2025-02-20T19:37:17.595Z,1740080237.595 [DataOverHttps](INFO): Received command: restart logs
2025-02-20T19:37:17.597Z,1740080237.597 [CommandExec](IMPORTANT): got command restart logs
2025-02-20T19:38:14.677Z,1740080294.677 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T193813
2025-02-20T19:38:22.079Z,1740080302.079 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 40 min;set keepstation:BackseatDriver.EnableBackseat 1 bool;run
2025-02-20T19:38:22.190Z,1740080302.190 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-20T19:38:22.190Z,1740080302.190 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-20T19:38:22.191Z,1740080302.191 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-20T19:38:22.216Z,1740080302.216 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-20T19:38:22.972Z,1740080302.972 [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>

2025-02-20T19:38:22.981Z,1740080302.981 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-20T19:38:22.983Z,1740080302.983 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-20T19:38:22.985Z,1740080302.985 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-20T19:38:22.988Z,1740080302.988 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-20T19:38:22.990Z,1740080302.990 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-20T19:38:22.992Z,1740080302.992 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-20T19:38:22.994Z,1740080302.994 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-20T19:38:22.997Z,1740080302.997 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-20T19:38:22.999Z,1740080302.999 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-20T19:38:23.001Z,1740080303.001 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-20T19:38:23.004Z,1740080303.004 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-20T19:38:23.005Z,1740080303.005 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-20T19:38:23.006Z,1740080303.006 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-20T19:38:23.010Z,1740080303.010 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-20T19:38:23.306Z,1740080303.306 [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>

2025-02-20T19:38:23.310Z,1740080303.310 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-20T19:38:23.313Z,1740080303.313 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-20T19:38:23.315Z,1740080303.315 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-20T19:38:23.317Z,1740080303.317 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-20T19:38:23.319Z,1740080303.319 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-20T19:38:23.321Z,1740080303.321 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-20T19:38:23.324Z,1740080303.324 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-20T19:38:23.326Z,1740080303.326 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-20T19:38:23.332Z,1740080303.332 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-20T19:38:23.386Z,1740080303.386 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-20T19:38:23.386Z,1740080303.386 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-20T19:38:23.396Z,1740080303.396 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-20T19:38:23.466Z,1740080303.466 [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>

2025-02-20T19:38:23.470Z,1740080303.470 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-20T19:38:23.472Z,1740080303.472 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-20T19:38:23.475Z,1740080303.475 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-20T19:38:23.477Z,1740080303.477 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-20T19:38:23.478Z,1740080303.478 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-20T19:38:23.485Z,1740080303.485 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-20T19:38:23.491Z,1740080303.491 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-20T19:38:23.522Z,1740080303.522 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-20T19:38:23.523Z,1740080303.523 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-20T19:38:23.528Z,1740080303.528 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-20T19:38:23.553Z,1740080303.553 [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>

2025-02-20T19:38:23.556Z,1740080303.556 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-20T19:38:23.558Z,1740080303.558 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-20T19:38:23.560Z,1740080303.560 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-20T19:38:23.560Z,1740080303.560 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-20T19:38:23.561Z,1740080303.561 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-20T19:38:23.727Z,1740080303.727 [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>

