2025-02-20T21:46:20.153Z,1740087980.153 [Supervisor](DEBUG): Initializing supervisor.
2025-02-20T21:46:20.158Z,1740087980.158 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-02-20T21:46:20.158Z,1740087980.158 [SyncHandler](INFO): Protected caller Thread ID is 4677
2025-02-20T21:46:20.159Z,1740087980.159 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-02-20T21:46:20.160Z,1740087980.160 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-02-20T21:46:20.160Z,1740087980.160 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 4678
2025-02-20T21:46:20.164Z,1740087980.164 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-02-20T21:46:20.181Z,1740087980.181 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-02-20T21:46:20.182Z,1740087980.182 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-02-20T21:46:20.183Z,1740087980.183 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 4679
2025-02-20T21:46:20.187Z,1740087980.187 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-02-20T21:46:20.188Z,1740087980.188 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-02-20T21:46:20.188Z,1740087980.188 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 4680
2025-02-20T21:46:20.190Z,1740087980.190 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-02-20T21:46:20.191Z,1740087980.191 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-02-20T21:46:20.192Z,1740087980.192 [logger ThreadHandler](INFO): Protected caller Thread ID is 4681
2025-02-20T21:46:20.195Z,1740087980.195 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-02-20T21:46:20.196Z,1740087980.196 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-02-20T21:46:20.198Z,1740087980.198 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-02-20T21:46:20.490Z,1740087980.490 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-02-20T21:46:20.492Z,1740087980.492 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-02-20T21:46:20.713Z,1740087980.713 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-02-20T21:46:20.714Z,1740087980.714 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-02-20T21:46:20.824Z,1740087980.824 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-02-20T21:46:20.825Z,1740087980.825 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-02-20T21:46:21.028Z,1740087981.028 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-02-20T21:46:21.030Z,1740087981.030 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-02-20T21:46:21.520Z,1740087981.520 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-02-20T21:46:21.520Z,1740087981.520 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-02-20T21:46:22.476Z,1740087982.476 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-02-20T21:46:26.068Z,1740087986.068 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-02-20T21:46:26.348Z,1740087986.348 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-02-20T21:46:26.349Z,1740087986.349 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-02-20T21:46:27.204Z,1740087987.204 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-02-20T21:46:27.205Z,1740087987.205 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-02-20T21:46:28.793Z,1740087988.793 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-02-20T21:46:28.794Z,1740087988.794 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-02-20T21:46:29.708Z,1740087989.708 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-02-20T21:46:29.709Z,1740087989.709 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-02-20T21:46:29.805Z,1740087989.805 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-02-20T21:46:30.177Z,1740087990.177 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-02-20T21:46:30.178Z,1740087990.178 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-02-20T21:46:30.330Z,1740087990.330 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-02-20T21:46:30.330Z,1740087990.330 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-02-20T21:46:31.169Z,1740087991.169 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-02-20T21:46:31.170Z,1740087991.170 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-02-20T21:46:31.526Z,1740087991.526 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-02-20T21:46:31.527Z,1740087991.527 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-02-20T21:46:31.626Z,1740087991.626 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-aku/
2025-02-20T21:46:31.627Z,1740087991.627 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/secure.cfg
2025-02-20T21:46:31.727Z,1740087991.727 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/logger.cfg
2025-02-20T21:46:31.846Z,1740087991.846 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/vehicle.cfg
2025-02-20T21:46:31.966Z,1740087991.966 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/BIT.cfg
2025-02-20T21:46:32.070Z,1740087992.070 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Simulator.cfg
2025-02-20T21:46:32.171Z,1740087992.171 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Servo.cfg
2025-02-20T21:46:32.290Z,1740087992.290 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Science.cfg
2025-02-20T21:46:32.446Z,1740087992.446 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Sensor.cfg
2025-02-20T21:46:32.624Z,1740087992.624 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Control.cfg
