_speed:BackseatDriver
2025-01-16T00:40:18.150Z,1736988018.150 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-16T00:40:18.150Z,1736988018.150 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-01-16T00:40:18.150Z,1736988018.150 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::initialize optimize_roll_speed:PowerOnly
2025-01-16T00:40:18.150Z,1736988018.150 [optimize_roll_speed:PowerOnly:A] Running Loop=1
2025-01-16T00:40:18.150Z,1736988018.150 [optimize_roll_speed:PowerOnly:B] Running Loop=1
2025-01-16T00:40:18.150Z,1736988018.150 [optimize_roll_speed:PowerOnly:C] Running Loop=1
2025-01-16T00:40:18.150Z,1736988018.150 [optimize_roll_speed:PowerOnly:D] Running Loop=1
2025-01-16T00:40:18.150Z,1736988018.150 [optimize_roll_speed:PowerOnly:E.Wait] Running Loop=1
2025-01-16T00:40:18.150Z,1736988018.150 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-16T00:40:18.150Z,1736988018.150 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-01-16T00:40:18.150Z,1736988018.150 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-16T00:40:18.150Z,1736988018.150 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-01-16T00:40:18.151Z,1736988018.151 [optimize_roll_speed:MassHold.Pitch](DEBUG): Initialize.
2025-01-16T00:40:18.151Z,1736988018.151 [optimize_roll_speed:B] Running Loop=1
2025-01-16T00:40:18.151Z,1736988018.151 [optimize_roll_speed:MassHold.Pitch] Running Loop=1
2025-01-16T00:40:18.157Z,1736988018.157 [optimize_roll_speed:BuoyancyHold.Buoyancy] Running Loop=1
2025-01-16T00:40:18.157Z,1736988018.157 [optimize_roll_speed:PowerOnly] Running Loop=1
2025-01-16T00:40:18.157Z,1736988018.157 [optimize_roll_speed:PowerOnly:D] Stopped
2025-01-16T00:40:18.157Z,1736988018.157 [optimize_roll_speed:PowerOnly:C] Stopped
2025-01-16T00:40:18.158Z,1736988018.158 [optimize_roll_speed:PowerOnly:B] Stopped
2025-01-16T00:40:18.158Z,1736988018.158 [optimize_roll_speed:PowerOnly:A] Stopped
2025-01-16T00:40:18.158Z,1736988018.158 [optimize_roll_speed:BackseatDriver] Running Loop=1
2025-01-16T00:40:18.158Z,1736988018.158 [optimize_roll_speed:StandardEnvelopes] Running Loop=1
2025-01-16T00:40:18.158Z,1736988018.158 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T00:40:18.159Z,1736988018.159 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T00:40:18.159Z,1736988018.159 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T00:40:18.164Z,1736988018.164 [optimize_roll_speed:B] Stopped
2025-01-16T00:40:18.165Z,1736988018.165 [optimize_roll_speed:C] Running Loop=1
2025-01-16T00:40:18.523Z,1736988018.523 [optimize_roll_speed:C] Stopped
2025-01-16T00:40:18.523Z,1736988018.523 [optimize_roll_speed:E] Running Loop=1
2025-01-16T00:40:18.925Z,1736988018.925 [optimize_roll_speed:E] Stopped
2025-01-16T00:40:18.925Z,1736988018.925 [optimize_roll_speed:F] Running Loop=1
2025-01-16T00:40:19.348Z,1736988019.348 [optimize_roll_speed:F] Stopped
2025-01-16T00:40:19.349Z,1736988019.349 [optimize_roll_speed:G] Running Loop=1
2025-01-16T00:40:19.746Z,1736988019.746 [optimize_roll_speed:G] Stopped
2025-01-16T00:40:19.746Z,1736988019.746 [optimize_roll_speed:StartingMission] Running Loop=1
2025-01-16T00:40:19.746Z,1736988019.746 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::initialize optimize_roll_speed:StartingMission
2025-01-16T00:40:19.747Z,1736988019.747 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-01-16T00:40:20.165Z,1736988020.165 [optimize_roll_speed:NeedComms] Running Loop=1
2025-01-16T00:40:20.165Z,1736988020.165 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::initialize optimize_roll_speed:NeedComms
2025-01-16T00:40:20.165Z,1736988020.165 [optimize_roll_speed:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T00:40:20.165Z,1736988020.165 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T00:40:20.166Z,1736988020.166 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T00:40:20.166Z,1736988020.166 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T00:40:20.166Z,1736988020.166 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T00:40:20.167Z,1736988020.167 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T00:40:20.167Z,1736988020.167 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T00:40:20.167Z,1736988020.167 [optimize_roll_speed:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T00:40:20.167Z,1736988020.167 [optimize_roll_speed:NeedComms:A] Running Loop=1
2025-01-16T00:40:20.173Z,1736988020.173 [optimize_roll_speed:NeedComms:A](INFO): last time_fix was:  1736987976.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T00:40:20.173Z,1736988020.173 [optimize_roll_speed:NeedComms:A] Stopped
2025-01-16T00:40:20.559Z,1736988020.559 [optimize_roll_speed:NeedComms:C] Running Loop=1
2025-01-16T00:40:20.959Z,1736988020.959 [optimize_roll_speed:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T00:40:22.543Z,1736988022.543 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004019.00,A,3647.88001,N,12150.66200,W,0.311,34.60,160125,,,A*41
2025-01-16T00:40:22.545Z,1736988022.545 [NAL9602](INFO): GPS fix at 20250116T004019: (36.798000, -121.844367)
2025-01-16T00:40:22.604Z,1736988022.604 [optimize_roll_speed:NeedComms:C] Stopped
2025-01-16T00:40:22.605Z,1736988022.605 [optimize_roll_speed:NeedComms:D] Running Loop=1
2025-01-16T00:40:22.999Z,1736988022.999 [optimize_roll_speed:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-16T00:40:33.063Z,1736988033.063 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250116T003837/Courier0003.lzma
2025-01-16T00:40:34.066Z,1736988034.066 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003837/Courier0003.lzma.bak
2025-01-16T00:40:34.066Z,1736988034.066 [DataOverHttps](INFO): SBD MOMSN=23908313
2025-01-16T00:40:50.356Z,1736988050.356 [DataOverHttps](INFO): Sending 269 bytes from file Logs/20250116T003918/Courier0003.lzma
2025-01-16T00:40:51.359Z,1736988051.359 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Courier0003.lzma.bak
2025-01-16T00:40:51.359Z,1736988051.359 [DataOverHttps](INFO): SBD MOMSN=23908315
2025-01-16T00:40:54.573Z,1736988054.573 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T00:41:11.579Z,1736988071.579 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250116T003918/Courier0006.lzma
2025-01-16T00:41:12.582Z,1736988072.582 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Courier0006.lzma.bak
2025-01-16T00:41:12.582Z,1736988072.582 [DataOverHttps](INFO): SBD MOMSN=23908319
2025-01-16T00:41:28.643Z,1736988088.643 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250116T003918/Courier0012.lzma
2025-01-16T00:41:29.646Z,1736988089.646 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Courier0012.lzma.bak
2025-01-16T00:41:29.646Z,1736988089.646 [DataOverHttps](INFO): SBD MOMSN=23908321
2025-01-16T00:41:46.047Z,1736988106.047 [DataOverHttps](INFO): Sending 270 bytes from file Logs/20250115T234737/Express0010.lzma
2025-01-16T00:41:47.046Z,1736988107.046 [DataOverHttps](INFO): Moved sent file to Logs/20250115T234737/Express0010.lzma.bak
2025-01-16T00:41:47.046Z,1736988107.046 [DataOverHttps](INFO): SBD MOMSN=23908324
2025-01-16T00:42:04.511Z,1736988124.511 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250115T234737/Express0013.lzma
2025-01-16T00:42:05.514Z,1736988125.514 [DataOverHttps](INFO): Moved sent file to Logs/20250115T234737/Express0013.lzma.bak
2025-01-16T00:42:05.514Z,1736988125.514 [DataOverHttps](INFO): SBD MOMSN=23908327
2025-01-16T00:42:21.706Z,1736988141.706 [DataOverHttps](INFO): Sending 820 bytes from file Logs/20250116T003602/Express0001.lzma
2025-01-16T00:42:22.718Z,1736988142.718 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003602/Express0001.lzma.bak
2025-01-16T00:42:22.718Z,1736988142.718 [DataOverHttps](INFO): SBD MOMSN=23908329
2025-01-16T00:42:39.184Z,1736988159.184 [DataOverHttps](INFO): Sending 133 bytes from file Logs/20250116T003602/Express0005.lzma
2025-01-16T00:42:40.188Z,1736988160.188 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003602/Express0005.lzma.bak
2025-01-16T00:42:40.188Z,1736988160.188 [DataOverHttps](INFO): SBD MOMSN=23908345
2025-01-16T00:42:58.064Z,1736988178.064 [DataOverHttps](INFO): Sending 256 bytes from file Logs/20250116T003837/Express0001.lzma
2025-01-16T00:42:59.078Z,1736988179.078 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003837/Express0001.lzma.bak
2025-01-16T00:42:59.078Z,1736988179.078 [DataOverHttps](INFO): SBD MOMSN=23908348
2025-01-16T00:43:17.663Z,1736988197.663 [DataOverHttps](INFO): Sending 129 bytes from file Logs/20250116T003837/Express0004.lzma
2025-01-16T00:43:18.666Z,1736988198.666 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003837/Express0004.lzma.bak
2025-01-16T00:43:18.666Z,1736988198.666 [DataOverHttps](INFO): SBD MOMSN=23908351
2025-01-16T00:43:35.076Z,1736988215.076 [DataOverHttps](INFO): Sending 601 bytes from file Logs/20250116T003918/Express0004.lzma
2025-01-16T00:43:36.078Z,1736988216.078 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Express0004.lzma.bak
2025-01-16T00:43:36.078Z,1736988216.078 [DataOverHttps](INFO): SBD MOMSN=23908354
2025-01-16T00:43:52.435Z,1736988232.435 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250116T003918/Express0007.lzma
2025-01-16T00:43:53.438Z,1736988233.438 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Express0007.lzma.bak
2025-01-16T00:43:53.438Z,1736988233.438 [DataOverHttps](INFO): SBD MOMSN=23908363
2025-01-16T00:44:09.413Z,1736988249.413 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20250116T003918/Express0010.lzma
2025-01-16T00:44:10.414Z,1736988250.414 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Express0010.lzma.bak
2025-01-16T00:44:10.414Z,1736988250.414 [DataOverHttps](INFO): SBD MOMSN=23908365
2025-01-16T00:44:26.672Z,1736988266.672 [DataOverHttps](INFO): Sending 313 bytes from file Logs/20250116T003918/Express0013.lzma
2025-01-16T00:44:27.674Z,1736988267.674 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Express0013.lzma.bak
2025-01-16T00:44:27.674Z,1736988267.674 [DataOverHttps](INFO): SBD MOMSN=23908371
2025-01-16T00:44:28.755Z,1736988268.755 [optimize_roll_speed:NeedComms:D] Stopped
2025-01-16T00:44:28.755Z,1736988268.755 [optimize_roll_speed:NeedComms:E] Running Loop=1
2025-01-16T00:44:29.159Z,1736988269.159 [optimize_roll_speed:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T00:44:30.751Z,1736988270.751 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004427.00,A,3647.89240,N,12150.63963,W,0.350,69.40,160125,,,D*4F
2025-01-16T00:44:30.757Z,1736988270.757 [NAL9602](INFO): GPS fix at 20250116T004427: (36.798207, -121.843994)
2025-01-16T00:44:30.795Z,1736988270.795 [optimize_roll_speed:NeedComms:E] Stopped
2025-01-16T00:44:30.801Z,1736988270.801 [optimize_roll_speed:NeedComms](INFO): Completed optimize_roll_speed:NeedComms
2025-01-16T00:44:30.801Z,1736988270.801 [optimize_roll_speed:NeedComms] Stopped
2025-01-16T00:44:30.801Z,1736988270.801 [optimize_roll_speed:NeedComms](DEBUG): Aggregate::uninitialize optimize_roll_speed:NeedComms
2025-01-16T00:44:30.801Z,1736988270.801 [optimize_roll_speed:NeedComms:B.GoToSurface] Stopped
2025-01-16T00:44:30.801Z,1736988270.801 [optimize_roll_speed:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T00:44:31.197Z,1736988271.197 [optimize_roll_speed:StartingMission](INFO): Completed optimize_roll_speed:StartingMission
2025-01-16T00:44:31.197Z,1736988271.197 [optimize_roll_speed:StartingMission] Stopped
2025-01-16T00:44:31.198Z,1736988271.198 [optimize_roll_speed:StartingMission](DEBUG): Aggregate::uninitialize optimize_roll_speed:StartingMission
2025-01-16T00:44:31.198Z,1736988271.198 [optimize_roll_speed:Transit] Running Loop=1
2025-01-16T00:44:31.198Z,1736988271.198 [optimize_roll_speed:Transit](DEBUG): Aggregate::initialize optimize_roll_speed:Transit
2025-01-16T00:44:31.198Z,1736988271.198 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-01-16T00:44:31.198Z,1736988271.198 [optimize_roll_speed:Transit:A.Pitch](DEBUG): Initialize.
2025-01-16T00:44:31.198Z,1736988271.198 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-01-16T00:44:31.198Z,1736988271.198 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Initialize.
2025-01-16T00:44:31.199Z,1736988271.199 [optimize_roll_speed:Transit:Wpt1.Waypoint] Running Loop=1
2025-01-16T00:44:31.199Z,1736988271.199 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-01-16T00:44:31.205Z,1736988271.205 [optimize_roll_speed:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.796360,-121.903008
2025-01-16T00:44:31.578Z,1736988271.578 [optimize_roll_speed:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.796360,-121.903008
2025-01-16T00:44:31.578Z,1736988271.578 [optimize_roll_speed:Transit:B.SetRollSpeed] Running Loop=1
2025-01-16T00:44:31.579Z,1736988271.579 [optimize_roll_speed:Transit:A.Pitch] Running Loop=1
2025-01-16T00:44:31.642Z,1736988271.642 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-01-16T00:44:31.643Z,1736988271.643 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-01-16T00:44:31.643Z,1736988271.643 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-01-16T00:44:43.275Z,1736988283.275 [NAL9602](INFO): SBD MO Status=0, MOMSN=11762, MT Status=0, MTMSN=0
2025-01-16T00:44:43.275Z,1736988283.275 [NAL9602](INFO): No messages in MT queue
2025-01-16T00:45:14.030Z,1736988314.030 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T00:46:29.436Z,1736988389.436 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T00:46:53.168Z,1736988413.168 [Radio_Surface](INFO): Powering down
2025-01-16T00:47:00.576Z,1736988420.576 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T00:47:01.581Z,1736988421.581 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-16T00:48:37.988Z,1736988517.988 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.758972
2025-01-16T00:54:31.600Z,1736988871.600 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: 2.246706 degrees over 1481 samples
2025-01-16T00:54:31.601Z,1736988871.601 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Adjusting speed to 0.950000 m/s (avg roll: 2.246706 degrees, target: 0.000000 degrees)
2025-01-16T01:04:32.420Z,1736989472.420 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -2.307963 degrees over 1481 samples
2025-01-16T01:04:32.421Z,1736989472.421 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Crossed target. New step: 0.025000 m/s
2025-01-16T01:04:32.422Z,1736989472.422 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Adjusting speed to 0.925000 m/s (avg roll: -2.307963 degrees, target: 0.000000 degrees)
2025-01-16T01:07:27.373Z,1736989647.373 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-01-16T01:07:27.374Z,1736989647.374 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-01-16T01:07:27.377Z,1736989647.377 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-01-16T01:14:33.192Z,1736990073.192 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -0.430041 degrees over 1479 samples
2025-01-16T01:14:33.193Z,1736990073.193 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Optimum speed found: 0.925000 m/s for target roll 0.000000 degrees
2025-01-16T01:14:33.193Z,1736990073.193 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Persisting optimum speed 0.925000 m/s for 0.000000 degrees roll to config
2025-01-16T01:14:33.197Z,1736990073.197 [optimize_roll_speed:Transit:B.SetRollSpeed](FAULT): Not allowing to overwrite existing Data/persisted.cfg after unclean shutdown.
2025-01-16T01:14:33.197Z,1736990073.197 [optimize_roll_speed:Transit:B.SetRollSpeed](FAULT): Ignoring configuration overrides from Data/persisted.cfg
2025-01-16T01:16:11.064Z,1736990171.064 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-01-16T01:24:33.968Z,1736990673.968 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -0.852396 degrees over 1479 samples
2025-01-16T01:34:34.729Z,1736991274.729 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -1.052636 degrees over 1481 samples
2025-01-16T01:44:35.501Z,1736991875.501 [optimize_roll_speed:Transit:B.SetRollSpeed](IMPORTANT): Averaging window complete. Average roll: -0.778145 degrees over 1481 samples
2025-01-16T01:50:18.529Z,1736992218.529 [optimize_roll_speed](INFO): Timed out from 2025-01-16T00:40:18.1Z
2025-01-16T01:50:18.529Z,1736992218.529 [MissionManager](INFO): optimize_roll_speed is completed.
2025-01-16T01:50:18.530Z,1736992218.530 [MissionManager](INFO): Uninitializing Mission optimize_roll_speed
2025-01-16T01:50:18.530Z,1736992218.530 [optimize_roll_speed] Stopped
2025-01-16T01:50:18.530Z,1736992218.530 [optimize_roll_speed](DEBUG): Aggregate::uninitialize optimize_roll_speed
2025-01-16T01:50:18.530Z,1736992218.530 [optimize_roll_speed:StandardEnvelopes] Stopped
2025-01-16T01:50:18.530Z,1736992218.530 [optimize_roll_speed:StandardEnvelopes](DEBUG): Aggregate::uninitialize optimize_roll_speed:StandardEnvelopes
2025-01-16T01:50:18.530Z,1736992218.530 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-16T01:50:18.530Z,1736992218.530 [optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-16T01:50:18.530Z,1736992218.530 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-16T01:50:18.530Z,1736992218.530 [optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-16T01:50:18.530Z,1736992218.530 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-16T01:50:18.530Z,1736992218.530 [optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-16T01:50:18.530Z,1736992218.530 [optimize_roll_speed:BackseatDriver] Stopped
2025-01-16T01:50:18.530Z,1736992218.530 [optimize_roll_speed:BackseatDriver](DEBUG): Aggregate::uninitialize optimize_roll_speed:BackseatDriver
2025-01-16T01:50:18.531Z,1736992218.531 [optimize_roll_speed:BackseatDriver:A.BackseatDriver] Stopped
2025-01-16T01:50:18.531Z,1736992218.531 [optimize_roll_speed:PowerOnly] Stopped
2025-01-16T01:50:18.531Z,1736992218.531 [optimize_roll_speed:PowerOnly](DEBUG): Aggregate::uninitialize optimize_roll_speed:PowerOnly
2025-01-16T01:50:18.531Z,1736992218.531 [optimize_roll_speed:PowerOnly:E.Wait] Stopped
2025-01-16T01:50:18.531Z,1736992218.531 [optimize_roll_speed:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T01:50:18.531Z,1736992218.531 [optimize_roll_speed:BuoyancyHold.Buoyancy] Stopped
2025-01-16T01:50:18.531Z,1736992218.531 [optimize_roll_speed:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-16T01:50:18.531Z,1736992218.531 [optimize_roll_speed:MassHold.Pitch] Stopped
2025-01-16T01:50:18.531Z,1736992218.531 [optimize_roll_speed:Transit] Stopped
2025-01-16T01:50:18.531Z,1736992218.531 [optimize_roll_speed:Transit](DEBUG): Aggregate::uninitialize optimize_roll_speed:Transit
2025-01-16T01:50:18.531Z,1736992218.531 [optimize_roll_speed:Transit:A.Pitch] Stopped
2025-01-16T01:50:18.531Z,1736992218.531 [optimize_roll_speed:Transit:B.SetRollSpeed] Stopped
2025-01-16T01:50:18.531Z,1736992218.531 [optimize_roll_speed:Transit:B.SetRollSpeed](DEBUG): Uninitialize.
2025-01-16T01:50:18.531Z,1736992218.531 [optimize_roll_speed:Transit:Wpt1.Waypoint] Stopped
2025-01-16T01:50:18.548Z,1736992218.548 [optimize_roll_speed:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-01-16T01:50:18.931Z,1736992218.931 [MissionManager](IMPORTANT): Started mission Default
2025-01-16T01:50:18.931Z,1736992218.931 [Default] Running Loop=1
2025-01-16T01:50:18.931Z,1736992218.931 [Default](DEBUG): Aggregate::initialize Default
2025-01-16T01:50:18.931Z,1736992218.931 [Default:B.GoToSurface] Running Loop=1
2025-01-16T01:50:18.931Z,1736992218.931 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T01:50:18.932Z,1736992218.932 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T01:50:18.932Z,1736992218.932 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T01:50:18.932Z,1736992218.932 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T01:50:18.933Z,1736992218.933 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T01:50:18.933Z,1736992218.933 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T01:50:18.933Z,1736992218.933 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T01:50:18.934Z,1736992218.934 [Default:A.Wait] Running Loop=1
2025-01-16T01:50:18.934Z,1736992218.934 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-16T01:50:19.329Z,1736992219.329 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (1 active estimators).
2025-01-16T01:50:19.420Z,1736992219.420 [Radio_Surface](INFO): Powering up
2025-01-16T01:50:25.448Z,1736992225.448 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-16T01:50:32.259Z,1736992232.259 [Default:A.Wait](INFO): Done Waiting.
2025-01-16T01:50:32.260Z,1736992232.260 [Default:A.Wait] Stopped
2025-01-16T01:50:32.260Z,1736992232.260 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T01:50:55.612Z,1736992255.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T01:51:24.781Z,1736992284.781 [Default:CheckIn] Running Loop=1
2025-01-16T01:51:24.781Z,1736992284.781 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T01:51:24.781Z,1736992284.781 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T01:51:26.752Z,1736992286.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T01:51:46.586Z,1736992306.586 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=11763, MT Status=1, MTMSN=179
2025-01-16T01:51:46.587Z,1736992306.587 [NAL9602](INFO): Data available in MT queue
2025-01-16T01:51:47.497Z,1736992307.497 [NAL9602](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 2 h;set keepstation.NeedCommsTime 60 min;set keepstation.Depth 60 m;set keepstation.DepthDeadband 30 m;set keepstation.MaxDepth 90 m" 7j2i 1 2
2025-01-16T01:51:47.576Z,1736992307.576 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 2 h;set keepstation.NeedCommsTime 60 min;set keepstation.Depth 60 m;set keepstation.DepthDeadband 30 m;set keepstation.MaxDepth 90 m" 7j2i 1 2.000000
2025-01-16T01:51:47.577Z,1736992307.577 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=7j2i
2025-01-16T01:51:47.578Z,1736992307.578 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='7j2i'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 2 h;set keepstation.NeedCommsTime 60 min;set keepstation.Depth 60 m;set keepstation.DepthDeadband 30 m;set keepstation.MaxDepth 90 m", ASAP
2025-01-16T01:51:48.394Z,1736992308.394 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,015145.00,A,3647.98697,N,12152.56870,W,0.797,301.81,160125,,,A*7D
2025-01-16T01:51:48.396Z,1736992308.396 [NAL9602](INFO): GPS fix at 20250116T015145: (36.799783, -121.876145)
2025-01-16T01:51:48.429Z,1736992308.429 [UniversalFixResidualReporter](INFO): Fix residual: 18.3 %DT, over the last 3449.8 m. Residual distance 629.7 m at bearing -117.3 degrees. Fix at (36.7998, -121.8761) with 2868.0 m made good.
2025-01-16T01:51:48.430Z,1736992308.430 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T01:51:48.430Z,1736992308.430 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T01:51:57.876Z,1736992317.876 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T01:52:04.230Z,1736992324.230 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=11764, MT Status=1, MTMSN=180
2025-01-16T01:52:04.284Z,1736992324.284 [NAL9602](INFO): Sent 267 bytes from file Logs/20250116T003918/Courier0015.lzma
2025-01-16T01:52:04.284Z,1736992324.284 [NAL9602](INFO): Packets left to send: 0
2025-01-16T01:52:04.852Z,1736992324.852 [NAL9602](INFO): Received command: sched asap "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 7j2i 2 2
2025-01-16T01:52:04.875Z,1736992324.875 [CommandExec](IMPORTANT): got command schedule asap "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 7j2i 2 2.000000
2025-01-16T01:52:04.876Z,1736992324.876 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=7j2i
2025-01-16T01:52:04.877Z,1736992324.877 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='7j2i'): "set keepstation:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2025-01-16T01:52:04.993Z,1736992324.993 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-01-16T01:52:04.993Z,1736992324.993 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-01-16T01:52:04.994Z,1736992324.994 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-01-16T01:52:04.997Z,1736992324.997 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-01-16T01:52:05.728Z,1736992325.728 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="ApproachDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:KeepStation>
            <Parallel />
            <Setting>
                <Guidance:KeepStation.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.radius />
                <Arg Name="Radius" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:KeepStation>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-01-16T01:52:05.734Z,1736992325.734 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-01-16T01:52:05.737Z,1736992325.737 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-01-16T01:52:05.739Z,1736992325.739 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-01-16T01:52:05.742Z,1736992325.742 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-01-16T01:52:05.746Z,1736992325.746 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-01-16T01:52:05.749Z,1736992325.749 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-01-16T01:52:05.751Z,1736992325.751 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-01-16T01:52:05.755Z,1736992325.755 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-01-16T01:52:05.758Z,1736992325.758 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-01-16T01:52:05.761Z,1736992325.761 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-01-16T01:52:05.763Z,1736992325.763 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-01-16T01:52:05.764Z,1736992325.764 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-16T01:52:05.764Z,1736992325.764 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-16T01:52:05.765Z,1736992325.765 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-16T01:52:06.123Z,1736992326.123 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-01-16T01:52:06.131Z,1736992326.131 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-01-16T01:52:06.134Z,1736992326.134 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-16T01:52:06.138Z,1736992326.138 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-16T01:52:06.141Z,1736992326.141 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-01-16T01:52:06.143Z,1736992326.143 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-16T01:52:06.147Z,1736992326.147 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-16T01:52:06.150Z,1736992326.150 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-01-16T01:52:06.153Z,1736992326.153 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-01-16T01:52:06.159Z,1736992326.159 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T01:52:06.209Z,1736992326.209 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-16T01:52:06.209Z,1736992326.209 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-16T01:52:06.210Z,1736992326.210 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-16T01:52:06.390Z,1736992326.390 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-16T01:52:06.399Z,1736992326.399 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-16T01:52:06.410Z,1736992326.410 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-16T01:52:06.421Z,1736992326.421 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-16T01:52:06.434Z,1736992326.434 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-16T01:52:06.435Z,1736992326.435 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-16T01:52:06.451Z,1736992326.451 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-16T01:52:06.476Z,1736992326.476 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-16T01:52:06.494Z,1736992326.494 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-16T01:52:06.494Z,1736992326.494 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-16T01:52:06.495Z,1736992326.495 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-16T01:52:06.569Z,1736992326.569 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-01-16T01:52:06.576Z,1736992326.576 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-01-16T01:52:06.579Z,1736992326.579 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-16T01:52:06.594Z,1736992326.594 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-16T01:52:06.594Z,1736992326.594 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-16T01:52:06.595Z,1736992326.595 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-16T01:52:06.876Z,1736992326.876 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-01-16T01:52:06.884Z,1736992326.884 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-01-16T01:52:06.892Z,1736992326.892 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-01-16T01:52:06.895Z,1736992326.895 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-01-16T01:52:06.898Z,1736992326.898 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-01-16T01:52:06.909Z,1736992326.909 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-16T01:52:06.925Z,1736992326.925 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-16T01:52:06.926Z,1736992326.926 [keepstation:H.Pitch](DEBUG): Construct.
2025-01-16T01:52:06.942Z,1736992326.942 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T01:52:06.947Z,1736992326.947 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-01-16T01:52:06.969Z,1736992326.969 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-01-16T01:52:06.976Z,1736992326.976 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T01:52:06.994Z,1736992326.994 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-01-16T01:52:06.999Z,1736992326.999 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-01-16T01:52:07.018Z,1736992327.018 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-01-16T01:52:07.072Z,1736992327.072 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission keepstation {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius.
  """