2025-02-20T19:38:23.731Z,1740080303.731 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-20T19:38:23.734Z,1740080303.734 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-20T19:38:23.735Z,1740080303.735 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-20T19:38:23.737Z,1740080303.737 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-20T19:38:23.740Z,1740080303.740 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-20T19:38:23.746Z,1740080303.746 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-20T19:38:23.748Z,1740080303.748 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-20T19:38:23.754Z,1740080303.754 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-20T19:38:23.789Z,1740080303.789 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-20T19:38:23.794Z,1740080303.794 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-20T19:38:23.797Z,1740080303.797 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-20T19:38:23.825Z,1740080303.825 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-20T19:38:23.833Z,1740080303.833 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-20T19:38:23.838Z,1740080303.838 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-20T19:38:23.855Z,1740080303.855 [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
    }
  }
}


2025-02-20T19:38:23.855Z,1740080303.855 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-20T19:38:35.646Z,1740080315.646 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 40 minute
2025-02-20T19:38:35.646Z,1740080315.646 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-02-20T19:38:35.659Z,1740080315.659 [CommandExec](IMPORTANT): got command run
2025-02-20T19:38:35.661Z,1740080315.661 [CommandExec](IMPORTANT): Running 
2025-02-20T19:38:35.781Z,1740080315.781 [Default] Stopped
2025-02-20T19:38:35.781Z,1740080315.781 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-20T19:38:35.781Z,1740080315.781 [Default:B.GoToSurface] Stopped
2025-02-20T19:38:35.781Z,1740080315.781 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T19:38:35.781Z,1740080315.781 [Default:CheckIn] Stopped
2025-02-20T19:38:35.782Z,1740080315.782 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T19:38:35.782Z,1740080315.782 [Default:CheckIn:C.Wait] Stopped
2025-02-20T19:38:35.782Z,1740080315.782 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T19:38:35.782Z,1740080315.782 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-20T19:38:35.782Z,1740080315.782 [keepstation] Running Loop=1
2025-02-20T19:38:35.782Z,1740080315.782 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-20T19:38:35.782Z,1740080315.782 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-20T19:38:35.782Z,1740080315.782 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-20T19:38:35.783Z,1740080315.783 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T19:38:35.783Z,1740080315.783 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-20T19:38:35.783Z,1740080315.783 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T19:38:35.784Z,1740080315.784 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-20T19:38:35.785Z,1740080315.785 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T19:38:35.785Z,1740080315.785 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-20T19:38:35.786Z,1740080315.786 [keepstation:BackseatDriver] Running Loop=1
2025-02-20T19:38:35.786Z,1740080315.786 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-20T19:38:35.787Z,1740080315.787 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-20T19:38:35.787Z,1740080315.787 [keepstation:PowerOnly] Running Loop=1
2025-02-20T19:38:35.788Z,1740080315.788 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-20T19:38:35.788Z,1740080315.788 [keepstation:PowerOnly:A] Running Loop=1
2025-02-20T19:38:35.789Z,1740080315.789 [keepstation:PowerOnly:B] Running Loop=1
2025-02-20T19:38:35.789Z,1740080315.789 [keepstation:PowerOnly:C] Running Loop=1
2025-02-20T19:38:35.789Z,1740080315.789 [keepstation:PowerOnly:D] Running Loop=1
2025-02-20T19:38:35.789Z,1740080315.789 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-20T19:38:35.789Z,1740080315.789 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-20T19:38:35.789Z,1740080315.789 [keepstation:H.Pitch] Running Loop=1
2025-02-20T19:38:35.789Z,1740080315.789 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-20T19:38:35.789Z,1740080315.789 [keepstation:B] Running Loop=1
2025-02-20T19:38:35.790Z,1740080315.790 [keepstation:H.Pitch] Running Loop=1
2025-02-20T19:38:35.790Z,1740080315.790 [keepstation:PowerOnly] Running Loop=1