2025-02-20T21:46:32.736Z,1740087992.736 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Battery.cfg
2025-02-20T21:46:33.017Z,1740087993.017 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-02-20T21:46:33.018Z,1740087993.018 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-02-20T21:46:33.030Z,1740087993.030 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-02-20T21:46:33.389Z,1740087993.389 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-02-20T21:46:33.390Z,1740087993.390 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-02-20T21:46:33.897Z,1740087993.897 [AHRS_M2] Loaded
2025-02-20T21:46:33.898Z,1740087993.898 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-02-20T21:46:33.936Z,1740087993.936 [BackseatComponent] Loaded
2025-02-20T21:46:33.936Z,1740087993.936 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-02-20T21:46:33.937Z,1740087993.937 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408AB4E0
2025-02-20T21:46:33.938Z,1740087993.938 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 4760
2025-02-20T21:46:33.940Z,1740087993.940 [LcmUniversalReporter] Loaded
2025-02-20T21:46:33.941Z,1740087993.941 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-02-20T21:46:34.755Z,1740087994.755 [BPC1] Loaded
2025-02-20T21:46:34.755Z,1740087994.755 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-02-20T21:46:34.848Z,1740087994.848 [DAT] Loaded
2025-02-20T21:46:34.848Z,1740087994.848 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-02-20T21:46:34.849Z,1740087994.849 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 408DB4E0
2025-02-20T21:46:34.850Z,1740087994.850 [DAT ThreadHandler](INFO): Protected caller Thread ID is 4761
2025-02-20T21:46:34.923Z,1740087994.923 [DataOverHttps] Loaded
2025-02-20T21:46:34.924Z,1740087994.924 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-02-20T21:46:34.925Z,1740087994.925 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4090B4E0
2025-02-20T21:46:34.925Z,1740087994.925 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 4762
2025-02-20T21:46:34.948Z,1740087994.948 [Depth_Keller] Loaded
2025-02-20T21:46:34.948Z,1740087994.948 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-02-20T21:46:34.953Z,1740087994.953 [DropWeight] Loaded
2025-02-20T21:46:34.953Z,1740087994.953 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-02-20T21:46:35.016Z,1740087995.016 [NAL9602] Loaded
2025-02-20T21:46:35.016Z,1740087995.016 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-02-20T21:46:35.045Z,1740087995.045 [Onboard] Loaded
2025-02-20T21:46:35.045Z,1740087995.045 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-02-20T21:46:35.046Z,1740087995.046 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4093B4E0
2025-02-20T21:46:35.047Z,1740087995.047 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 4763
2025-02-20T21:46:35.060Z,1740087995.060 [Power24vConverter] Loaded
2025-02-20T21:46:35.060Z,1740087995.060 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-02-20T21:46:35.077Z,1740087995.077 [Radio_Surface] Loaded
2025-02-20T21:46:35.077Z,1740087995.077 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-02-20T21:46:35.078Z,1740087995.078 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4096B4E0
2025-02-20T21:46:35.079Z,1740087995.079 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 4764
2025-02-20T21:46:35.094Z,1740087995.094 [Sonardyne_Nano] Loaded
2025-02-20T21:46:35.094Z,1740087995.094 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-02-20T21:46:35.095Z,1740087995.095 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-02-20T21:46:35.095Z,1740087995.095 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-02-20T21:46:35.246Z,1740087995.246 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-02-20T21:46:35.247Z,1740087995.247 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-02-20T21:46:35.301Z,1740087995.301 [VerticalControl](DEBUG): Construct VerticalControl.
2025-02-20T21:46:35.363Z,1740087995.363 [VerticalControl] Loaded
2025-02-20T21:46:35.363Z,1740087995.363 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-02-20T21:46:35.366Z,1740087995.366 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-02-20T21:46:35.413Z,1740087995.413 [HorizontalControl] Loaded
2025-02-20T21:46:35.414Z,1740087995.414 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-02-20T21:46:35.416Z,1740087995.416 [SpeedControl](DEBUG): Construct SpeedControl.
2025-02-20T21:46:35.419Z,1740087995.419 [SpeedControl] Loaded
2025-02-20T21:46:35.420Z,1740087995.420 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-02-20T21:46:35.422Z,1740087995.422 [LoopControl](DEBUG): Construct LoopControl.
2025-02-20T21:46:35.423Z,1740087995.423 [LoopControl] Loaded
2025-02-20T21:46:35.423Z,1740087995.423 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-02-20T21:46:35.424Z,1740087995.424 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-02-20T21:46:35.424Z,1740087995.424 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-02-20T21:46:35.435Z,1740087995.435 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-02-20T21:46:35.435Z,1740087995.435 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-02-20T21:46:39.749Z,1740087999.749 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-02-20T21:46:39.749Z,1740087999.749 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-02-20T21:46:39.878Z,1740087999.878 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-02-20T21:46:39.878Z,1740087999.878 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-02-20T21:46:39.892Z,1740087999.892 [NavChart] Loaded
