2025-02-20T21:15:27.041Z,1740086127.041 [CommandExec](IMPORTANT): got command restart logs
2025-02-20T21:16:51.795Z,1740086211.795 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T21:18:50.425Z,1740086330.425 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-20T21:18:50.425Z,1740086330.425 [Default:CheckIn:C.Wait] Stopped
2025-02-20T21:18:50.425Z,1740086330.425 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T21:18:50.426Z,1740086330.426 [Default:CheckIn:D] Running Loop=1
2025-02-20T21:18:50.830Z,1740086330.830 [Default:CheckIn:D] Stopped
2025-02-20T21:18:50.830Z,1740086330.830 [Default:CheckIn:E] Running Loop=1
2025-02-20T21:18:51.248Z,1740086331.248 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.468925 min 
2025-02-20T21:18:51.248Z,1740086331.248 [Default:CheckIn:E] Stopped
2025-02-20T21:18:51.249Z,1740086331.249 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-20T21:18:51.249Z,1740086331.249 [Default:CheckIn] Stopped
2025-02-20T21:18:51.249Z,1740086331.249 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T21:18:51.249Z,1740086331.249 [Default:CheckIn](INFO): Running loop #2
2025-02-20T21:18:51.249Z,1740086331.249 [Default:CheckIn] Running Loop=2
2025-02-20T21:18:51.249Z,1740086331.249 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T21:18:51.249Z,1740086331.249 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T21:18:53.227Z,1740086333.227 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211852.00,A,3647.55772,N,12152.14870,W,0.778,221.09,200225,,,A*7D
2025-02-20T21:18:53.230Z,1740086333.230 [NAL9602](INFO): GPS fix at 20250220T211852: (36.792629, -121.869145)
2025-02-20T21:18:53.255Z,1740086333.255 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T21:18:53.255Z,1740086333.255 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T21:19:04.379Z,1740086344.379 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250220T202212/Courier0006.lzma
2025-02-20T21:19:05.381Z,1740086345.381 [DataOverHttps](INFO): Moved sent file to Logs/20250220T202212/Courier0006.lzma.bak
2025-02-20T21:19:05.381Z,1740086345.381 [DataOverHttps](INFO): SBD MOMSN=23968920
2025-02-20T21:19:08.378Z,1740086348.378 [NAL9602](INFO): SBD MO Status=0, MOMSN=12941, MT Status=0, MTMSN=0
2025-02-20T21:19:08.379Z,1740086348.379 [NAL9602](INFO): No messages in MT queue
2025-02-20T21:19:27.159Z,1740086367.159 [DataOverHttps](INFO): Sending 269 bytes from file Logs/20250220T211527/Courier0000.lzma
2025-02-20T21:19:28.161Z,1740086368.161 [DataOverHttps](INFO): Moved sent file to Logs/20250220T211527/Courier0000.lzma.bak
2025-02-20T21:19:28.161Z,1740086368.161 [DataOverHttps](INFO): SBD MOMSN=23968923
2025-02-20T21:19:39.123Z,1740086379.123 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T21:19:44.319Z,1740086384.319 [DataOverHttps](INFO): Sending 103 bytes from file Logs/20250220T202212/Express0007.lzma
2025-02-20T21:19:45.321Z,1740086385.321 [DataOverHttps](INFO): Moved sent file to Logs/20250220T202212/Express0007.lzma.bak
2025-02-20T21:19:45.321Z,1740086385.321 [DataOverHttps](INFO): SBD MOMSN=23968927
2025-02-20T21:20:01.307Z,1740086401.307 [DataOverHttps](INFO): Sending 381 bytes from file Logs/20250220T211527/Express0001.lzma
2025-02-20T21:20:02.310Z,1740086402.310 [DataOverHttps](INFO): Moved sent file to Logs/20250220T211527/Express0001.lzma.bak
2025-02-20T21:20:02.310Z,1740086402.310 [DataOverHttps](INFO): SBD MOMSN=23968929
2025-02-20T21:20:18.363Z,1740086418.363 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250220T211527/Express0004.lzma
2025-02-20T21:20:19.365Z,1740086419.365 [DataOverHttps](INFO): Moved sent file to Logs/20250220T211527/Express0004.lzma.bak
2025-02-20T21:20:19.365Z,1740086419.365 [DataOverHttps](INFO): SBD MOMSN=23968933
2025-02-20T21:20:20.753Z,1740086420.753 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T21:20:20.753Z,1740086420.753 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-20T21:20:20.753Z,1740086420.753 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-20T21:20:27.873Z,1740086427.873 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T212026
2025-02-20T21:20:58.995Z,1740086458.995 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T21:21:09.423Z,1740086469.423 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 40 min;set keepstation:BackseatDriver.EnableBackseat 1 bool;run
2025-02-20T21:21:09.526Z,1740086469.526 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-20T21:21:09.527Z,1740086469.527 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-20T21:21:09.527Z,1740086469.527 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-20T21:21:09.528Z,1740086469.528 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-20T21:21:10.758Z,1740086470.758 [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>