2025-02-20T19:38:35.791Z,1740080315.791 [keepstation:PowerOnly:D] Stopped
2025-02-20T19:38:35.791Z,1740080315.791 [keepstation:PowerOnly:C] Stopped
2025-02-20T19:38:35.791Z,1740080315.791 [keepstation:PowerOnly:B] Stopped
2025-02-20T19:38:35.791Z,1740080315.791 [keepstation:PowerOnly:A] Stopped
2025-02-20T19:38:35.791Z,1740080315.791 [keepstation:BackseatDriver] Running Loop=1
2025-02-20T19:38:35.791Z,1740080315.791 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-20T19:38:35.807Z,1740080315.807 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-20T19:38:35.807Z,1740080315.807 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T19:38:35.807Z,1740080315.807 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T19:38:35.808Z,1740080315.808 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T19:38:35.808Z,1740080315.808 [keepstation:B] Stopped
2025-02-20T19:38:35.808Z,1740080315.808 [keepstation:D] Running Loop=1
2025-02-20T19:38:35.847Z,1740080315.847 [BackseatComponent](INFO): Powering up
2025-02-20T19:38:35.848Z,1740080315.848 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-20T19:38:36.159Z,1740080316.159 [keepstation:D] Stopped
2025-02-20T19:38:36.159Z,1740080316.159 [keepstation:E] Running Loop=1
2025-02-20T19:38:36.567Z,1740080316.567 [keepstation:E] Stopped
2025-02-20T19:38:36.567Z,1740080316.567 [keepstation:StartingMission] Running Loop=1
2025-02-20T19:38:36.568Z,1740080316.568 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-20T19:38:36.960Z,1740080316.960 [keepstation:NeedComms] Running Loop=1
2025-02-20T19:38:36.960Z,1740080316.960 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-20T19:38:36.960Z,1740080316.960 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-20T19:38:36.960Z,1740080316.960 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T19:38:36.961Z,1740080316.961 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-20T19:38:36.961Z,1740080316.961 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-20T19:38:36.961Z,1740080316.961 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-20T19:38:36.962Z,1740080316.962 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-20T19:38:36.962Z,1740080316.962 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T19:38:36.962Z,1740080316.962 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T19:38:36.963Z,1740080316.963 [keepstation:NeedComms:A] Running Loop=1
2025-02-20T19:38:36.964Z,1740080316.964 [keepstation:NeedComms:A](INFO): last time_fix was:  1740080177.000000 second since 1970/01/01T00:00:00Z 
2025-02-20T19:38:36.964Z,1740080316.964 [keepstation:NeedComms:A] Stopped
2025-02-20T19:38:37.373Z,1740080317.373 [keepstation:NeedComms:C] Running Loop=1
2025-02-20T19:38:37.769Z,1740080317.769 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-20T19:38:39.374Z,1740080319.374 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,193838.00,A,3647.72192,N,12150.71948,W,0.408,115.47,200225,,,D*71
2025-02-20T19:38:39.378Z,1740080319.378 [NAL9602](INFO): GPS fix at 20250220T193838: (36.795365, -121.845325)
2025-02-20T19:38:39.396Z,1740080319.396 [keepstation:NeedComms:C] Stopped
2025-02-20T19:38:39.396Z,1740080319.396 [keepstation:NeedComms:D] Running Loop=1
2025-02-20T19:38:39.813Z,1740080319.813 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-20T19:38:46.946Z,1740080326.946 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250220T190352/Courier0009.lzma
2025-02-20T19:38:47.949Z,1740080327.949 [DataOverHttps](INFO): Moved sent file to Logs/20250220T190352/Courier0009.lzma.bak
2025-02-20T19:38:47.949Z,1740080327.949 [DataOverHttps](INFO): SBD MOMSN=23968848
2025-02-20T19:38:59.570Z,1740080339.570 [NAL9602](INFO): SBD MO Status=2, MOMSN=12922, MT Status=2, MTMSN=0
2025-02-20T19:38:59.570Z,1740080339.570 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-20T19:39:05.960Z,1740080345.960 [DataOverHttps](INFO): Sending 269 bytes from file Logs/20250220T193717/Courier0000.lzma
2025-02-20T19:39:06.961Z,1740080346.961 [DataOverHttps](INFO): Moved sent file to Logs/20250220T193717/Courier0000.lzma.bak
2025-02-20T19:39:06.962Z,1740080346.962 [DataOverHttps](INFO): SBD MOMSN=23968850
2025-02-20T19:39:18.982Z,1740080358.982 [NAL9602](INFO): SBD MO Status=1, MOMSN=12922, MT Status=0, MTMSN=0
2025-02-20T19:39:18.983Z,1740080358.983 [NAL9602](INFO): No messages in MT queue
2025-02-20T19:39:25.503Z,1740080365.503 [DataOverHttps](INFO): Sending 228 bytes from file Logs/20250220T190352/Express0010.lzma
2025-02-20T19:39:26.506Z,1740080366.506 [DataOverHttps](INFO): Moved sent file to Logs/20250220T190352/Express0010.lzma.bak
2025-02-20T19:39:26.506Z,1740080366.506 [DataOverHttps](INFO): SBD MOMSN=23968855