  arguments {
    MissionTimeout = 4 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 45 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to hold. If NaN, hold the latitude at start of
      mission.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to hold. If NaN, hold the longitude at start of
      mission.
      """

    Depth = 30 meter
      """
      Depth held during drift mode
      """

    ApproachDepth = 15 meter
      """
      Depth for initial approach to station.
      """

    DepthDeadband = 4 meter
      """
      How much vertical drift from the specified depth is allowed in drift
      mode
      """

    Speed = 0.75 meter_per_second
      """
      Vehicle transit speed.
      """

    Radius = 200 meter
      """
      Radius of circle around waypoint to hold.
      """

    MaxDepth = 45 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum distance from the shoreline to maintain
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  call id="StartingMission" refId="NeedComms"

  aggregate TransitToStation {
    """
    Need a separate aggregate for transit if we want to specify a
    different depth for the approach.
    """

    run in sequence

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = ApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:KeepStation {
      run in parallel

      set latitude = Latitude
      set longitude = Longitude
      set radius = Radius
      set speed = Speed
    }

    behavior Guidance:Wait {
      """
      Due to the way the KeepStation behavior is currently
      implemented, we must run it in parallel and use a Wait to keep
      from completing the mission before the timeout expires. However,
      this new version of the mission uses a top-level timeout so that
      the entire mission will not run for longer then MissionTimeout.
      """