2025-02-20T21:46:39.892Z,1740087999.892 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-02-20T21:46:39.898Z,1740087999.898 [UniversalFixResidualReporter] Loaded
2025-02-20T21:46:39.898Z,1740087999.898 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-02-20T21:46:39.898Z,1740087999.898 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-02-20T21:46:39.899Z,1740087999.899 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-02-20T21:46:40.044Z,1740088000.044 [SBIT](DEBUG): Construct Startup Built In Test.
2025-02-20T21:46:40.054Z,1740088000.054 [SBIT] Loaded
2025-02-20T21:46:40.054Z,1740088000.054 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-02-20T21:46:40.057Z,1740088000.057 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-02-20T21:46:40.069Z,1740088000.069 [IBIT] Loaded
2025-02-20T21:46:40.070Z,1740088000.070 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-02-20T21:46:40.076Z,1740088000.076 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-02-20T21:46:40.298Z,1740088000.298 [CBIT] Loaded
2025-02-20T21:46:40.299Z,1740088000.299 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-02-20T21:46:40.299Z,1740088000.299 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-02-20T21:46:40.300Z,1740088000.300 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-02-20T21:46:40.478Z,1740088000.478 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-02-20T21:46:40.479Z,1740088000.479 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-02-20T21:46:40.617Z,1740088000.617 [BuoyancyServo] Loaded
2025-02-20T21:46:40.617Z,1740088000.617 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-02-20T21:46:40.640Z,1740088000.640 [ElevatorServo] Loaded
2025-02-20T21:46:40.640Z,1740088000.640 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-02-20T21:46:40.661Z,1740088000.661 [MassServo] Loaded
2025-02-20T21:46:40.661Z,1740088000.661 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-02-20T21:46:40.682Z,1740088000.682 [RudderServo] Loaded
2025-02-20T21:46:40.682Z,1740088000.682 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-02-20T21:46:40.700Z,1740088000.700 [ThrusterHE] Loaded
2025-02-20T21:46:40.700Z,1740088000.700 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-02-20T21:46:40.700Z,1740088000.700 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-02-20T21:46:40.701Z,1740088000.701 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-02-20T21:46:40.880Z,1740088000.880 [CTD_Seabird] Loaded
2025-02-20T21:46:40.880Z,1740088000.880 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-02-20T21:46:40.881Z,1740088000.881 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BA14E0
2025-02-20T21:46:40.881Z,1740088000.881 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 4765
2025-02-20T21:46:40.917Z,1740088000.917 [ESPComponent] Loaded
2025-02-20T21:46:40.917Z,1740088000.917 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-02-20T21:46:40.939Z,1740088000.939 [PAR_Licor] Loaded
2025-02-20T21:46:40.940Z,1740088000.940 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-02-20T21:46:40.985Z,1740088000.985 [WetLabsBB2FL] Loaded
2025-02-20T21:46:40.986Z,1740088000.986 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-02-20T21:46:40.987Z,1740088000.987 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BD14E0
2025-02-20T21:46:40.987Z,1740088000.987 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 4766
2025-02-20T21:46:40.988Z,1740088000.988 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-02-20T21:46:40.989Z,1740088000.989 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-02-20T21:46:41.040Z,1740088001.040 [DepthRateCalculator] Loaded
2025-02-20T21:46:41.040Z,1740088001.040 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-02-20T21:46:41.046Z,1740088001.046 [PitchRateCalculator] Loaded
2025-02-20T21:46:41.046Z,1740088001.046 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-02-20T21:46:41.055Z,1740088001.055 [SpeedCalculator] Loaded
2025-02-20T21:46:41.055Z,1740088001.055 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-02-20T21:46:41.060Z,1740088001.060 [YawRateCalculator] Loaded
2025-02-20T21:46:41.060Z,1740088001.060 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-02-20T21:46:41.079Z,1740088001.079 [ElevatorOffsetCalculator] Loaded
2025-02-20T21:46:41.080Z,1740088001.080 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-02-20T21:46:41.080Z,1740088001.080 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-02-20T21:46:41.081Z,1740088001.081 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-02-20T21:46:41.141Z,1740088001.141 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-02-20T21:46:41.147Z,1740088001.147 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-02-20T21:46:41.150Z,1740088001.150 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-02-20T21:46:41.161Z,1740088001.161 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-02-20T21:46:41.162Z,1740088001.162 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C5E4E0
2025-02-20T21:46:41.163Z,1740088001.163 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 4767
2025-02-20T21:46:41.167Z,1740088001.167 [Supervisor](INFO): Main Thread ID is 828
2025-02-20T21:46:41.167Z,1740088001.167 [Supervisor](DEBUG): Running supervisor.