2025-02-20T21:21:10.775Z,1740086470.775 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-20T21:21:10.778Z,1740086470.778 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-20T21:21:10.780Z,1740086470.780 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-20T21:21:10.782Z,1740086470.782 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-20T21:21:10.792Z,1740086470.792 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-20T21:21:10.795Z,1740086470.795 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-20T21:21:10.797Z,1740086470.797 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-20T21:21:10.799Z,1740086470.799 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-20T21:21:10.806Z,1740086470.806 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-20T21:21:10.821Z,1740086470.821 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-20T21:21:10.823Z,1740086470.823 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-20T21:21:10.855Z,1740086470.855 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-20T21:21:10.927Z,1740086470.927 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-20T21:21:10.928Z,1740086470.928 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-20T21:21:11.462Z,1740086471.462 [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>

2025-02-20T21:21:11.468Z,1740086471.468 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-20T21:21:11.487Z,1740086471.487 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-20T21:21:11.489Z,1740086471.489 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-20T21:21:11.492Z,1740086471.492 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-20T21:21:11.494Z,1740086471.494 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-20T21:21:11.496Z,1740086471.496 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-20T21:21:11.498Z,1740086471.498 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-20T21:21:11.511Z,1740086471.511 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-20T21:21:11.517Z,1740086471.517 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-20T21:21:11.607Z,1740086471.607 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-20T21:21:11.608Z,1740086471.608 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-20T21:21:11.609Z,1740086471.609 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-20T21:21:11.828Z,1740086471.828 [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>

2025-02-20T21:21:11.832Z,1740086471.832 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-20T21:21:11.834Z,1740086471.834 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-20T21:21:11.837Z,1740086471.837 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-20T21:21:11.839Z,1740086471.839 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-20T21:21:11.840Z,1740086471.840 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-20T21:21:11.854Z,1740086471.854 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-20T21:21:11.904Z,1740086471.904 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-20T21:21:11.914Z,1740086471.914 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-20T21:21:11.914Z,1740086471.914 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-20T21:21:11.923Z,1740086471.923 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-20T21:21:11.950Z,1740086471.950 [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>

2025-02-20T21:21:11.953Z,1740086471.953 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-20T21:21:11.956Z,1740086471.956 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-20T21:21:11.958Z,1740086471.958 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-20T21:21:11.958Z,1740086471.958 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-20T21:21:11.996Z,1740086471.996 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-20T21:21:12.269Z,1740086472.269 [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>

2025-02-20T21:21:12.272Z,1740086472.272 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-20T21:21:12.274Z,1740086472.274 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-20T21:21:12.278Z,1740086472.278 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-20T21:21:12.314Z,1740086472.314 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-20T21:21:12.317Z,1740086472.317 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-20T21:21:12.327Z,1740086472.327 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-20T21:21:12.337Z,1740086472.337 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-20T21:21:12.373Z,1740086472.373 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-20T21:21:12.385Z,1740086472.385 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-20T21:21:12.390Z,1740086472.390 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-20T21:21:12.398Z,1740086472.398 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-20T21:21:12.415Z,1740086472.415 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-20T21:21:12.419Z,1740086472.419 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-20T21:21:12.432Z,1740086472.432 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-20T21:21:12.443Z,1740086472.443 [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