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-01-16T01:52:07.073Z,1736992327.073 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-01-16T01:52:16.041Z,1736992336.041 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 2 hour
2025-01-16T01:52:16.041Z,1736992336.041 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-01-16T01:52:16.042Z,1736992336.042 [CommandExec](IMPORTANT): got command set keepstation.Depth 60 meter
2025-01-16T01:52:16.043Z,1736992336.043 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 30 meter
2025-01-16T01:52:16.043Z,1736992336.043 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 90 meter
2025-01-16T01:52:19.261Z,1736992339.261 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-01-16T01:52:19.262Z,1736992339.262 [CommandExec](IMPORTANT): got command run
2025-01-16T01:52:19.263Z,1736992339.263 [CommandExec](IMPORTANT): Running 
2025-01-16T01:52:19.476Z,1736992339.476 [Default] Stopped
2025-01-16T01:52:19.476Z,1736992339.476 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-16T01:52:19.476Z,1736992339.476 [Default:B.GoToSurface] Stopped
2025-01-16T01:52:19.476Z,1736992339.476 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T01:52:19.476Z,1736992339.476 [Default:CheckIn] Stopped
2025-01-16T01:52:19.476Z,1736992339.476 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T01:52:19.476Z,1736992339.476 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T01:52:19.477Z,1736992339.477 [MissionManager](IMPORTANT): Started mission keepstation
2025-01-16T01:52:19.477Z,1736992339.477 [keepstation] Running Loop=1
2025-01-16T01:52:19.477Z,1736992339.477 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-01-16T01:52:19.477Z,1736992339.477 [keepstation:StandardEnvelopes] Running Loop=1
2025-01-16T01:52:19.477Z,1736992339.477 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-01-16T01:52:19.477Z,1736992339.477 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T01:52:19.477Z,1736992339.477 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-16T01:52:19.477Z,1736992339.477 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T01:52:19.478Z,1736992339.478 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-16T01:52:19.478Z,1736992339.478 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T01:52:19.478Z,1736992339.478 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-16T01:52:19.478Z,1736992339.478 [keepstation:BackseatDriver] Running Loop=1
2025-01-16T01:52:19.478Z,1736992339.478 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-01-16T01:52:19.478Z,1736992339.478 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-16T01:52:19.478Z,1736992339.478 [keepstation:PowerOnly] Running Loop=1
2025-01-16T01:52:19.478Z,1736992339.478 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-01-16T01:52:19.478Z,1736992339.478 [keepstation:PowerOnly:A] Running Loop=1
2025-01-16T01:52:19.478Z,1736992339.478 [keepstation:PowerOnly:B] Running Loop=1
2025-01-16T01:52:19.478Z,1736992339.478 [keepstation:PowerOnly:C] Running Loop=1
2025-01-16T01:52:19.478Z,1736992339.478 [keepstation:PowerOnly:D] Running Loop=1
2025-01-16T01:52:19.479Z,1736992339.479 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-01-16T01:52:19.479Z,1736992339.479 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-16T01:52:19.479Z,1736992339.479 [keepstation:H.Pitch] Running Loop=1
2025-01-16T01:52:19.479Z,1736992339.479 [keepstation:H.Pitch](DEBUG): Initialize.
2025-01-16T01:52:19.479Z,1736992339.479 [keepstation:B] Running Loop=1
2025-01-16T01:52:19.480Z,1736992339.480 [keepstation:H.Pitch] Running Loop=1
2025-01-16T01:52:19.480Z,1736992339.480 [keepstation:PowerOnly] Running Loop=1
2025-01-16T01:52:19.480Z,1736992339.480 [keepstation:PowerOnly:D] Stopped
2025-01-16T01:52:19.480Z,1736992339.480 [keepstation:PowerOnly:C] Stopped
2025-01-16T01:52:19.480Z,1736992339.480 [keepstation:PowerOnly:B] Stopped
2025-01-16T01:52:19.481Z,1736992339.481 [keepstation:PowerOnly:A] Stopped
2025-01-16T01:52:19.481Z,1736992339.481 [keepstation:BackseatDriver] Running Loop=1
2025-01-16T01:52:19.481Z,1736992339.481 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-01-16T01:52:19.568Z,1736992339.568 [BackseatComponent](INFO): Powering up
2025-01-16T01:52:19.569Z,1736992339.569 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-01-16T01:52:19.584Z,1736992339.584 [keepstation:StandardEnvelopes] Running Loop=1
2025-01-16T01:52:19.584Z,1736992339.584 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T01:52:19.584Z,1736992339.584 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T01:52:19.585Z,1736992339.585 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T01:52:19.585Z,1736992339.585 [keepstation:B] Stopped
2025-01-16T01:52:19.585Z,1736992339.585 [keepstation:D] Running Loop=1
2025-01-16T01:52:19.880Z,1736992339.880 [keepstation:D] Stopped
2025-01-16T01:52:19.880Z,1736992339.880 [keepstation:E] Running Loop=1
2025-01-16T01:52:20.276Z,1736992340.276 [keepstation:E] Stopped
2025-01-16T01:52:20.276Z,1736992340.276 [keepstation:StartingMission] Running Loop=1
2025-01-16T01:52:20.276Z,1736992340.276 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-01-16T01:52:20.705Z,1736992340.705 [keepstation:NeedComms] Running Loop=1
2025-01-16T01:52:20.705Z,1736992340.705 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-01-16T01:52:20.705Z,1736992340.705 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T01:52:20.705Z,1736992340.705 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T01:52:20.705Z,1736992340.705 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T01:52:20.706Z,1736992340.706 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T01:52:20.706Z,1736992340.706 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T01:52:20.706Z,1736992340.706 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T01:52:20.707Z,1736992340.707 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T01:52:20.707Z,1736992340.707 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T01:52:20.707Z,1736992340.707 [keepstation:NeedComms:A] Running Loop=1
2025-01-16T01:52:20.733Z,1736992340.733 [keepstation:NeedComms:A](INFO): last time_fix was:  1736992305.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T01:52:20.733Z,1736992340.733 [keepstation:NeedComms:A] Stopped
2025-01-16T01:52:21.093Z,1736992341.093 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-01-16T01:52:21.094Z,1736992341.094 [keepstation:NeedComms:C] Running Loop=1
2025-01-16T01:52:21.489Z,1736992341.489 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T01:52:29.000Z,1736992349.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T01:52:33.598Z,1736992353.598 [NAL9602](INFO): SBD MO Status=1, MOMSN=11765, MT Status=0, MTMSN=0
2025-01-16T01:52:33.648Z,1736992353.648 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T003918/Express0016.lzma
2025-01-16T01:52:33.648Z,1736992353.648 [NAL9602](INFO): Packets left to send: 2
2025-01-16T01:52:34.810Z,1736992354.810 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,015232.00,A,3647.98912,N,12152.56873,W,0.292,61.44,160125,,,A*43
2025-01-16T01:52:34.813Z,1736992354.813 [NAL9602](INFO): GPS fix at 20250116T015232: (36.799819, -121.876146)
2025-01-16T01:52:34.849Z,1736992354.849 [keepstation:NeedComms:C] Stopped
2025-01-16T01:52:34.849Z,1736992354.849 [keepstation:NeedComms:D] Running Loop=1
2025-01-16T01:52:35.265Z,1736992355.265 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-16T01:52:54.786Z,1736992374.786 [NAL9602](INFO): SBD MO Status=1, MOMSN=11766, MT Status=0, MTMSN=0
2025-01-16T01:52:54.836Z,1736992374.836 [NAL9602](INFO): Sent 39 bytes from file Logs/20250116T003918/Courier0018.lzma
2025-01-16T01:52:54.836Z,1736992374.836 [NAL9602](INFO): Packets left to send: 0
2025-01-16T01:53:00.127Z,1736992380.127 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T01:53:17.461Z,1736992397.461 [NAL9602](INFO): SBD MO Status=1, MOMSN=11767, MT Status=0, MTMSN=0
2025-01-16T01:53:17.508Z,1736992397.508 [NAL9602](INFO): Sent 73 bytes from file Logs/20250116T003918/Courier0021.lzma
2025-01-16T01:53:17.508Z,1736992397.508 [NAL9602](INFO): Packets left to send: 0
2025-01-16T01:53:27.344Z,1736992407.344 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250116T015328
2025-01-16T01:53:30.051Z,1736992410.051 [BackseatComponent](INFO): Created universal data reader for depth with code: 6
2025-01-16T01:53:30.052Z,1736992410.052 [BackseatComponent](INFO): Requesting data from depth (6). Requested size is: 1
2025-01-16T01:53:30.055Z,1736992410.055 [BackseatComponent](INFO): Created universal data reader for latitude with code: 23
2025-01-16T01:53:30.055Z,1736992410.055 [BackseatComponent](INFO): Requesting data from latitude (23). Requested size is: 2
2025-01-16T01:53:30.059Z,1736992410.059 [BackseatComponent](INFO): Created universal data reader for longitude with code: 26
2025-01-16T01:53:30.059Z,1736992410.059 [BackseatComponent](INFO): Requesting data from longitude (26). Requested size is: 3
2025-01-16T01:53:30.063Z,1736992410.063 [BackseatComponent](INFO): Created universal data reader for platform_orientation with code: 52
2025-01-16T01:53:30.063Z,1736992410.063 [BackseatComponent](INFO): Requesting data from platform_orientation (52). Requested size is: 4
2025-01-16T01:53:30.067Z,1736992410.067 [BackseatComponent](INFO): Created universal data reader for platform_pitch_angle with code: 54
2025-01-16T01:53:30.067Z,1736992410.067 [BackseatComponent](INFO): Requesting data from platform_pitch_angle (54). Requested size is: 5
2025-01-16T01:53:30.080Z,1736992410.080 [BackseatComponent](INFO): Created universal data reader for platform_roll_angle with code: 59
2025-01-16T01:53:30.080Z,1736992410.080 [BackseatComponent](INFO): Requesting data from platform_roll_angle (59). Requested size is: 6
2025-01-16T01:53:30.120Z,1736992410.120 [BackseatComponent](INFO): Created universal data reader for platform_x_velocity_wrt_sea_water with code: 70
2025-01-16T01:53:30.120Z,1736992410.120 [BackseatComponent](INFO): Requesting data from platform_x_velocity_wrt_sea_water (70). Requested size is: 7
2025-01-16T01:53:31.252Z,1736992411.252 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T01:53:32.874Z,1736992412.874 [NAL9602](INFO): SBD MO Status=2, MOMSN=11768, MT Status=2, MTMSN=0
2025-01-16T01:53:32.875Z,1736992412.875 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T01:53:59.191Z,1736992439.191 [NAL9602](INFO): SBD MO Status=2, MOMSN=11768, MT Status=2, MTMSN=0
2025-01-16T01:53:59.191Z,1736992439.191 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T01:54:02.384Z,1736992442.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T01:54:19.046Z,1736992459.046 [NAL9602](INFO): SBD MO Status=1, MOMSN=11768, MT Status=0, MTMSN=0
2025-01-16T01:54:19.096Z,1736992459.096 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T003918/Express0016.lzma
2025-01-16T01:54:19.096Z,1736992459.096 [NAL9602](INFO): Packets left to send: 1
2025-01-16T01:54:25.585Z,1736992465.585 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2003
2025-01-16T01:54:27.586Z,1736992467.586 [NAL9602](INFO): SBD MO Status=1, MOMSN=11769, MT Status=0, MTMSN=0
2025-01-16T01:54:27.636Z,1736992467.636 [NAL9602](INFO): Sent 282 bytes from file Logs/20250116T003918/Express0016.lzma
2025-01-16T01:54:27.636Z,1736992467.636 [NAL9602](INFO): Packets left to send: 0
2025-01-16T01:54:33.520Z,1736992473.520 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T01:54:36.134Z,1736992476.134 [NAL9602](INFO): SBD MO Status=1, MOMSN=11770, MT Status=0, MTMSN=0
2025-01-16T01:54:36.188Z,1736992476.188 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T003918/Express0019.lzma
2025-01-16T01:54:36.188Z,1736992476.188 [NAL9602](INFO): Packets left to send: 1
2025-01-16T01:54:39.469Z,1736992479.469 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-01-16T01:54:46.303Z,1736992486.303 [NAL9602](INFO): SBD MO Status=1, MOMSN=11771, MT Status=0, MTMSN=0
2025-01-16T01:54:46.364Z,1736992486.364 [NAL9602](INFO): Sent 119 bytes from file Logs/20250116T003918/Express0019.lzma
2025-01-16T01:54:46.364Z,1736992486.364 [NAL9602](INFO): Packets left to send: 0
2025-01-16T01:55:03.795Z,1736992503.795 [NAL9602](INFO): SBD MO Status=2, MOMSN=11772, MT Status=2, MTMSN=0
2025-01-16T01:55:03.795Z,1736992503.795 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T01:55:04.909Z,1736992504.909 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003282
2025-01-16T01:55:14.959Z,1736992514.959 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250116T003918/Express0022.lzma
2025-01-16T01:55:15.962Z,1736992515.962 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Express0022.lzma.bak
2025-01-16T01:55:15.962Z,1736992515.962 [DataOverHttps](INFO): SBD MOMSN=23908541
2025-01-16T01:55:17.902Z,1736992517.902 [keepstation:NeedComms:D] Stopped
2025-01-16T01:55:17.903Z,1736992517.903 [keepstation:NeedComms:E] Running Loop=1
2025-01-16T01:55:18.266Z,1736992518.266 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T01:55:33.227Z,1736992533.227 [NAL9602](INFO): SBD MO Status=2, MOMSN=11772, MT Status=2, MTMSN=0
2025-01-16T01:55:33.227Z,1736992533.227 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T01:55:34.443Z,1736992534.443 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,015531.00,A,3647.98667,N,12152.55900,W,0.175,110.16,160125,,,D*73
2025-01-16T01:55:34.454Z,1736992534.454 [NAL9602](INFO): GPS fix at 20250116T015531: (36.799778, -121.875983)
2025-01-16T01:55:34.469Z,1736992534.469 [keepstation:NeedComms:E] Stopped
2025-01-16T01:55:34.470Z,1736992534.470 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-01-16T01:55:34.470Z,1736992534.470 [keepstation:NeedComms] Stopped
2025-01-16T01:55:34.470Z,1736992534.470 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-01-16T01:55:34.470Z,1736992534.470 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-01-16T01:55:34.470Z,1736992534.470 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T01:55:34.875Z,1736992534.875 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-01-16T01:55:34.875Z,1736992534.875 [keepstation:StartingMission] Stopped
2025-01-16T01:55:34.875Z,1736992534.875 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-01-16T01:55:34.875Z,1736992534.875 [keepstation:TransitToStation] Running Loop=1
2025-01-16T01:55:34.875Z,1736992534.875 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-01-16T01:55:34.875Z,1736992534.875 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-01-16T01:55:34.875Z,1736992534.875 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-16T01:55:34.876Z,1736992534.876 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-01-16T01:55:34.876Z,1736992534.876 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-01-16T01:55:34.876Z,1736992534.876 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-01-16T01:55:34.876Z,1736992534.876 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-01-16T01:55:34.876Z,1736992534.876 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-01-16T01:55:34.876Z,1736992534.876 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-01-16T01:55:35.257Z,1736992535.257 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-01-16T01:55:35.257Z,1736992535.257 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-01-16T01:55:35.257Z,1736992535.257 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-01-16T01:56:06.745Z,1736992566.745 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T01:56:33.792Z,1736992593.792 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-01-16T01:56:33.792Z,1736992593.792 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-01-16T01:56:33.793Z,1736992593.793 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-01-16T01:56:33.794Z,1736992593.794 [keepstation:TransitToStation] Stopped
2025-01-16T01:56:33.794Z,1736992593.794 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-01-16T01:56:33.794Z,1736992593.794 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-01-16T01:56:33.794Z,1736992593.794 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-16T01:56:33.794Z,1736992593.794 [keepstation:TransitToStation:B.Pitch] Stopped
2025-01-16T01:56:33.794Z,1736992593.794 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-01-16T01:56:33.794Z,1736992593.794 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-01-16T01:56:33.794Z,1736992593.794 [keepstation:OnStation] Running Loop=1
2025-01-16T01:56:33.794Z,1736992593.794 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-01-16T01:56:34.133Z,1736992594.133 [keepstation:NeedComms] Running Loop=1
2025-01-16T01:56:34.133Z,1736992594.133 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-01-16T01:56:34.133Z,1736992594.133 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T01:56:34.133Z,1736992594.133 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T01:56:34.134Z,1736992594.134 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T01:56:34.134Z,1736992594.134 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T01:56:34.134Z,1736992594.134 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T01:56:34.135Z,1736992594.135 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T01:56:34.135Z,1736992594.135 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T01:56:34.135Z,1736992594.135 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T01:56:34.144Z,1736992594.144 [keepstation:NeedComms:A] Running Loop=1
2025-01-16T01:56:34.145Z,1736992594.145 [keepstation:NeedComms:A](INFO): last time_fix was:  1736992531.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T01:56:34.145Z,1736992594.145 [keepstation:NeedComms:A] Stopped
2025-01-16T01:56:34.534Z,1736992594.534 [keepstation:NeedComms:C] Running Loop=1
2025-01-16T01:56:36.525Z,1736992596.525 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,015633.00,A,3647.99713,N,12152.54756,W,5.171,36.13,160125,,,D*4C
2025-01-16T01:56:36.527Z,1736992596.527 [NAL9602](INFO): GPS fix at 20250116T015633: (36.799952, -121.875793)
2025-01-16T01:56:36.557Z,1736992596.557 [keepstation:NeedComms:C] Stopped
2025-01-16T01:56:36.557Z,1736992596.557 [keepstation:NeedComms:D] Running Loop=1
2025-01-16T01:56:37.345Z,1736992597.345 [keepstation:NeedComms:D] Stopped
2025-01-16T01:56:37.345Z,1736992597.345 [keepstation:NeedComms:E] Running Loop=1
2025-01-16T01:57:35.915Z,1736992655.915 [NAL9602](INFO): SBD MO Status=2, MOMSN=11772, MT Status=2, MTMSN=0
2025-01-16T01:57:35.915Z,1736992655.915 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T01:57:56.931Z,1736992676.931 [NAL9602](INFO): SBD MO Status=1, MOMSN=11772, MT Status=0, MTMSN=0
2025-01-16T01:57:56.931Z,1736992676.931 [NAL9602](INFO): No messages in MT queue
2025-01-16T01:57:58.135Z,1736992678.135 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,015755.00,A,3647.99992,N,12152.54109,W,0.311,88.73,160125,,,D*44