2025-02-20T21:46:41.168Z,1740088001.168 [CommandExec ThreadHandler](INFO): Handler Thread ID is 4768
2025-02-20T21:46:41.168Z,1740088001.168 [CommandExec](INFO): Initializing the command executive.
2025-02-20T21:46:41.170Z,1740088001.170 [CommandLine ThreadHandler](INFO): Handler Thread ID is 4769
2025-02-20T21:46:41.172Z,1740088001.172 [controlThread ThreadHandler](INFO): Handler Thread ID is 4770
2025-02-20T21:46:41.172Z,1740088001.172 [controlThread](DEBUG): Initializing ControlThread
2025-02-20T21:46:41.177Z,1740088001.177 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-02-20T21:46:41.179Z,1740088001.179 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-02-20T21:46:41.179Z,1740088001.179 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-02-20T21:46:41.180Z,1740088001.180 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-02-20T21:46:41.181Z,1740088001.181 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-02-20T21:46:41.181Z,1740088001.181 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-02-20T21:46:41.181Z,1740088001.181 [SBIT](INFO): Initialize SBIT Component.
2025-02-20T21:46:41.182Z,1740088001.182 [SBIT](IMPORTANT): git: 2025-02-18
2025-02-20T21:46:41.182Z,1740088001.182 [SBIT](INFO): git hash: 618ec5a8c5f60c900e5bed23ee92085c43718f8d
2025-02-20T21:46:41.182Z,1740088001.182 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-02-20T21:46:41.183Z,1740088001.183 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Dec 4 01:17:04 UTC 2024
2025-02-20T21:46:41.185Z,1740088001.185 [SBIT](INFO): Beginning SBIT in 66.000000 seconds.
2025-02-20T21:46:41.185Z,1740088001.185 [IBIT](INFO): Initialize IBIT Component.
2025-02-20T21:46:41.186Z,1740088001.186 [CBIT](DEBUG): Initialize CBIT Component.
2025-02-20T21:46:41.187Z,1740088001.187 [logger ThreadHandler](INFO): Handler Thread ID is 4771
2025-02-20T21:46:41.199Z,1740088001.199 [CBIT](DEBUG): Initialized mux pins.
2025-02-20T21:46:41.199Z,1740088001.199 [CBIT](DEBUG): Initializing the watchdog timer.
2025-02-20T21:46:41.208Z,1740088001.208 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 4772
2025-02-20T21:46:41.220Z,1740088001.220 [DAT ThreadHandler](INFO): Handler Thread ID is 4773
2025-02-20T21:46:41.220Z,1740088001.220 [DAT](INFO): Powering up
2025-02-20T21:46:41.220Z,1740088001.220 [DAT](DEBUG): Initializing DAT.
2025-02-20T21:46:41.223Z,1740088001.223 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-02-20T21:46:41.224Z,1740088001.224 [CBIT](DEBUG): Initializing heartbeat.
2025-02-20T21:46:41.225Z,1740088001.225 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 4775
2025-02-20T21:46:41.227Z,1740088001.227 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-02-20T21:46:41.236Z,1740088001.236 [Onboard ThreadHandler](INFO): Handler Thread ID is 4776
2025-02-20T21:46:41.266Z,1740088001.266 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 4777
2025-02-20T21:46:41.283Z,1740088001.283 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 4778
2025-02-20T21:46:41.284Z,1740088001.284 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-02-20T21:46:41.288Z,1740088001.288 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 4780
2025-02-20T21:46:41.292Z,1740088001.292 [WetLabsBB2FL](INFO): Powering up
2025-02-20T21:46:41.293Z,1740088001.293 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 4782
2025-02-20T21:46:41.295Z,1740088001.295 [CBIT](DEBUG): Deactivating GF circuits.
2025-02-20T21:46:41.295Z,1740088001.295 [CBIT](DEBUG): Deactivating emergency mode.
2025-02-20T21:46:41.301Z,1740088001.301 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-02-20T21:46:41.301Z,1740088001.301 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-02-20T21:46:41.301Z,1740088001.301 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-02-20T21:46:41.301Z,1740088001.301 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-02-20T21:46:41.302Z,1740088001.302 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-02-20T21:46:41.302Z,1740088001.302 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-02-20T21:46:41.302Z,1740088001.302 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-02-20T21:46:41.302Z,1740088001.302 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-02-20T21:46:41.335Z,1740088001.335 [CBIT](DEBUG): Backplane powered.
2025-02-20T21:46:41.339Z,1740088001.339 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-02-20T21:46:41.340Z,1740088001.340 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-02-20T21:46:41.340Z,1740088001.340 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-02-20T21:46:41.341Z,1740088001.341 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-02-20T21:46:41.341Z,1740088001.341 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-02-20T21:46:41.342Z,1740088001.342 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-02-20T21:46:41.343Z,1740088001.343 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-02-20T21:46:41.343Z,1740088001.343 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-02-20T21:46:41.346Z,1740088001.346 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-02-20T21:46:41.415Z,1740088001.415 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Startup">
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="StartupSatComms">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix />
        </ReadDatum>
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Mission>