2025-02-20T19:39:43.404Z,1740080383.404 [DataOverHttps](INFO): Sending 527 bytes from file Logs/20250220T193717/Express0001.lzma
2025-02-20T19:39:43.755Z,1740080383.755 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250220T193948
2025-02-20T19:39:44.405Z,1740080384.405 [DataOverHttps](INFO): Moved sent file to Logs/20250220T193717/Express0001.lzma.bak
2025-02-20T19:39:44.405Z,1740080384.405 [DataOverHttps](INFO): SBD MOMSN=23968861
2025-02-20T19:39:49.712Z,1740080389.712 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T19:40:01.067Z,1740080401.067 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20250220T193717/Express0004.lzma
2025-02-20T19:40:02.069Z,1740080402.069 [DataOverHttps](INFO): Moved sent file to Logs/20250220T193717/Express0004.lzma.bak
2025-02-20T19:40:02.069Z,1740080402.069 [DataOverHttps](INFO): SBD MOMSN=23968872
2025-02-20T19:40:03.476Z,1740080403.476 [keepstation:NeedComms:D] Stopped
2025-02-20T19:40:03.476Z,1740080403.476 [keepstation:NeedComms:E] Running Loop=1
2025-02-20T19:40:03.885Z,1740080403.885 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-20T19:40:05.474Z,1740080405.474 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194004.00,A,3647.71541,N,12150.71461,W,0.117,190.80,200225,,,A*76
2025-02-20T19:40:05.477Z,1740080405.477 [NAL9602](INFO): GPS fix at 20250220T194004: (36.795257, -121.845243)
2025-02-20T19:40:05.520Z,1740080405.520 [keepstation:NeedComms:E] Stopped
2025-02-20T19:40:05.521Z,1740080405.521 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-20T19:40:05.521Z,1740080405.521 [keepstation:NeedComms] Stopped
2025-02-20T19:40:05.521Z,1740080405.521 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-20T19:40:05.521Z,1740080405.521 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-20T19:40:05.521Z,1740080405.521 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T19:40:05.924Z,1740080405.924 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-20T19:40:05.924Z,1740080405.924 [keepstation:StartingMission] Stopped
2025-02-20T19:40:05.925Z,1740080405.925 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-20T19:40:05.925Z,1740080405.925 [keepstation:TransitToStation] Running Loop=1
2025-02-20T19:40:05.925Z,1740080405.925 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-20T19:40:05.925Z,1740080405.925 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-20T19:40:05.925Z,1740080405.925 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-20T19:40:05.925Z,1740080405.925 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-20T19:40:05.925Z,1740080405.925 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-20T19:40:05.925Z,1740080405.925 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-20T19:40:05.925Z,1740080405.925 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-20T19:40:05.926Z,1740080405.926 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-20T19:40:05.926Z,1740080405.926 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-20T19:40:06.310Z,1740080406.310 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-20T19:40:06.310Z,1740080406.310 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-20T19:40:06.311Z,1740080406.311 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-20T19:40:10.735Z,1740080410.735 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-20T19:40:10.735Z,1740080410.735 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-20T19:40:10.736Z,1740080410.736 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-02-20T19:40:10.736Z,1740080410.736 [keepstation:TransitToStation] Stopped
2025-02-20T19:40:10.736Z,1740080410.736 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-20T19:40:10.736Z,1740080410.736 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-20T19:40:10.737Z,1740080410.737 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-20T19:40:10.737Z,1740080410.737 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-20T19:40:10.737Z,1740080410.737 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-20T19:40:10.737Z,1740080410.737 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-20T19:40:10.737Z,1740080410.737 [keepstation:OnStation] Running Loop=1
2025-02-20T19:40:10.737Z,1740080410.737 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-02-20T19:40:11.156Z,1740080411.156 [keepstation:NeedComms] Running Loop=1