2025-01-16T01:57:58.137Z,1736992678.137 [NAL9602](INFO): GPS fix at 20250116T015755: (36.799999, -121.875685)
2025-01-16T01:57:58.189Z,1736992678.189 [keepstation:NeedComms:E] Stopped
2025-01-16T01:57:58.191Z,1736992678.191 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-01-16T01:57:58.191Z,1736992678.191 [keepstation:NeedComms] Stopped
2025-01-16T01:57:58.191Z,1736992678.191 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-01-16T01:57:58.191Z,1736992678.191 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-01-16T01:57:58.191Z,1736992678.191 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T01:57:58.577Z,1736992678.577 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-01-16T01:57:58.577Z,1736992678.577 [keepstation:OnStation] Stopped
2025-01-16T01:57:58.577Z,1736992678.577 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-01-16T01:57:58.578Z,1736992678.578 [keepstation:KeepStation] Running Loop=1
2025-01-16T01:57:58.578Z,1736992678.578 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-01-16T01:57:58.578Z,1736992678.578 [keepstation:KeepStation:A] Running Loop=1
2025-01-16T01:57:58.578Z,1736992678.578 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-01-16T01:57:58.578Z,1736992678.578 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-01-16T01:57:58.578Z,1736992678.578 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-01-16T01:57:58.578Z,1736992678.578 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-01-16T01:57:58.579Z,1736992678.579 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-01-16T01:57:58.579Z,1736992678.579 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-01-16T01:57:58.951Z,1736992678.951 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-01-16T01:57:58.951Z,1736992678.951 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-01-16T01:57:58.953Z,1736992678.953 [keepstation:KeepStation:A] Running Loop=1
2025-01-16T01:58:28.466Z,1736992708.466 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2004
2025-01-16T01:58:30.454Z,1736992710.454 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T01:59:55.824Z,1736992795.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T02:00:26.120Z,1736992826.120 [Radio_Surface](INFO): Powering down
2025-01-16T02:00:26.948Z,1736992826.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T02:00:27.952Z,1736992827.952 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-16T02:01:32.211Z,1736992892.211 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.728592
2025-01-16T02:04:36.900Z,1736993076.900 [VerticalControl](CRITICAL): Excessive depth excursion=10.489519 m, failToGoUpDepth_=24.117220 m, depthRate=0.106022 m/s, pitch=27.216209 deg.
2025-01-16T02:04:36.938Z,1736993076.938 [CommandExec](FAULT): Scheduling is paused
2025-01-16T02:04:36.939Z,1736993076.939 [CBIT](INFO): Critical error at 20250116T020436
2025-01-16T02:04:36.939Z,1736993076.939 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-01-16T02:04:37.313Z,1736993077.313 [MissionManager](INFO): MissionManager is completed.
2025-01-16T02:04:37.313Z,1736993077.313 [MissionManager](INFO): Uninitializing Mission keepstation
2025-01-16T02:04:37.313Z,1736993077.313 [keepstation] Stopped
2025-01-16T02:04:37.313Z,1736993077.313 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-01-16T02:04:37.314Z,1736993077.314 [keepstation:StandardEnvelopes] Stopped
2025-01-16T02:04:37.314Z,1736993077.314 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-01-16T02:04:37.314Z,1736993077.314 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-16T02:04:37.314Z,1736993077.314 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-16T02:04:37.314Z,1736993077.314 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-16T02:04:37.314Z,1736993077.314 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-16T02:04:37.314Z,1736993077.314 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-16T02:04:37.314Z,1736993077.314 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-16T02:04:37.314Z,1736993077.314 [keepstation:BackseatDriver] Stopped
2025-01-16T02:04:37.314Z,1736993077.314 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-01-16T02:04:37.314Z,1736993077.314 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-01-16T02:04:37.314Z,1736993077.314 [keepstation:PowerOnly] Stopped
2025-01-16T02:04:37.315Z,1736993077.315 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-01-16T02:04:37.315Z,1736993077.315 [keepstation:PowerOnly:E.Wait] Stopped
2025-01-16T02:04:37.315Z,1736993077.315 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T02:04:37.315Z,1736993077.315 [keepstation:H.Pitch] Stopped
2025-01-16T02:04:37.315Z,1736993077.315 [keepstation:KeepStation] Stopped
2025-01-16T02:04:37.315Z,1736993077.315 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-01-16T02:04:37.315Z,1736993077.315 [keepstation:KeepStation:A] Stopped
2025-01-16T02:04:37.315Z,1736993077.315 [keepstation:KeepStation:B.Pitch] Stopped
2025-01-16T02:04:37.315Z,1736993077.315 [keepstation:KeepStation:C.KeepStation] Stopped
2025-01-16T02:04:37.315Z,1736993077.315 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-01-16T02:04:37.315Z,1736993077.315 [keepstation:KeepStation:D.Wait] Stopped
2025-01-16T02:04:37.315Z,1736993077.315 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T02:04:37.686Z,1736993077.686 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-01-16T02:04:37.708Z,1736993077.708 [MissionManager](IMPORTANT): Started mission Default
2025-01-16T02:04:37.708Z,1736993077.708 [Default] Running Loop=1
2025-01-16T02:04:37.709Z,1736993077.709 [Default](DEBUG): Aggregate::initialize Default
2025-01-16T02:04:37.709Z,1736993077.709 [Default:B.GoToSurface] Running Loop=1
2025-01-16T02:04:37.709Z,1736993077.709 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T02:04:37.709Z,1736993077.709 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T02:04:37.709Z,1736993077.709 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T02:04:37.710Z,1736993077.710 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T02:04:37.710Z,1736993077.710 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T02:04:37.710Z,1736993077.710 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T02:04:37.710Z,1736993077.710 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T02:04:37.711Z,1736993077.711 [Default:A.Wait] Running Loop=1
2025-01-16T02:04:37.711Z,1736993077.711 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-16T02:04:38.216Z,1736993078.216 [Radio_Surface](INFO): Powering up
2025-01-16T02:04:38.823Z,1736993078.823 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-01-16T02:04:38.823Z,1736993078.823 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-01-16T02:04:43.984Z,1736993083.984 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-16T02:04:51.089Z,1736993091.089 [Default:A.Wait](INFO): Done Waiting.
2025-01-16T02:04:51.089Z,1736993091.089 [Default:A.Wait] Stopped
2025-01-16T02:04:51.089Z,1736993091.089 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T02:04:57.008Z,1736993097.008 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-01-16T02:04:57.009Z,1736993097.009 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-01-16T02:04:57.009Z,1736993097.009 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-01-16T02:05:14.104Z,1736993114.104 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T02:05:45.240Z,1736993145.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T02:06:06.235Z,1736993166.235 [Default:CheckIn] Running Loop=1
2025-01-16T02:06:06.235Z,1736993166.235 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T02:06:06.236Z,1736993166.236 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T02:06:16.373Z,1736993176.373 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T02:06:32.883Z,1736993192.883 [NAL9602](INFO): SBD MO Status=1, MOMSN=11773, MT Status=0, MTMSN=0
2025-01-16T02:06:32.883Z,1736993192.883 [NAL9602](INFO): No messages in MT queue
2025-01-16T02:06:34.087Z,1736993194.087 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,020631.00,A,3647.97641,N,12152.49158,W,1.283,113.84,160125,,,A*73
2025-01-16T02:06:34.089Z,1736993194.089 [NAL9602](INFO): GPS fix at 20250116T020631: (36.799607, -121.874860)
2025-01-16T02:06:34.106Z,1736993194.106 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T02:06:34.107Z,1736993194.107 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T02:06:47.496Z,1736993207.496 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T02:06:50.747Z,1736993210.747 [NAL9602](INFO): SBD MO Status=1, MOMSN=11774, MT Status=0, MTMSN=0
2025-01-16T02:06:50.796Z,1736993210.796 [NAL9602](INFO): Sent 74 bytes from file Logs/20250116T003918/Courier0024.lzma
2025-01-16T02:06:50.796Z,1736993210.796 [NAL9602](INFO): Packets left to send: 0
2025-01-16T02:07:00.543Z,1736993220.543 [NAL9602](INFO): SBD MO Status=1, MOMSN=11775, MT Status=0, MTMSN=0
2025-01-16T02:07:00.593Z,1736993220.593 [NAL9602](INFO): Sent 215 bytes from file Logs/20250116T003918/Courier0027.lzma
2025-01-16T02:07:00.594Z,1736993220.594 [NAL9602](INFO): Packets left to send: 0
2025-01-16T02:07:17.166Z,1736993237.166 [NAL9602](INFO): SBD MO Status=2, MOMSN=11776, MT Status=2, MTMSN=0
2025-01-16T02:07:17.167Z,1736993237.167 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T02:07:18.632Z,1736993238.632 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T02:07:47.135Z,1736993267.135 [NAL9602](INFO): SBD MO Status=1, MOMSN=11776, MT Status=0, MTMSN=0
2025-01-16T02:07:47.186Z,1736993267.186 [NAL9602](INFO): Sent 254 bytes from file Logs/20250116T003918/Express0025.lzma
2025-01-16T02:07:47.186Z,1736993267.186 [NAL9602](INFO): Packets left to send: 0
2025-01-16T02:07:49.756Z,1736993269.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T02:07:58.523Z,1736993278.523 [NAL9602](INFO): SBD MO Status=1, MOMSN=11777, MT Status=0, MTMSN=0
2025-01-16T02:07:58.572Z,1736993278.572 [NAL9602](INFO): Sent 176 bytes from file Logs/20250116T003918/Express0028.lzma
2025-01-16T02:07:58.572Z,1736993278.572 [NAL9602](INFO): Packets left to send: 0
2025-01-16T02:08:06.607Z,1736993286.607 [NAL9602](INFO): SBD MO Status=0, MOMSN=11778, MT Status=0, MTMSN=0
2025-01-16T02:08:06.685Z,1736993286.685 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T02:08:06.685Z,1736993286.685 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-16T02:08:06.685Z,1736993286.685 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T02:08:20.888Z,1736993300.888 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T02:08:37.306Z,1736993317.306 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T02:08:52.013Z,1736993332.013 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T02:09:23.144Z,1736993363.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T02:09:40.690Z,1736993380.690 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T020940
2025-01-16T02:09:40.694Z,1736993380.694 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004218
2025-01-16T02:09:49.207Z,1736993389.207 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 2 h;set keepstation.NeedCommsTime 60 min;set keepstation.Depth 60 m;set keepstation.DepthDeadband 30 m;set keepstation.MaxDepth 90 m" 7kl2 1 2
2025-01-16T02:09:49.268Z,1736993389.268 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 2 h;set keepstation.NeedCommsTime 60 min;set keepstation.Depth 60 m;set keepstation.DepthDeadband 30 m;set keepstation.MaxDepth 90 m" 7kl2 1 2.000000
2025-01-16T02:09:49.268Z,1736993389.268 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=7kl2
2025-01-16T02:09:49.269Z,1736993389.269 [CommandExec](IMPORTANT): Scheduled #5 (#1 of 2 with id='7kl2'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 2 h;set keepstation.NeedCommsTime 60 min;set keepstation.Depth 60 m;set keepstation.DepthDeadband 30 m;set keepstation.MaxDepth 90 m", ASAP
2025-01-16T02:09:50.185Z,1736993390.185 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T020949
2025-01-16T02:09:57.827Z,1736993397.827 [DataOverHttps](INFO): Received command: sched asap "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 7kl2 2 2
2025-01-16T02:09:57.854Z,1736993397.854 [CommandExec](IMPORTANT): got command schedule asap "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 7kl2 2 2.000000
2025-01-16T02:09:57.855Z,1736993397.855 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=7kl2
2025-01-16T02:09:57.856Z,1736993397.856 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 2 with id='7kl2'): "set keepstation:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2025-01-16T02:09:57.970Z,1736993397.970 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-01-16T02:09:57.971Z,1736993397.971 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-01-16T02:09:57.971Z,1736993397.971 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-01-16T02:09:57.973Z,1736993397.973 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-01-16T02:09:59.059Z,1736993399.059 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="ApproachDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:KeepStation>
            <Parallel />
            <Setting>
                <Guidance:KeepStation.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.radius />
                <Arg Name="Radius" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:KeepStation>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-01-16T02:09:59.064Z,1736993399.064 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-01-16T02:09:59.069Z,1736993399.069 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-01-16T02:09:59.073Z,1736993399.073 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-01-16T02:09:59.075Z,1736993399.075 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-01-16T02:09:59.077Z,1736993399.077 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-01-16T02:09:59.080Z,1736993399.080 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-01-16T02:09:59.082Z,1736993399.082 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-01-16T02:09:59.084Z,1736993399.084 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-01-16T02:09:59.086Z,1736993399.086 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-01-16T02:09:59.160Z,1736993399.160 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-01-16T02:09:59.162Z,1736993399.162 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-01-16T02:09:59.163Z,1736993399.163 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-16T02:09:59.167Z,1736993399.167 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-16T02:09:59.168Z,1736993399.168 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-16T02:09:59.410Z,1736993399.410 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-01-16T02:09:59.414Z,1736993399.414 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-01-16T02:09:59.417Z,1736993399.417 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-16T02:09:59.419Z,1736993399.419 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-16T02:09:59.439Z,1736993399.439 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-01-16T02:09:59.441Z,1736993399.441 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-16T02:09:59.443Z,1736993399.443 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-16T02:09:59.445Z,1736993399.445 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-01-16T02:09:59.448Z,1736993399.448 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-01-16T02:09:59.453Z,1736993399.453 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T02:09:59.530Z,1736993399.530 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-16T02:09:59.531Z,1736993399.531 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-16T02:09:59.536Z,1736993399.536 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-16T02:09:59.746Z,1736993399.746 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-16T02:09:59.755Z,1736993399.755 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-16T02:09:59.757Z,1736993399.757 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-16T02:09:59.759Z,1736993399.759 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-16T02:09:59.761Z,1736993399.761 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-16T02:09:59.762Z,1736993399.762 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-16T02:09:59.768Z,1736993399.768 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-16T02:09:59.774Z,1736993399.774 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-16T02:09:59.781Z,1736993399.781 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-16T02:09:59.781Z,1736993399.781 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-16T02:09:59.782Z,1736993399.782 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-16T02:09:59.828Z,1736993399.828 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-01-16T02:09:59.836Z,1736993399.836 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-01-16T02:09:59.838Z,1736993399.838 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-16T02:09:59.841Z,1736993399.841 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-16T02:09:59.841Z,1736993399.841 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-16T02:09:59.842Z,1736993399.842 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-16T02:10:00.032Z,1736993400.032 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-01-16T02:10:00.035Z,1736993400.035 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-01-16T02:10:00.037Z,1736993400.037 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-01-16T02:10:00.039Z,1736993400.039 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-01-16T02:10:00.041Z,1736993400.041 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-01-16T02:10:00.043Z,1736993400.043 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-16T02:10:00.049Z,1736993400.049 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-16T02:10:00.076Z,1736993400.076 [keepstation:H.Pitch](DEBUG): Construct.
2025-01-16T02:10:00.085Z,1736993400.085 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T02:10:00.088Z,1736993400.088 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-01-16T02:10:00.092Z,1736993400.092 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-01-16T02:10:00.095Z,1736993400.095 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T02:10:00.102Z,1736993400.102 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-01-16T02:10:00.114Z,1736993400.114 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-01-16T02:10:00.122Z,1736993400.122 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-01-16T02:10:00.133Z,1736993400.133 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission keepstation {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius.
  """