    }
  }
}


2025-02-20T21:21:12.462Z,1740086472.462 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-20T21:21:29.773Z,1740086489.773 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 40 minute
2025-02-20T21:21:29.774Z,1740086489.774 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-02-20T21:21:29.774Z,1740086489.774 [CommandExec](IMPORTANT): got command run
2025-02-20T21:21:29.797Z,1740086489.797 [CommandExec](IMPORTANT): Running 
2025-02-20T21:21:29.931Z,1740086489.931 [Default] Stopped
2025-02-20T21:21:29.931Z,1740086489.931 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-20T21:21:29.931Z,1740086489.931 [Default:B.GoToSurface] Stopped
2025-02-20T21:21:29.947Z,1740086489.947 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T21:21:29.947Z,1740086489.947 [Default:CheckIn] Stopped
2025-02-20T21:21:29.947Z,1740086489.947 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T21:21:29.947Z,1740086489.947 [Default:CheckIn:C.Wait] Stopped
2025-02-20T21:21:29.947Z,1740086489.947 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T21:21:29.948Z,1740086489.948 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-20T21:21:29.948Z,1740086489.948 [keepstation] Running Loop=1
2025-02-20T21:21:29.948Z,1740086489.948 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-20T21:21:29.948Z,1740086489.948 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-20T21:21:29.948Z,1740086489.948 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-20T21:21:29.948Z,1740086489.948 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T21:21:29.948Z,1740086489.948 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-20T21:21:29.949Z,1740086489.949 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T21:21:29.949Z,1740086489.949 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-20T21:21:29.949Z,1740086489.949 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T21:21:29.949Z,1740086489.949 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-20T21:21:29.949Z,1740086489.949 [keepstation:BackseatDriver] Running Loop=1
2025-02-20T21:21:29.949Z,1740086489.949 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-20T21:21:29.949Z,1740086489.949 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-20T21:21:29.949Z,1740086489.949 [keepstation:PowerOnly] Running Loop=1
2025-02-20T21:21:29.949Z,1740086489.949 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-20T21:21:29.949Z,1740086489.949 [keepstation:PowerOnly:A] Running Loop=1
2025-02-20T21:21:29.950Z,1740086489.950 [keepstation:PowerOnly:B] Running Loop=1
2025-02-20T21:21:29.950Z,1740086489.950 [keepstation:PowerOnly:C] Running Loop=1
2025-02-20T21:21:29.950Z,1740086489.950 [keepstation:PowerOnly:D] Running Loop=1
2025-02-20T21:21:29.950Z,1740086489.950 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-20T21:21:29.950Z,1740086489.950 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-20T21:21:29.950Z,1740086489.950 [keepstation:H.Pitch] Running Loop=1
2025-02-20T21:21:29.950Z,1740086489.950 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-20T21:21:29.950Z,1740086489.950 [keepstation:B] Running Loop=1
2025-02-20T21:21:29.951Z,1740086489.951 [keepstation:H.Pitch] Running Loop=1
2025-02-20T21:21:29.955Z,1740086489.955 [keepstation:PowerOnly] Running Loop=1
2025-02-20T21:21:29.956Z,1740086489.956 [keepstation:PowerOnly:D] Stopped
2025-02-20T21:21:29.956Z,1740086489.956 [keepstation:PowerOnly:C] Stopped
2025-02-20T21:21:29.956Z,1740086489.956 [keepstation:PowerOnly:B] Stopped
2025-02-20T21:21:29.956Z,1740086489.956 [keepstation:PowerOnly:A] Stopped
2025-02-20T21:21:29.956Z,1740086489.956 [keepstation:BackseatDriver] Running Loop=1
2025-02-20T21:21:29.956Z,1740086489.956 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-20T21:21:29.998Z,1740086489.998 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-20T21:21:29.998Z,1740086489.998 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T21:21:29.998Z,1740086489.998 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T21:21:29.998Z,1740086489.998 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T21:21:30.004Z,1740086490.004 [keepstation:B] Stopped
2025-02-20T21:21:30.004Z,1740086490.004 [keepstation:D] Running Loop=1
2025-02-20T21:21:30.039Z,1740086490.039 [BackseatComponent](INFO): Powering up
2025-02-20T21:21:30.040Z,1740086490.040 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-20T21:21:30.336Z,1740086490.336 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm.