2025-02-20T19:40:11.156Z,1740080411.156 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-20T19:40:11.156Z,1740080411.156 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-20T19:40:11.156Z,1740080411.156 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T19:40:11.157Z,1740080411.157 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-20T19:40:11.157Z,1740080411.157 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-20T19:40:11.157Z,1740080411.157 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-20T19:40:11.158Z,1740080411.158 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-20T19:40:11.158Z,1740080411.158 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T19:40:11.158Z,1740080411.158 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T19:40:11.159Z,1740080411.159 [keepstation:NeedComms:A] Running Loop=1
2025-02-20T19:40:11.160Z,1740080411.160 [keepstation:NeedComms:A](INFO): last time_fix was:  1740080404.000000 second since 1970/01/01T00:00:00Z 
2025-02-20T19:40:11.160Z,1740080411.160 [keepstation:NeedComms:A] Stopped
2025-02-20T19:40:11.557Z,1740080411.557 [keepstation:NeedComms:C] Running Loop=1
2025-02-20T19:40:28.093Z,1740080428.093 [NAL9602](INFO): SBD MO Status=1, MOMSN=12923, MT Status=0, MTMSN=0
2025-02-20T19:40:28.093Z,1740080428.093 [NAL9602](INFO): No messages in MT queue
2025-02-20T19:40:29.305Z,1740080429.305 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194028.00,A,3647.71336,N,12150.71327,W,0.467,147.04,200225,,,A*7F
2025-02-20T19:40:29.308Z,1740080429.308 [NAL9602](INFO): GPS fix at 20250220T194028: (36.795223, -121.845221)
2025-02-20T19:40:29.340Z,1740080429.340 [keepstation:NeedComms:C] Stopped
2025-02-20T19:40:29.340Z,1740080429.340 [keepstation:NeedComms:D] Running Loop=1
2025-02-20T19:40:36.731Z,1740080436.731 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250220T193717/Courier0006.lzma
2025-02-20T19:40:37.733Z,1740080437.733 [DataOverHttps](INFO): Moved sent file to Logs/20250220T193717/Courier0006.lzma.bak
2025-02-20T19:40:37.733Z,1740080437.733 [DataOverHttps](INFO): SBD MOMSN=23968874
2025-02-20T19:40:44.290Z,1740080444.290 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2165
2025-02-20T19:40:44.653Z,1740080444.653 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-02-20T19:40:55.147Z,1740080455.147 [DataOverHttps](INFO): Sending 182 bytes from file Logs/20250220T193717/Express0007.lzma
2025-02-20T19:40:56.149Z,1740080456.149 [DataOverHttps](INFO): Moved sent file to Logs/20250220T193717/Express0007.lzma.bak
2025-02-20T19:40:56.149Z,1740080456.149 [DataOverHttps](INFO): SBD MOMSN=23968877
2025-02-20T19:40:57.624Z,1740080457.624 [keepstation:NeedComms:D] Stopped
2025-02-20T19:40:57.624Z,1740080457.624 [keepstation:NeedComms:E] Running Loop=1
2025-02-20T19:40:59.626Z,1740080459.626 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194058.00,A,3647.71115,N,12150.71079,W,0.564,178.19,200225,,,A*71
2025-02-20T19:40:59.636Z,1740080459.636 [NAL9602](INFO): GPS fix at 20250220T194058: (36.795186, -121.845180)
2025-02-20T19:40:59.664Z,1740080459.664 [keepstation:NeedComms:E] Stopped
2025-02-20T19:40:59.665Z,1740080459.665 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-20T19:40:59.665Z,1740080459.665 [keepstation:NeedComms] Stopped
2025-02-20T19:40:59.665Z,1740080459.665 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-20T19:40:59.665Z,1740080459.665 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-20T19:40:59.665Z,1740080459.665 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T19:41:00.072Z,1740080460.072 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-02-20T19:41:00.072Z,1740080460.072 [keepstation:OnStation] Stopped
2025-02-20T19:41:00.072Z,1740080460.072 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-02-20T19:41:00.072Z,1740080460.072 [keepstation:KeepStation] Running Loop=1
2025-02-20T19:41:00.073Z,1740080460.073 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-02-20T19:41:00.073Z,1740080460.073 [keepstation:KeepStation:A] Running Loop=1
2025-02-20T19:41:00.073Z,1740080460.073 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-20T19:41:00.073Z,1740080460.073 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-02-20T19:41:00.073Z,1740080460.073 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-20T19:41:00.073Z,1740080460.073 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-20T19:41:00.073Z,1740080460.073 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-02-20T19:41:00.073Z,1740080460.073 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-02-20T19:41:00.477Z,1740080460.477 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-20T19:41:00.478Z,1740080460.478 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-20T19:41:00.478Z,1740080460.478 [keepstation:KeepStation:A] Running Loop=1