  arguments {
    MissionTimeout = 4 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 45 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to hold. If NaN, hold the latitude at start of
      mission.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to hold. If NaN, hold the longitude at start of
      mission.
      """

    Depth = 30 meter
      """
      Depth held during drift mode
      """

    ApproachDepth = 15 meter
      """
      Depth for initial approach to station.
      """

    DepthDeadband = 4 meter
      """
      How much vertical drift from the specified depth is allowed in drift
      mode
      """

    Speed = 0.75 meter_per_second
      """
      Vehicle transit speed.
      """

    Radius = 200 meter
      """
      Radius of circle around waypoint to hold.
      """

    MaxDepth = 45 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum distance from the shoreline to maintain
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  call id="StartingMission" refId="NeedComms"

  aggregate TransitToStation {
    """
    Need a separate aggregate for transit if we want to specify a
    different depth for the approach.
    """

    run in sequence

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = ApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:KeepStation {
      run in parallel

      set latitude = Latitude
      set longitude = Longitude
      set radius = Radius
      set speed = Speed
    }

    behavior Guidance:Wait {
      """
      Due to the way the KeepStation behavior is currently
      implemented, we must run it in parallel and use a Wait to keep
      from completing the mission before the timeout expires. However,
      this new version of the mission uses a top-level timeout so that
      the entire mission will not run for longer then MissionTimeout.
      """