2025-02-20T21:21:30.343Z,1740086490.343 [keepstation:D] Stopped
2025-02-20T21:21:30.343Z,1740086490.343 [keepstation:E] Running Loop=1
2025-02-20T21:21:30.743Z,1740086490.743 [keepstation:E] Stopped
2025-02-20T21:21:30.743Z,1740086490.743 [keepstation:StartingMission] Running Loop=1
2025-02-20T21:21:30.744Z,1740086490.744 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-20T21:21:31.148Z,1740086491.148 [keepstation:NeedComms] Running Loop=1
2025-02-20T21:21:31.148Z,1740086491.148 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-20T21:21:31.148Z,1740086491.148 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-20T21:21:31.148Z,1740086491.148 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T21:21:31.149Z,1740086491.149 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-20T21:21:31.149Z,1740086491.149 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-20T21:21:31.149Z,1740086491.149 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-20T21:21:31.150Z,1740086491.150 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-20T21:21:31.150Z,1740086491.150 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T21:21:31.150Z,1740086491.150 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T21:21:31.151Z,1740086491.151 [keepstation:NeedComms:A] Running Loop=1
2025-02-20T21:21:31.152Z,1740086491.152 [keepstation:NeedComms:A](INFO): last time_fix was:  1740086332.000000 second since 1970/01/01T00:00:00Z 
2025-02-20T21:21:31.152Z,1740086491.152 [keepstation:NeedComms:A] Stopped
2025-02-20T21:21:31.565Z,1740086491.565 [keepstation:NeedComms:C] Running Loop=1
2025-02-20T21:21:31.952Z,1740086491.952 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-20T21:21:33.554Z,1740086493.554 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212132.00,A,3647.55568,N,12152.14572,W,0.369,266.95,200225,,,A*75
2025-02-20T21:21:33.556Z,1740086493.556 [NAL9602](INFO): GPS fix at 20250220T212132: (36.792595, -121.869095)
2025-02-20T21:21:33.608Z,1740086493.608 [keepstation:NeedComms:C] Stopped
2025-02-20T21:21:33.608Z,1740086493.608 [keepstation:NeedComms:D] Running Loop=1
2025-02-20T21:21:33.997Z,1740086493.997 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-20T21:21:37.579Z,1740086497.579 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250220T211527/Courier0006.lzma
2025-02-20T21:21:38.581Z,1740086498.581 [DataOverHttps](INFO): Moved sent file to Logs/20250220T211527/Courier0006.lzma.bak
2025-02-20T21:21:38.581Z,1740086498.581 [DataOverHttps](INFO): SBD MOMSN=23968968
2025-02-20T21:21:47.356Z,1740086507.356 [NAL9602](INFO): SBD MO Status=0, MOMSN=12942, MT Status=0, MTMSN=0
2025-02-20T21:21:47.356Z,1740086507.356 [NAL9602](INFO): No messages in MT queue
2025-02-20T21:22:18.063Z,1740086538.063 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T21:22:37.321Z,1740086557.321 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250220T212240
2025-02-20T21:23:38.498Z,1740086618.498 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2165