2025-02-20T19:41:02.512Z,1740080462.512 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-02-20T19:41:32.776Z,1740080492.776 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T19:42:59.095Z,1740080579.095 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T19:43:30.219Z,1740080610.219 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T19:43:40.655Z,1740080620.655 [Radio_Surface](INFO): Powering down
2025-02-20T19:44:01.343Z,1740080641.343 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T19:44:02.347Z,1740080642.347 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-20T19:44:44.288Z,1740080684.288 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2166
2025-02-20T19:45:06.616Z,1740080706.616 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.739731
2025-02-20T20:11:02.720Z,1740082262.720 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-02-20T20:18:35.998Z,1740082715.998 [keepstation](INFO): Timed out from 2025-02-20T19:38:35.8Z
2025-02-20T20:18:35.999Z,1740082715.999 [MissionManager](INFO): keepstation is completed.
2025-02-20T20:18:35.999Z,1740082715.999 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-20T20:18:35.999Z,1740082715.999 [keepstation] Stopped
2025-02-20T20:18:35.999Z,1740082715.999 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-20T20:18:35.999Z,1740082715.999 [keepstation:StandardEnvelopes] Stopped
2025-02-20T20:18:35.999Z,1740082715.999 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-20T20:18:35.999Z,1740082715.999 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-20T20:18:35.000Z,1740082716.000 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-20T20:18:35.000Z,1740082716.000 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-20T20:18:35.000Z,1740082716.000 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-20T20:18:35.000Z,1740082716.000 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-20T20:18:35.000Z,1740082716.000 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-20T20:18:35.000Z,1740082716.000 [keepstation:BackseatDriver] Stopped
2025-02-20T20:18:36.000Z,1740082716.000 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-20T20:18:36.000Z,1740082716.000 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-20T20:18:36.000Z,1740082716.000 [keepstation:PowerOnly] Stopped
2025-02-20T20:18:36.000Z,1740082716.000 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-20T20:18:36.000Z,1740082716.000 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-20T20:18:36.000Z,1740082716.000 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T20:18:36.001Z,1740082716.001 [keepstation:H.Pitch] Stopped
2025-02-20T20:18:36.001Z,1740082716.001 [keepstation:KeepStation] Stopped
2025-02-20T20:18:36.001Z,1740082716.001 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-02-20T20:18:36.001Z,1740082716.001 [keepstation:KeepStation:A] Stopped
2025-02-20T20:18:36.001Z,1740082716.001 [keepstation:KeepStation:B.Pitch] Stopped
2025-02-20T20:18:36.001Z,1740082716.001 [keepstation:KeepStation:C.KeepStation] Stopped
2025-02-20T20:18:36.001Z,1740082716.001 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-20T20:18:36.001Z,1740082716.001 [keepstation:KeepStation:D.Wait] Stopped
2025-02-20T20:18:36.001Z,1740082716.001 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T20:18:36.394Z,1740082716.394 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-02-20T20:18:36.410Z,1740082716.410 [MissionManager](IMPORTANT): Started mission Default
2025-02-20T20:18:36.410Z,1740082716.410 [Default] Running Loop=1
2025-02-20T20:18:36.411Z,1740082716.411 [Default](DEBUG): Aggregate::initialize Default
2025-02-20T20:18:36.411Z,1740082716.411 [Default:B.GoToSurface] Running Loop=1
2025-02-20T20:18:36.411Z,1740082716.411 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T20:18:36.413Z,1740082716.413 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-20T20:18:36.413Z,1740082716.413 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-20T20:18:36.413Z,1740082716.413 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-20T20:18:36.414Z,1740082716.414 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-20T20:18:36.414Z,1740082716.414 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T20:18:36.414Z,1740082716.414 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T20:18:36.415Z,1740082716.415 [Default:A.Wait] Running Loop=1
2025-02-20T20:18:36.415Z,1740082716.415 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-20T20:18:37.015Z,1740082717.015 [Radio_Surface](INFO): Powering up
2025-02-20T20:18:37.356Z,1740082717.356 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-20T20:18:37.357Z,1740082717.357 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-20T20:18:43.059Z,1740082723.059 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-20T20:18:49.759Z,1740082729.759 [Default:A.Wait](INFO): Done Waiting.