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-01-16T02:10:00.134Z,1736993400.134 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-01-16T02:10:09.043Z,1736993409.043 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 2 hour
2025-01-16T02:10:09.044Z,1736993409.044 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-01-16T02:10:09.045Z,1736993409.045 [CommandExec](IMPORTANT): got command set keepstation.Depth 60 meter
2025-01-16T02:10:09.045Z,1736993409.045 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 30 meter
2025-01-16T02:10:09.046Z,1736993409.046 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 90 meter
2025-01-16T02:10:12.454Z,1736993412.454 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-01-16T02:10:12.459Z,1736993412.459 [CommandExec](IMPORTANT): got command run
2025-01-16T02:10:12.461Z,1736993412.461 [CommandExec](IMPORTANT): Running 
2025-01-16T02:10:12.462Z,1736993412.462 [Default] Stopped
2025-01-16T02:10:12.462Z,1736993412.462 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-16T02:10:12.463Z,1736993412.463 [Default:B.GoToSurface] Stopped
2025-01-16T02:10:12.463Z,1736993412.463 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T02:10:12.463Z,1736993412.463 [Default:CheckIn] Stopped
2025-01-16T02:10:12.463Z,1736993412.463 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T02:10:12.463Z,1736993412.463 [Default:CheckIn:C.Wait] Stopped
2025-01-16T02:10:12.463Z,1736993412.463 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T02:10:12.463Z,1736993412.463 [MissionManager](IMPORTANT): Started mission keepstation
2025-01-16T02:10:12.464Z,1736993412.464 [keepstation] Running Loop=1
2025-01-16T02:10:12.464Z,1736993412.464 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-01-16T02:10:12.464Z,1736993412.464 [keepstation:StandardEnvelopes] Running Loop=1
2025-01-16T02:10:12.464Z,1736993412.464 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-01-16T02:10:12.464Z,1736993412.464 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T02:10:12.464Z,1736993412.464 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-16T02:10:12.464Z,1736993412.464 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T02:10:12.464Z,1736993412.464 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-16T02:10:12.464Z,1736993412.464 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T02:10:12.464Z,1736993412.464 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-16T02:10:12.465Z,1736993412.465 [keepstation:BackseatDriver] Running Loop=1
2025-01-16T02:10:12.465Z,1736993412.465 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-01-16T02:10:12.465Z,1736993412.465 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-16T02:10:12.465Z,1736993412.465 [keepstation:PowerOnly] Running Loop=1
2025-01-16T02:10:12.465Z,1736993412.465 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-01-16T02:10:12.465Z,1736993412.465 [keepstation:PowerOnly:A] Running Loop=1
2025-01-16T02:10:12.465Z,1736993412.465 [keepstation:PowerOnly:B] Running Loop=1
2025-01-16T02:10:12.465Z,1736993412.465 [keepstation:PowerOnly:C] Running Loop=1
2025-01-16T02:10:12.465Z,1736993412.465 [keepstation:PowerOnly:D] Running Loop=1
2025-01-16T02:10:12.465Z,1736993412.465 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-01-16T02:10:12.465Z,1736993412.465 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-16T02:10:12.466Z,1736993412.466 [keepstation:H.Pitch] Running Loop=1
2025-01-16T02:10:12.466Z,1736993412.466 [keepstation:H.Pitch](DEBUG): Initialize.
2025-01-16T02:10:12.466Z,1736993412.466 [keepstation:B] Running Loop=1
2025-01-16T02:10:12.466Z,1736993412.466 [keepstation:H.Pitch] Running Loop=1
2025-01-16T02:10:12.467Z,1736993412.467 [keepstation:PowerOnly] Running Loop=1
2025-01-16T02:10:12.495Z,1736993412.495 [keepstation:PowerOnly:D] Stopped
2025-01-16T02:10:12.495Z,1736993412.495 [keepstation:PowerOnly:C] Stopped
2025-01-16T02:10:12.495Z,1736993412.495 [keepstation:PowerOnly:B] Stopped
2025-01-16T02:10:12.495Z,1736993412.495 [keepstation:PowerOnly:A] Stopped
2025-01-16T02:10:12.495Z,1736993412.495 [keepstation:BackseatDriver] Running Loop=1
2025-01-16T02:10:12.496Z,1736993412.496 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-01-16T02:10:12.533Z,1736993412.533 [keepstation:StandardEnvelopes] Running Loop=1
2025-01-16T02:10:12.533Z,1736993412.533 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T02:10:12.533Z,1736993412.533 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T02:10:12.534Z,1736993412.534 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T02:10:12.534Z,1736993412.534 [keepstation:B] Stopped
2025-01-16T02:10:12.534Z,1736993412.534 [keepstation:D] Running Loop=1
2025-01-16T02:10:12.607Z,1736993412.607 [BackseatComponent](INFO): Powering up
2025-01-16T02:10:12.608Z,1736993412.608 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-01-16T02:10:12.863Z,1736993412.863 [keepstation:D] Stopped
2025-01-16T02:10:12.863Z,1736993412.863 [keepstation:E] Running Loop=1
2025-01-16T02:10:13.271Z,1736993413.271 [keepstation:E] Stopped
2025-01-16T02:10:13.271Z,1736993413.271 [keepstation:StartingMission] Running Loop=1
2025-01-16T02:10:13.272Z,1736993413.272 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-01-16T02:10:13.696Z,1736993413.696 [keepstation:NeedComms] Running Loop=1
2025-01-16T02:10:13.696Z,1736993413.696 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-01-16T02:10:13.696Z,1736993413.696 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T02:10:13.696Z,1736993413.696 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T02:10:13.697Z,1736993413.697 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T02:10:13.697Z,1736993413.697 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T02:10:13.697Z,1736993413.697 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T02:10:13.698Z,1736993413.698 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T02:10:13.698Z,1736993413.698 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T02:10:13.698Z,1736993413.698 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T02:10:13.699Z,1736993413.699 [keepstation:NeedComms:A] Running Loop=1
2025-01-16T02:10:13.704Z,1736993413.704 [keepstation:NeedComms:A](INFO): last time_fix was:  1736993191.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T02:10:13.704Z,1736993413.704 [keepstation:NeedComms:A] Stopped
2025-01-16T02:10:14.121Z,1736993414.121 [keepstation:NeedComms:C] Running Loop=1
2025-01-16T02:10:14.481Z,1736993414.481 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T02:10:16.090Z,1736993416.090 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,021012.00,A,3647.95835,N,12152.45961,W,0.467,109.87,160125,,,D*74
2025-01-16T02:10:16.105Z,1736993416.105 [NAL9602](INFO): GPS fix at 20250116T021012: (36.799306, -121.874327)
2025-01-16T02:10:16.120Z,1736993416.120 [keepstation:NeedComms:C] Stopped
2025-01-16T02:10:16.120Z,1736993416.120 [keepstation:NeedComms:D] Running Loop=1
2025-01-16T02:10:16.529Z,1736993416.529 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-16T02:10:23.479Z,1736993423.479 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250116T003918/Courier0030.lzma
2025-01-16T02:10:24.481Z,1736993424.481 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Courier0030.lzma.bak
2025-01-16T02:10:24.482Z,1736993424.482 [DataOverHttps](INFO): SBD MOMSN=23908583
2025-01-16T02:10:36.710Z,1736993436.710 [NAL9602](INFO): SBD MO Status=0, MOMSN=11779, MT Status=0, MTMSN=0
2025-01-16T02:10:36.710Z,1736993436.710 [NAL9602](INFO): No messages in MT queue
2025-01-16T02:10:42.103Z,1736993442.103 [DataOverHttps](INFO): Sending 514 bytes from file Logs/20250116T003918/Express0031.lzma
2025-01-16T02:10:43.105Z,1736993443.105 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Express0031.lzma.bak
2025-01-16T02:10:43.105Z,1736993443.105 [DataOverHttps](INFO): SBD MOMSN=23908586
2025-01-16T02:10:44.396Z,1736993444.396 [keepstation:NeedComms:D] Stopped
2025-01-16T02:10:44.396Z,1736993444.396 [keepstation:NeedComms:E] Running Loop=1
2025-01-16T02:10:44.788Z,1736993444.788 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T02:10:46.390Z,1736993446.390 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,021042.00,A,3647.95678,N,12152.45624,W,0.797,105.53,160125,,,D*71
2025-01-16T02:10:46.393Z,1736993446.393 [NAL9602](INFO): GPS fix at 20250116T021042: (36.799280, -121.874271)
2025-01-16T02:10:46.436Z,1736993446.436 [keepstation:NeedComms:E] Stopped
2025-01-16T02:10:46.437Z,1736993446.437 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-01-16T02:10:46.437Z,1736993446.437 [keepstation:NeedComms] Stopped
2025-01-16T02:10:46.437Z,1736993446.437 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-01-16T02:10:46.437Z,1736993446.437 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-01-16T02:10:46.437Z,1736993446.437 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T02:10:46.844Z,1736993446.844 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-01-16T02:10:46.844Z,1736993446.844 [keepstation:StartingMission] Stopped
2025-01-16T02:10:46.844Z,1736993446.844 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-01-16T02:10:46.844Z,1736993446.844 [keepstation:TransitToStation] Running Loop=1
2025-01-16T02:10:46.844Z,1736993446.844 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-01-16T02:10:46.844Z,1736993446.844 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-01-16T02:10:46.844Z,1736993446.844 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-16T02:10:46.845Z,1736993446.845 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-01-16T02:10:46.845Z,1736993446.845 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-01-16T02:10:46.846Z,1736993446.846 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-01-16T02:10:46.846Z,1736993446.846 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-01-16T02:10:46.846Z,1736993446.846 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-01-16T02:10:46.846Z,1736993446.846 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-01-16T02:10:47.221Z,1736993447.221 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-01-16T02:10:47.221Z,1736993447.221 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-01-16T02:10:47.222Z,1736993447.222 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-01-16T02:10:52.133Z,1736993452.133 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-01-16T02:10:52.134Z,1736993452.134 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-01-16T02:10:52.134Z,1736993452.134 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-01-16T02:10:52.135Z,1736993452.135 [keepstation:TransitToStation] Stopped
2025-01-16T02:10:52.135Z,1736993452.135 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-01-16T02:10:52.135Z,1736993452.135 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-01-16T02:10:52.155Z,1736993452.155 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-16T02:10:52.155Z,1736993452.155 [keepstation:TransitToStation:B.Pitch] Stopped
2025-01-16T02:10:52.155Z,1736993452.155 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-01-16T02:10:52.155Z,1736993452.155 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-01-16T02:10:52.155Z,1736993452.155 [keepstation:OnStation] Running Loop=1
2025-01-16T02:10:52.156Z,1736993452.156 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-01-16T02:10:52.504Z,1736993452.504 [keepstation:NeedComms] Running Loop=1
2025-01-16T02:10:52.504Z,1736993452.504 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-01-16T02:10:52.504Z,1736993452.504 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T02:10:52.504Z,1736993452.504 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T02:10:52.505Z,1736993452.505 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T02:10:52.505Z,1736993452.505 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T02:10:52.505Z,1736993452.505 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T02:10:52.506Z,1736993452.506 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T02:10:52.506Z,1736993452.506 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T02:10:52.506Z,1736993452.506 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T02:10:52.507Z,1736993452.507 [keepstation:NeedComms:A] Running Loop=1
2025-01-16T02:10:52.528Z,1736993452.528 [keepstation:NeedComms:A](INFO): last time_fix was:  1736993442.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T02:10:52.528Z,1736993452.528 [keepstation:NeedComms:A] Stopped
2025-01-16T02:10:52.917Z,1736993452.917 [keepstation:NeedComms:C] Running Loop=1
2025-01-16T02:10:54.887Z,1736993454.887 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,021051.00,A,3647.95611,N,12152.45544,W,0.292,115.31,160125,,,D*7C
2025-01-16T02:10:54.889Z,1736993454.889 [NAL9602](INFO): GPS fix at 20250116T021051: (36.799268, -121.874257)
2025-01-16T02:10:54.932Z,1736993454.932 [keepstation:NeedComms:C] Stopped
2025-01-16T02:10:54.932Z,1736993454.932 [keepstation:NeedComms:D] Running Loop=1
2025-01-16T02:11:13.847Z,1736993473.847 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250116T003918/Courier0036.lzma
2025-01-16T02:11:14.851Z,1736993474.851 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Courier0036.lzma.bak
2025-01-16T02:11:14.851Z,1736993474.851 [DataOverHttps](INFO): SBD MOMSN=23908608
2025-01-16T02:11:19.798Z,1736993479.798 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250116T021119
2025-01-16T02:11:19.918Z,1736993479.918 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-01-16T02:11:27.629Z,1736993487.629 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T02:11:35.891Z,1736993495.891 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250116T003918/Express0037.lzma
2025-01-16T02:11:36.893Z,1736993496.893 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Express0037.lzma.bak
2025-01-16T02:11:36.893Z,1736993496.893 [DataOverHttps](INFO): SBD MOMSN=23908611
2025-01-16T02:11:38.124Z,1736993498.124 [keepstation:NeedComms:D] Stopped
2025-01-16T02:11:38.125Z,1736993498.125 [keepstation:NeedComms:E] Running Loop=1
2025-01-16T02:11:40.122Z,1736993500.122 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,021136.00,A,3647.95356,N,12152.44970,W,0.564,122.18,160125,,,D*71
2025-01-16T02:11:40.125Z,1736993500.125 [NAL9602](INFO): GPS fix at 20250116T021136: (36.799226, -121.874162)
2025-01-16T02:11:40.180Z,1736993500.180 [keepstation:NeedComms:E] Stopped
2025-01-16T02:11:40.181Z,1736993500.181 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-01-16T02:11:40.181Z,1736993500.181 [keepstation:NeedComms] Stopped
2025-01-16T02:11:40.181Z,1736993500.181 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-01-16T02:11:40.181Z,1736993500.181 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-01-16T02:11:40.181Z,1736993500.181 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T02:11:40.643Z,1736993500.643 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-01-16T02:11:40.643Z,1736993500.643 [keepstation:OnStation] Stopped
2025-01-16T02:11:40.643Z,1736993500.643 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-01-16T02:11:40.644Z,1736993500.644 [keepstation:KeepStation] Running Loop=1
2025-01-16T02:11:40.644Z,1736993500.644 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-01-16T02:11:40.644Z,1736993500.644 [keepstation:KeepStation:A] Running Loop=1