2025-02-20T21:46:41.438Z,1740088001.438 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-20T21:46:41.483Z,1740088001.483 [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 Startup {
  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate StartupSatComms {
    run in sequence

    readDatum {
      timeout duration=P1M

      Universal:latitude_fix
    }

    readDatum {
      timeout duration=P1M

      Universal:platform_communications
    }
  }
}


2025-02-20T21:46:41.483Z,1740088001.483 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-02-20T21:46:41.484Z,1740088001.484 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-02-20T21:46:41.493Z,1740088001.493 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-02-20T21:46:41.667Z,1740088001.667 [Radio_Surface](INFO): Powering up
2025-02-20T21:46:41.762Z,1740088001.762 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Default">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>13</Value>
        </Setting>
    </Guidance:Wait>
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P4H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            Default mission has been running for 
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-02-20T21:46:41.784Z,1740088001.784 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-02-20T21:46:41.785Z,1740088001.785 [Default:A.Wait](DEBUG): Construct Wait.
2025-02-20T21:46:41.799Z,1740088001.799 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-20T21:46:41.837Z,1740088001.837 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-02-20T21:46:41.851Z,1740088001.851 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-02-20T21:46:41.857Z,1740088001.857 [Default:E.Execute](DEBUG): Construct Execute.
2025-02-20T21:46:41.880Z,1740088001.880 [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 Default {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute
  }