2025-02-20T21:23:38.869Z,1740086618.869 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-02-20T21:24:04.984Z,1740086644.984 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-02-20T21:24:45.558Z,1740086685.558 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-02-20T21:24:55.256Z,1740086695.256 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-02-20T21:26:28.092Z,1740086788.092 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-02-20T21:27:38.096Z,1740086858.096 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2166
2025-02-20T21:28:39.580Z,1740086919.580 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-02-20T21:29:47.225Z,1740086987.225 [DAT](INFO): DAT read: user:6>Rx Time:21:29:46.0863

2025-02-20T21:29:47.225Z,1740086987.225 [DAT](INFO): Rx dataTimestamp_ set to:1740086987.224805
2025-02-20T21:29:47.225Z,1740086987.225 [DAT](INFO): DAT read: 

2025-02-20T21:29:47.226Z,1740086987.226 [DAT](INFO): DAT read: $Packet for address 0

2025-02-20T21:29:47.226Z,1740086987.226 [DAT](INFO): received a packet notification
2025-02-20T21:29:50.724Z,1740086990.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T21:33:37.128Z,1740087217.128 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-02-20T21:34:08.908Z,1740087248.908 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-02-20T21:34:09.636Z,1740087249.636 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T21:34:22.564Z,1740087262.564 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T21:34:34.687Z,1740087274.687 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T21:34:40.063Z,1740087280.063 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T21:34:48.016Z,1740087288.016 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T21:35:00.942Z,1740087300.942 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T21:35:13.870Z,1740087313.870 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T21:35:26.808Z,1740087326.808 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T21:36:53.924Z,1740087413.924 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T21:39:22.588Z,1740087562.588 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-02-20T21:40:03.060Z,1740087603.060 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-02-20T21:40:28.634Z,1740087628.634 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-20T21:40:34.208Z,1740087634.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T21:40:35.108Z,1740087635.108 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-20T21:40:35.108Z,1740087635.108 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-20T21:40:35.111Z,1740087635.111 [BPC1](INFO): Received data from all battery sticks.
2025-02-20T21:40:42.713Z,1740087642.713 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T214041
2025-02-20T21:41:52.609Z,1740087712.609 [DataOverHttps](INFO): Received command: get height_above_sea_floor;stop
2025-02-20T21:41:55.128Z,1740087715.128 [CommandExec](IMPORTANT): got command get height_above_sea_floor
2025-02-20T21:41:55.129Z,1740087715.129 [CommandExec](IMPORTANT): height_above_sea_floor 5.310000 m
2025-02-20T21:41:55.129Z,1740087715.129 [CommandExec](IMPORTANT): got command stop
2025-02-20T21:41:55.129Z,1740087715.129 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-02-20T21:41:55.182Z,1740087715.182 [MissionManager](INFO): MissionManager is completed.