2025-01-16T02:11:40.644Z,1736993500.644 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-01-16T02:11:40.644Z,1736993500.644 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-01-16T02:11:40.644Z,1736993500.644 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-01-16T02:11:40.644Z,1736993500.644 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-01-16T02:11:40.644Z,1736993500.644 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-01-16T02:11:40.645Z,1736993500.645 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-01-16T02:11:40.972Z,1736993500.972 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-01-16T02:11:40.973Z,1736993500.973 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-01-16T02:11:40.973Z,1736993500.973 [keepstation:KeepStation:A] Running Loop=1
2025-01-16T02:11:55.897Z,1736993515.897 [NAL9602](INFO): SBD MO Status=0, MOMSN=11780, MT Status=0, MTMSN=0
2025-01-16T02:11:55.897Z,1736993515.897 [NAL9602](INFO): No messages in MT queue
2025-01-16T02:12:18.141Z,1736993538.141 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2003
2025-01-16T02:12:18.513Z,1736993538.513 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-01-16T02:12:26.604Z,1736993546.604 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T02:13:08.483Z,1736993588.483 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T02:13:39.607Z,1736993619.607 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T02:13:45.075Z,1736993625.075 [Radio_Surface](INFO): Powering down
2025-01-16T02:14:10.731Z,1736993650.731 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T02:14:11.735Z,1736993651.735 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-16T02:15:17.021Z,1736993717.021 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.744507
2025-01-16T02:16:20.530Z,1736993780.530 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2004
2025-01-16T02:18:03.960Z,1736993883.960 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-01-16T02:38:28.460Z,1736995108.460 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-01-16T02:38:28.461Z,1736995108.461 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-01-16T02:38:28.463Z,1736995108.463 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-01-16T03:11:40.204Z,1736997100.204 [keepstation:NeedComms] Running Loop=1
2025-01-16T03:11:40.204Z,1736997100.204 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-01-16T03:11:40.204Z,1736997100.204 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T03:11:40.204Z,1736997100.204 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T03:11:40.205Z,1736997100.205 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T03:11:40.205Z,1736997100.205 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T03:11:40.205Z,1736997100.205 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T03:11:40.206Z,1736997100.206 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T03:11:40.206Z,1736997100.206 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T03:11:40.206Z,1736997100.206 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T03:11:40.207Z,1736997100.207 [keepstation:NeedComms:A] Running Loop=1
2025-01-16T03:11:40.208Z,1736997100.208 [keepstation:NeedComms:A](INFO): last time_fix was:  1736993496.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T03:11:40.208Z,1736997100.208 [keepstation:NeedComms:A] Stopped
2025-01-16T03:14:45.921Z,1736997285.921 [keepstation:NeedComms:C] Running Loop=1
2025-01-16T03:14:46.623Z,1736997286.623 [Radio_Surface](INFO): Powering up
2025-01-16T03:14:52.824Z,1736997292.824 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-16T03:15:20.662Z,1736997320.662 [NAL9602](INFO): SBD MO Status=0, MOMSN=11781, MT Status=0, MTMSN=0
2025-01-16T03:15:20.662Z,1736997320.662 [NAL9602](INFO): No messages in MT queue
2025-01-16T03:15:21.874Z,1736997321.874 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,031518.00,A,3648.03263,N,12152.47838,W,1.089,0.00,160125,,,D*7E
2025-01-16T03:15:21.876Z,1736997321.876 [NAL9602](INFO): GPS fix at 20250116T031518: (36.800544, -121.874640)
2025-01-16T03:15:21.892Z,1736997321.892 [keepstation:NeedComms:C] Stopped
2025-01-16T03:15:21.892Z,1736997321.892 [keepstation:NeedComms:D] Running Loop=1
2025-01-16T03:15:22.951Z,1736997322.951 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T03:15:40.914Z,1736997340.914 [NAL9602](INFO): SBD MO Status=1, MOMSN=11782, MT Status=0, MTMSN=0
2025-01-16T03:15:40.963Z,1736997340.963 [NAL9602](INFO): Sent 86 bytes from file Logs/20250116T003918/Courier0039.lzma
2025-01-16T03:15:40.963Z,1736997340.963 [NAL9602](INFO): Packets left to send: 0
2025-01-16T03:15:54.075Z,1736997354.075 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T03:15:54.346Z,1736997354.346 [NAL9602](INFO): SBD MO Status=1, MOMSN=11783, MT Status=0, MTMSN=0
2025-01-16T03:15:54.403Z,1736997354.403 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T003918/Express0040.lzma
2025-01-16T03:15:54.404Z,1736997354.404 [NAL9602](INFO): Packets left to send: 1
2025-01-16T03:16:03.714Z,1736997363.714 [NAL9602](INFO): SBD MO Status=1, MOMSN=11784, MT Status=0, MTMSN=0
2025-01-16T03:16:03.767Z,1736997363.767 [NAL9602](INFO): Sent 27 bytes from file Logs/20250116T003918/Express0040.lzma
2025-01-16T03:16:03.767Z,1736997363.767 [NAL9602](INFO): Packets left to send: 0
2025-01-16T03:16:12.601Z,1736997372.601 [NAL9602](INFO): SBD MO Status=0, MOMSN=11785, MT Status=0, MTMSN=0
2025-01-16T03:16:12.700Z,1736997372.700 [keepstation:NeedComms:D] Stopped
2025-01-16T03:16:12.701Z,1736997372.701 [keepstation:NeedComms:E] Running Loop=1
2025-01-16T03:16:15.030Z,1736997375.030 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,031611.00,A,3648.03415,N,12152.47327,W,0.272,2.42,160125,,,A*70
2025-01-16T03:16:15.033Z,1736997375.033 [NAL9602](INFO): GPS fix at 20250116T031611: (36.800569, -121.874555)
2025-01-16T03:16:15.048Z,1736997375.048 [keepstation:NeedComms:E] Stopped
2025-01-16T03:16:15.049Z,1736997375.049 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-01-16T03:16:15.049Z,1736997375.049 [keepstation:NeedComms] Stopped
2025-01-16T03:16:15.049Z,1736997375.049 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-01-16T03:16:15.049Z,1736997375.049 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-01-16T03:16:15.049Z,1736997375.049 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T03:16:25.200Z,1736997385.200 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T03:16:47.476Z,1736997407.476 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T03:16:56.335Z,1736997416.335 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T03:17:59.387Z,1736997479.387 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T03:18:24.151Z,1736997504.151 [Radio_Surface](INFO): Powering down
2025-01-16T03:18:30.511Z,1736997510.511 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T03:18:31.515Z,1736997511.515 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-16T03:26:32.967Z,1736997992.967 [BuoyancyServo](FAULT): Overload Error
2025-01-16T03:26:32.967Z,1736997992.967 [BuoyancyServo] Hardware Fault, FailCount= 1
2025-01-16T03:26:32.967Z,1736997992.967 [BuoyancyServo](ERROR): Hardware Fault
2025-01-16T03:26:33.080Z,1736997993.080 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2025-01-16T03:26:34.957Z,1736997994.957 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-01-16T03:26:34.957Z,1736997994.957 [BuoyancyServo](INFO): Powering down
2025-01-16T03:26:35.781Z,1736997995.781 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2025-01-16T03:26:35.781Z,1736997995.781 [BuoyancyServo] No Fault, FailCount= 1
2025-01-16T03:26:36.160Z,1736997996.160 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-01-16T03:26:36.161Z,1736997996.161 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-01-16T03:26:56.791Z,1736998016.791 [BuoyancyServo](FAULT): Overload Error
2025-01-16T03:26:56.791Z,1736998016.791 [BuoyancyServo] Hardware Fault, FailCount= 2
2025-01-16T03:26:56.791Z,1736998016.791 [BuoyancyServo](ERROR): Hardware Fault
2025-01-16T03:26:56.904Z,1736998016.904 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2025-01-16T03:26:58.784Z,1736998018.784 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-01-16T03:26:58.784Z,1736998018.784 [BuoyancyServo](INFO): Powering down
2025-01-16T03:26:59.606Z,1736998019.606 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2025-01-16T03:26:59.606Z,1736998019.606 [BuoyancyServo] No Fault, FailCount= 2
2025-01-16T03:27:00.016Z,1736998020.016 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-01-16T03:27:00.016Z,1736998020.016 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-01-16T04:09:29.615Z,1737000569.615 [BPC1](FAULT): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-01-16T04:09:29.615Z,1737000569.615 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-01-16T04:09:29.618Z,1737000569.618 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-01-16T04:10:12.869Z,1737000612.869 [keepstation](INFO): Timed out from 2025-01-16T02:10:12.5Z
2025-01-16T04:10:12.871Z,1737000612.871 [MissionManager](INFO): keepstation is completed.
2025-01-16T04:10:12.872Z,1737000612.872 [MissionManager](INFO): Uninitializing Mission keepstation
2025-01-16T04:10:12.873Z,1737000612.873 [keepstation] Stopped
2025-01-16T04:10:12.874Z,1737000612.874 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-01-16T04:10:12.875Z,1737000612.875 [keepstation:StandardEnvelopes] Stopped
2025-01-16T04:10:12.876Z,1737000612.876 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-01-16T04:10:12.876Z,1737000612.876 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-16T04:10:12.878Z,1737000612.878 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-16T04:10:12.879Z,1737000612.879 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-16T04:10:12.879Z,1737000612.879 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-16T04:10:12.881Z,1737000612.881 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-16T04:10:12.882Z,1737000612.882 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-16T04:10:12.882Z,1737000612.882 [keepstation:BackseatDriver] Stopped
2025-01-16T04:10:12.882Z,1737000612.882 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-01-16T04:10:12.884Z,1737000612.884 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-01-16T04:10:12.885Z,1737000612.885 [keepstation:PowerOnly] Stopped
2025-01-16T04:10:12.885Z,1737000612.885 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-01-16T04:10:12.886Z,1737000612.886 [keepstation:PowerOnly:E.Wait] Stopped
2025-01-16T04:10:12.887Z,1737000612.887 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T04:10:12.888Z,1737000612.888 [keepstation:H.Pitch] Stopped
2025-01-16T04:10:12.888Z,1737000612.888 [keepstation:KeepStation] Stopped
2025-01-16T04:10:12.890Z,1737000612.890 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-01-16T04:10:12.890Z,1737000612.890 [keepstation:KeepStation:A] Stopped
2025-01-16T04:10:12.890Z,1737000612.890 [keepstation:KeepStation:B.Pitch] Stopped
2025-01-16T04:10:12.890Z,1737000612.890 [keepstation:KeepStation:C.KeepStation] Stopped
2025-01-16T04:10:12.890Z,1737000612.890 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-01-16T04:10:12.890Z,1737000612.890 [keepstation:KeepStation:D.Wait] Stopped
2025-01-16T04:10:12.890Z,1737000612.890 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T04:10:13.108Z,1737000613.108 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-01-16T04:10:13.109Z,1737000613.109 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-01-16T04:10:13.250Z,1737000613.250 [BioacousticsDataBridge](DEBUG): Backseat LCM timeout, waiting for message to resume
2025-01-16T04:10:13.262Z,1737000613.262 [MissionManager](IMPORTANT): Started mission Default
2025-01-16T04:10:13.263Z,1737000613.263 [Default] Running Loop=1
2025-01-16T04:10:13.263Z,1737000613.263 [Default](DEBUG): Aggregate::initialize Default
2025-01-16T04:10:13.263Z,1737000613.263 [Default:B.GoToSurface] Running Loop=1
2025-01-16T04:10:13.263Z,1737000613.263 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T04:10:13.263Z,1737000613.263 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T04:10:13.264Z,1737000613.264 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T04:10:13.264Z,1737000613.264 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T04:10:13.264Z,1737000613.264 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T04:10:13.264Z,1737000613.264 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T04:10:13.265Z,1737000613.265 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T04:10:13.265Z,1737000613.265 [Default:A.Wait] Running Loop=1
2025-01-16T04:10:13.265Z,1737000613.265 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-16T04:10:13.823Z,1737000613.823 [Radio_Surface](INFO): Powering up
2025-01-16T04:10:19.368Z,1737000619.368 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-16T04:10:26.660Z,1737000626.660 [Default:A.Wait](INFO): Done Waiting.
2025-01-16T04:10:26.660Z,1737000626.660 [Default:A.Wait] Stopped
2025-01-16T04:10:26.660Z,1737000626.660 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T04:10:31.277Z,1737000631.277 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-01-16T04:10:31.277Z,1737000631.277 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-01-16T04:10:31.278Z,1737000631.278 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-01-16T04:10:49.487Z,1737000649.487 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T04:11:20.611Z,1737000680.611 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T04:11:51.743Z,1737000711.743 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T04:12:22.875Z,1737000742.875 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T04:12:31.088Z,1737000751.088 [Default:CheckIn] Running Loop=1
2025-01-16T04:12:31.088Z,1737000751.088 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T04:12:31.088Z,1737000751.088 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T04:12:49.257Z,1737000769.257 [NAL9602](INFO): SBD MO Status=2, MOMSN=11786, MT Status=2, MTMSN=0
2025-01-16T04:12:49.257Z,1737000769.257 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T04:12:54.020Z,1737000774.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T04:13:14.307Z,1737000794.307 [NAL9602](INFO): SBD MO Status=2, MOMSN=11786, MT Status=2, MTMSN=0
2025-01-16T04:13:14.307Z,1737000794.307 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T04:13:22.584Z,1737000802.584 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003521
2025-01-16T04:13:25.626Z,1737000805.626 [NAL9602](INFO): SBD MO Status=0, MOMSN=11786, MT Status=0, MTMSN=0
2025-01-16T04:13:25.626Z,1737000805.626 [NAL9602](INFO): No messages in MT queue
2025-01-16T04:13:26.834Z,1737000806.834 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,041323.00,A,3648.03395,N,12152.60152,W,0.272,88.44,160125,,,A*4D
2025-01-16T04:13:26.837Z,1737000806.837 [NAL9602](INFO): GPS fix at 20250116T041323: (36.800566, -121.876692)
2025-01-16T04:13:26.867Z,1737000806.867 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T04:13:26.868Z,1737000806.868 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T04:13:32.199Z,1737000812.199 [DataOverHttps](INFO): Sending 86 bytes from file Logs/20250116T003918/Courier0042.lzma
2025-01-16T04:13:33.201Z,1737000813.201 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Courier0042.lzma.bak
2025-01-16T04:13:33.201Z,1737000813.201 [DataOverHttps](INFO): SBD MOMSN=23908778
2025-01-16T04:13:49.103Z,1737000829.103 [DataOverHttps](INFO): Sending 395 bytes from file Logs/20250116T003918/Express0043.lzma