2025-02-20T20:18:49.759Z,1740082729.759 [Default:A.Wait] Stopped
2025-02-20T20:18:49.760Z,1740082729.760 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T20:18:55.364Z,1740082735.364 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-20T20:18:55.364Z,1740082735.364 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-20T20:18:55.365Z,1740082735.365 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-20T20:19:13.179Z,1740082753.179 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T20:19:22.408Z,1740082762.408 [Default:CheckIn] Running Loop=1
2025-02-20T20:19:22.409Z,1740082762.409 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T20:19:22.409Z,1740082762.409 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T20:19:38.707Z,1740082778.707 [NAL9602](INFO): SBD MO Status=1, MOMSN=12924, MT Status=0, MTMSN=0
2025-02-20T20:19:38.707Z,1740082778.707 [NAL9602](INFO): No messages in MT queue
2025-02-20T20:19:39.926Z,1740082779.926 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201939.00,A,3647.65292,N,12150.71180,W,1.924,116.54,200225,,,A*76
2025-02-20T20:19:39.929Z,1740082779.929 [NAL9602](INFO): GPS fix at 20250220T201939: (36.794215, -121.845197)
2025-02-20T20:19:39.940Z,1740082779.940 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T20:19:39.940Z,1740082779.940 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T20:19:44.311Z,1740082784.311 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T20:19:57.856Z,1740082797.856 [NAL9602](INFO): SBD MO Status=1, MOMSN=12925, MT Status=0, MTMSN=0
2025-02-20T20:19:57.904Z,1740082797.904 [NAL9602](INFO): Sent 74 bytes from file Logs/20250220T193717/Courier0009.lzma
2025-02-20T20:19:57.904Z,1740082797.904 [NAL9602](INFO): Packets left to send: 0
2025-02-20T20:20:07.098Z,1740082807.098 [NAL9602](INFO): SBD MO Status=1, MOMSN=12926, MT Status=0, MTMSN=0
2025-02-20T20:20:07.151Z,1740082807.151 [NAL9602](INFO): Sent 257 bytes from file Logs/20250220T193717/Express0010.lzma
2025-02-20T20:20:07.152Z,1740082807.152 [NAL9602](INFO): Packets left to send: 0
2025-02-20T20:20:13.963Z,1740082813.963 [NAL9602](INFO): SBD MO Status=0, MOMSN=12927, MT Status=0, MTMSN=0
2025-02-20T20:20:14.041Z,1740082814.041 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T20:20:14.041Z,1740082814.041 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-20T20:20:14.041Z,1740082814.041 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-20T20:20:15.464Z,1740082815.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T20:20:44.676Z,1740082844.676 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T20:20:46.596Z,1740082846.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T20:20:55.824Z,1740082855.824 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003633
2025-02-20T20:22:00.429Z,1740082920.429 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T202159
2025-02-20T20:22:12.671Z,1740082932.671 [DataOverHttps](INFO): Received command: restart logs