2025-02-20T21:41:55.182Z,1740087715.182 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-20T21:41:55.182Z,1740087715.182 [keepstation] Stopped
2025-02-20T21:41:55.182Z,1740087715.182 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-20T21:41:55.182Z,1740087715.182 [keepstation:NeedComms] Stopped
2025-02-20T21:41:55.182Z,1740087715.182 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-20T21:41:55.183Z,1740087715.183 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-20T21:41:55.183Z,1740087715.183 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T21:41:55.183Z,1740087715.183 [keepstation:NeedComms:D] Stopped
2025-02-20T21:41:55.183Z,1740087715.183 [keepstation:StandardEnvelopes] Stopped
2025-02-20T21:41:55.187Z,1740087715.187 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-20T21:41:55.187Z,1740087715.187 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-20T21:41:55.187Z,1740087715.187 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-20T21:41:55.187Z,1740087715.187 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-20T21:41:55.188Z,1740087715.188 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-20T21:41:55.188Z,1740087715.188 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-20T21:41:55.188Z,1740087715.188 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-20T21:41:55.188Z,1740087715.188 [keepstation:BackseatDriver] Stopped
2025-02-20T21:41:55.188Z,1740087715.188 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-20T21:41:55.188Z,1740087715.188 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-20T21:41:55.188Z,1740087715.188 [keepstation:PowerOnly] Stopped
2025-02-20T21:41:55.188Z,1740087715.188 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-20T21:41:55.188Z,1740087715.188 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-20T21:41:55.188Z,1740087715.188 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T21:41:55.188Z,1740087715.188 [keepstation:H.Pitch] Stopped
2025-02-20T21:41:55.188Z,1740087715.188 [keepstation:StartingMission] Stopped
2025-02-20T21:41:55.189Z,1740087715.189 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-20T21:41:55.501Z,1740087715.501 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-02-20T21:41:55.520Z,1740087715.520 [MissionManager](IMPORTANT): Started mission Default
2025-02-20T21:41:55.520Z,1740087715.520 [Default] Running Loop=1
2025-02-20T21:41:55.520Z,1740087715.520 [Default](DEBUG): Aggregate::initialize Default
2025-02-20T21:41:55.520Z,1740087715.520 [Default:B.GoToSurface] Running Loop=1
2025-02-20T21:41:55.520Z,1740087715.520 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T21:41:55.521Z,1740087715.521 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-20T21:41:55.521Z,1740087715.521 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-20T21:41:55.521Z,1740087715.521 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-20T21:41:55.522Z,1740087715.522 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-20T21:41:55.522Z,1740087715.522 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T21:41:55.522Z,1740087715.522 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T21:41:55.523Z,1740087715.523 [Default:A.Wait] Running Loop=1
2025-02-20T21:41:55.546Z,1740087715.546 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-20T21:41:57.304Z,1740087717.304 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-20T21:41:57.305Z,1740087717.305 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-20T21:42:08.856Z,1740087728.856 [Default:A.Wait](INFO): Done Waiting.
2025-02-20T21:42:08.856Z,1740087728.856 [Default:A.Wait] Stopped
2025-02-20T21:42:08.856Z,1740087728.856 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T21:42:09.252Z,1740087729.252 [Default:CheckIn] Running Loop=1
2025-02-20T21:42:09.252Z,1740087729.252 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T21:42:09.252Z,1740087729.252 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T21:42:11.270Z,1740087731.270 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214210.00,A,3647.52479,N,12152.10606,W,1.225,211.74,200225,,,A*75
2025-02-20T21:42:11.272Z,1740087731.272 [NAL9602](INFO): GPS fix at 20250220T214210: (36.792080, -121.868434)
2025-02-20T21:42:11.284Z,1740087731.284 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T21:42:11.284Z,1740087731.284 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T21:42:15.484Z,1740087735.484 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-20T21:42:15.484Z,1740087735.484 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-20T21:42:15.484Z,1740087735.484 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-20T21:42:28.638Z,1740087748.638 [NAL9602](INFO): SBD MO Status=0, MOMSN=12943, MT Status=0, MTMSN=0
2025-02-20T21:42:28.638Z,1740087748.638 [NAL9602](INFO): No messages in MT queue
2025-02-20T21:42:59.337Z,1740087779.337 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T21:44:08.544Z,1740087848.544 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250220T211527/Courier0009.lzma
2025-02-20T21:44:09.545Z,1740087849.545 [DataOverHttps](INFO): Moved sent file to Logs/20250220T211527/Courier0009.lzma.bak
2025-02-20T21:44:09.546Z,1740087849.546 [DataOverHttps](IMPORTANT): SBD MOMSN=23968976, MTMSN=20250220T214408
2025-02-20T21:44:21.323Z,1740087861.323 [DataOverHttps](INFO): Received command: restart logs