2025-01-16T04:13:50.105Z,1737000830.105 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Express0043.lzma.bak
2025-01-16T04:13:50.105Z,1737000830.105 [DataOverHttps](INFO): SBD MOMSN=23908783
2025-01-16T04:13:51.486Z,1737000831.486 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T04:13:51.486Z,1737000831.486 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-16T04:13:51.486Z,1737000831.486 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T04:13:59.557Z,1737000839.557 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T04:18:51.920Z,1737001131.920 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-01-16T04:18:51.920Z,1737001131.920 [Default:CheckIn:C.Wait] Stopped
2025-01-16T04:18:51.920Z,1737001131.920 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T04:18:51.920Z,1737001131.920 [Default:CheckIn:D] Running Loop=1
2025-01-16T04:18:52.336Z,1737001132.336 [Default:CheckIn:D] Stopped
2025-01-16T04:18:52.336Z,1737001132.336 [Default:CheckIn:E] Running Loop=1
2025-01-16T04:18:52.717Z,1737001132.717 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  8.651221 min 
2025-01-16T04:18:52.717Z,1737001132.717 [Default:CheckIn:E] Stopped
2025-01-16T04:18:52.718Z,1737001132.718 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-01-16T04:18:52.718Z,1737001132.718 [Default:CheckIn] Stopped
2025-01-16T04:18:52.718Z,1737001132.718 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T04:18:52.718Z,1737001132.718 [Default:CheckIn](INFO): Running loop #2
2025-01-16T04:18:52.718Z,1737001132.718 [Default:CheckIn] Running Loop=2
2025-01-16T04:18:52.718Z,1737001132.718 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T04:18:52.718Z,1737001132.718 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T04:18:54.737Z,1737001134.737 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,041851.00,A,3648.01247,N,12152.60422,W,0.292,251.95,160125,,,D*7C
2025-01-16T04:18:54.740Z,1737001134.740 [NAL9602](INFO): GPS fix at 20250116T041851: (36.800208, -121.876737)
2025-01-16T04:18:54.751Z,1737001134.751 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T04:18:54.751Z,1737001134.751 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T04:19:01.951Z,1737001141.951 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250116T003918/Courier0045.lzma
2025-01-16T04:19:02.953Z,1737001142.953 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Courier0045.lzma.bak
2025-01-16T04:19:02.953Z,1737001142.953 [DataOverHttps](INFO): SBD MOMSN=23908802
2025-01-16T04:19:19.030Z,1737001159.030 [NAL9602](INFO): SBD MO Status=2, MOMSN=11787, MT Status=2, MTMSN=0
2025-01-16T04:19:19.030Z,1737001159.030 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T04:19:22.371Z,1737001162.371 [DataOverHttps](INFO): Sending 171 bytes from file Logs/20250116T003918/Express0046.lzma
2025-01-16T04:19:23.373Z,1737001163.373 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Express0046.lzma.bak
2025-01-16T04:19:23.374Z,1737001163.374 [DataOverHttps](INFO): SBD MOMSN=23908805
2025-01-16T04:19:24.701Z,1737001164.701 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T04:19:24.701Z,1737001164.701 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-16T04:19:24.701Z,1737001164.701 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T04:19:51.749Z,1737001191.749 [NAL9602](INFO): SBD MO Status=0, MOMSN=11787, MT Status=0, MTMSN=0
2025-01-16T04:19:51.749Z,1737001191.749 [NAL9602](INFO): No messages in MT queue
2025-01-16T04:20:22.456Z,1737001222.456 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T04:24:25.357Z,1737001465.357 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-01-16T04:24:25.358Z,1737001465.358 [Default:CheckIn:C.Wait] Stopped
2025-01-16T04:24:25.358Z,1737001465.358 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T04:24:25.358Z,1737001465.358 [Default:CheckIn:D] Running Loop=1
2025-01-16T04:24:25.755Z,1737001465.755 [Default:CheckIn:D] Stopped
2025-01-16T04:24:25.755Z,1737001465.755 [Default:CheckIn:E] Running Loop=1
2025-01-16T04:24:26.152Z,1737001466.152 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  14.208202 min 
2025-01-16T04:24:26.152Z,1737001466.152 [Default:CheckIn:E] Stopped
2025-01-16T04:24:26.153Z,1737001466.153 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-01-16T04:24:26.153Z,1737001466.153 [Default:CheckIn] Stopped
2025-01-16T04:24:26.153Z,1737001466.153 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T04:24:26.153Z,1737001466.153 [Default:CheckIn](INFO): Running loop #3
2025-01-16T04:24:26.153Z,1737001466.153 [Default:CheckIn] Running Loop=3
2025-01-16T04:24:26.153Z,1737001466.153 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T04:24:26.153Z,1737001466.153 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T04:24:28.171Z,1737001468.171 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,042427.00,A,3647.98567,N,12152.61199,W,0.214,187.56,160125,,,D*75
2025-01-16T04:24:28.173Z,1737001468.173 [NAL9602](INFO): GPS fix at 20250116T042427: (36.799761, -121.876867)
2025-01-16T04:24:28.189Z,1737001468.189 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T04:24:28.189Z,1737001468.189 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T04:24:35.779Z,1737001475.779 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250116T003918/Courier0048.lzma
2025-01-16T04:24:36.782Z,1737001476.782 [DataOverHttps](INFO): Moved sent file to Logs/20250116T003918/Courier0048.lzma.bak
2025-01-16T04:24:36.783Z,1737001476.783 [DataOverHttps](IMPORTANT): SBD MOMSN=23908812, MTMSN=20250116T042435
2025-01-16T04:24:38.666Z,1737001478.666 [NAL9602](INFO): SBD MO Status=0, MOMSN=11788, MT Status=0, MTMSN=0
2025-01-16T04:24:38.666Z,1737001478.666 [NAL9602](INFO): No messages in MT queue
2025-01-16T04:24:44.407Z,1737001484.407 [DataOverHttps](INFO): Received command: restart sys
2025-01-16T04:24:44.421Z,1737001484.421 [CommandExec](IMPORTANT): got command restart system
2025-01-16T04:24:46.575Z,1737001486.575 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2025-01-16T04:24:46.576Z,1737001486.576 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T04:24:46.576Z,1737001486.576 [CommandExec](INFO): Uninitializing the command executive.
2025-01-16T04:24:46.576Z,1737001486.576 [CommandExec](INFO): Uninitializing the command scheduler.
2025-01-16T04:24:46.576Z,1737001486.576 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:46.679Z,1737001486.679 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-01-16T04:24:46.679Z,1737001486.679 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-01-16T04:24:46.680Z,1737001486.680 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:46.680Z,1737001486.680 [NavChartDb](INFO): Join timeout helper Thread ID is 2697
2025-01-16T04:24:46.903Z,1737001486.903 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T04:24:46.904Z,1737001486.904 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:46.923Z,1737001486.923 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-01-16T04:24:46.923Z,1737001486.923 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:46.924Z,1737001486.924 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 2698
2025-01-16T04:24:47.123Z,1737001487.123 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T04:24:47.124Z,1737001487.124 [WetLabsBB2FL](INFO): Powering down
2025-01-16T04:24:47.124Z,1737001487.124 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:47.127Z,1737001487.127 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-01-16T04:24:47.127Z,1737001487.127 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:47.128Z,1737001487.128 [CTD_Seabird](INFO): Join timeout helper Thread ID is 2699
2025-01-16T04:24:47.487Z,1737001487.487 [CTD_Seabird](INFO): Powering down
2025-01-16T04:24:47.499Z,1737001487.499 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T04:24:47.499Z,1737001487.499 [CTD_Seabird](INFO): Powering down
2025-01-16T04:24:47.511Z,1737001487.511 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:47.527Z,1737001487.527 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-01-16T04:24:47.527Z,1737001487.527 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:47.528Z,1737001487.528 [Radio_Surface](INFO): Join timeout helper Thread ID is 2700
2025-01-16T04:24:47.723Z,1737001487.723 [Radio_Surface](INFO): Powering down
2025-01-16T04:24:47.724Z,1737001487.724 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T04:24:47.724Z,1737001487.724 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:47.731Z,1737001487.731 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-01-16T04:24:47.731Z,1737001487.731 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:47.732Z,1737001487.732 [Onboard](INFO): Join timeout helper Thread ID is 2701
2025-01-16T04:24:48.687Z,1737001488.687 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T04:24:48.688Z,1737001488.688 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:48.700Z,1737001488.700 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-01-16T04:24:48.701Z,1737001488.701 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:48.701Z,1737001488.701 [DataOverHttps](INFO): Join timeout helper Thread ID is 2702
2025-01-16T04:24:51.898Z,1737001491.898 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T04:24:51.902Z,1737001491.902 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:51.912Z,1737001491.912 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-01-16T04:24:51.912Z,1737001491.912 [DAT ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:51.913Z,1737001491.913 [DAT](INFO): Join timeout helper Thread ID is 2703
2025-01-16T04:24:51.927Z,1737001491.927 [DAT](INFO): Powering down
2025-01-16T04:24:51.000Z,1737001492.000 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T04:24:52.000Z,1737001492.000 [DAT](INFO): Powering down
2025-01-16T04:24:52.001Z,1737001492.001 [DAT ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.020Z,1737001492.020 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-01-16T04:24:52.020Z,1737001492.020 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.020Z,1737001492.020 [BackseatComponent](INFO): Join timeout helper Thread ID is 2704
2025-01-16T04:24:52.155Z,1737001492.155 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T04:24:52.156Z,1737001492.156 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.172Z,1737001492.172 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-01-16T04:24:52.172Z,1737001492.172 [logger ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.172Z,1737001492.172 [logger](INFO): Join timeout helper Thread ID is 2705
2025-01-16T04:24:52.175Z,1737001492.175 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T04:24:52.176Z,1737001492.176 [logger ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.192Z,1737001492.192 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-01-16T04:24:52.192Z,1737001492.192 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.192Z,1737001492.192 [CommandLine](INFO): Join timeout helper Thread ID is 2706
2025-01-16T04:24:52.263Z,1737001492.263 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T04:24:52.264Z,1737001492.264 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.272Z,1737001492.272 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-01-16T04:24:52.272Z,1737001492.272 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.272Z,1737001492.272 [CommandExec](INFO): Join timeout helper Thread ID is 2707
2025-01-16T04:24:52.273Z,1737001492.273 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-01-16T04:24:52.273Z,1737001492.273 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.274Z,1737001492.274 [controlThread](INFO): Join timeout helper Thread ID is 2708
2025-01-16T04:24:52.387Z,1737001492.387 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T04:24:52.387Z,1737001492.387 [controlThread](DEBUG): Uninitializing ControlThread
2025-01-16T04:24:52.388Z,1737001492.388 [AHRS_M2](INFO): Powering down
2025-01-16T04:24:52.460Z,1737001492.460 [NAL9602](INFO): Powering down
2025-01-16T04:24:52.461Z,1737001492.461 [Sonardyne_Nano](INFO): Powering down
2025-01-16T04:24:52.580Z,1737001492.580 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-01-16T04:24:52.581Z,1737001492.581 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-01-16T04:24:52.581Z,1737001492.581 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-01-16T04:24:52.582Z,1737001492.582 [MissionManager](INFO): Uninitializing Mission Default
2025-01-16T04:24:52.582Z,1737001492.582 [Default] Stopped
2025-01-16T04:24:52.582Z,1737001492.582 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-16T04:24:52.582Z,1737001492.582 [Default:B.GoToSurface] Stopped
2025-01-16T04:24:52.582Z,1737001492.582 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T04:24:52.582Z,1737001492.582 [Default:CheckIn] Stopped
2025-01-16T04:24:52.582Z,1737001492.582 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T04:24:52.582Z,1737001492.582 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T04:24:52.585Z,1737001492.585 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-01-16T04:24:52.585Z,1737001492.585 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-01-16T04:24:52.586Z,1737001492.586 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-01-16T04:24:52.586Z,1737001492.586 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-01-16T04:24:52.586Z,1737001492.586 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-01-16T04:24:52.586Z,1737001492.586 [BuoyancyServo](INFO): Powering down
2025-01-16T04:24:52.599Z,1737001492.599 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-01-16T04:24:52.599Z,1737001492.599 [ElevatorServo](INFO): Powering down
2025-01-16T04:24:52.600Z,1737001492.600 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-01-16T04:24:52.600Z,1737001492.600 [MassServo](INFO): Powering down
2025-01-16T04:24:52.601Z,1737001492.601 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-01-16T04:24:52.601Z,1737001492.601 [RudderServo](INFO): Powering down
2025-01-16T04:24:52.602Z,1737001492.602 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-01-16T04:24:52.602Z,1737001492.602 [ThrusterHE](INFO): Powering down
2025-01-16T04:24:52.603Z,1737001492.603 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-01-16T04:24:52.603Z,1737001492.603 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-01-16T04:24:52.604Z,1737001492.604 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-01-16T04:24:52.604Z,1737001492.604 [CBIT](DEBUG): Powering off loads.
2025-01-16T04:24:52.615Z,1737001492.615 [CBIT](DEBUG): Disabling WDT.
2025-01-16T04:24:52.627Z,1737001492.627 [CBIT](DEBUG): Opening all GF detection circuits.
2025-01-16T04:24:52.628Z,1737001492.628 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.661Z,1737001492.661 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.664Z,1737001492.664 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.671Z,1737001492.671 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.678Z,1737001492.678 [DAT ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.723Z,1737001492.723 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.832Z,1737001492.832 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.837Z,1737001492.837 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.861Z,1737001492.861 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-01-16T04:24:52.937Z,1737001492.937 [logger ThreadHandler](INFO): Thread cancelled.