  behavior Guidance:Wait {
    """
    Wait a moment to see if the scheduler starts a new mission before
    starting to actually run Default.
    """

    run in sequence

    set duration = 13 second
  }

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

    readDatum id="Read_Iridium" {
      timeout duration=P4H {
        behavior Guidance:Execute {
          run in sequence

          set command = "Burn on"
        }

        syslog critical "Dropped weight due to communications timeout."
      }

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

    syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
  }

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-02-20T21:46:41.885Z,1740088001.885 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2025-02-20T21:46:41.900Z,1740088001.900 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-02-20T21:46:41.969Z,1740088001.969 [Power24vConverter](INFO): Powering up.
2025-02-20T21:46:41.970Z,1740088001.970 [Sonardyne_Nano](INFO): Initializing.
2025-02-20T21:46:42.030Z,1740088002.030 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-02-20T21:46:42.047Z,1740088002.047 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-02-20T21:46:42.048Z,1740088002.048 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-02-20T21:46:42.055Z,1740088002.055 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-02-20T21:46:42.056Z,1740088002.056 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-20T21:46:42.063Z,1740088002.063 [MassServo](DEBUG): Initializing MassServo.
2025-02-20T21:46:42.064Z,1740088002.064 [RudderServo](DEBUG): Initializing EZServoServo.
2025-02-20T21:46:42.072Z,1740088002.072 [RudderServo](DEBUG): Initializing RudderServo.
2025-02-20T21:46:42.073Z,1740088002.073 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-20T21:46:42.079Z,1740088002.079 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-20T21:46:43.399Z,1740088003.399 [WetLabsBB2FL](INFO): Powering down
2025-02-20T21:46:43.914Z,1740088003.914 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-02-20T21:46:45.200Z,1740088005.200 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2409
2025-02-20T21:46:47.680Z,1740088007.680 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-02-20T21:46:52.812Z,1740088012.812 [DAT](INFO): DAT read: 

2025-02-20T21:46:52.813Z,1740088012.813 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-02-20T21:46:54.324Z,1740088014.324 [DAT](INFO): DAT read: MF Frequency Band

2025-02-20T21:46:54.325Z,1740088014.325 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-02-20T21:46:54.326Z,1740088014.326 [DAT](INFO): DAT read: Feb 20 2025 21:46:49 

2025-02-20T21:46:55.586Z,1740088015.586 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-02-20T21:46:55.588Z,1740088015.588 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-02-20T21:46:55.588Z,1740088015.588 [DAT](INFO): commRate: 800
2025-02-20T21:46:57.651Z,1740088017.651 [DAT](INFO): entering command mode
2025-02-20T21:46:57.852Z,1740088017.852 [DAT](INFO): DAT read: 

2025-02-20T21:46:57.852Z,1740088017.852 [DAT](INFO): DAT read: user:1>

2025-02-20T21:46:57.853Z,1740088017.853 [DAT](INFO): setting verbose to 3
2025-02-20T21:46:58.104Z,1740088018.104 [DAT](INFO): DAT read: user:1>

2025-02-20T21:46:58.106Z,1740088018.106 [DAT](INFO): DAT read: Verbose         | 3           

2025-02-20T21:46:58.106Z,1740088018.106 [DAT](INFO): set verbose to 3
2025-02-20T21:46:58.106Z,1740088018.106 [DAT](INFO): setting DatVerbose to 27440
2025-02-20T21:46:58.356Z,1740088018.356 [DAT](INFO): DAT read: user:2>

2025-02-20T21:46:58.357Z,1740088018.357 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-02-20T21:46:58.357Z,1740088018.357 [DAT](INFO): set DatVerbose to 27440
2025-02-20T21:46:58.357Z,1740088018.357 [DAT](INFO): setting transmit power to 8
2025-02-20T21:46:58.608Z,1740088018.608 [DAT](INFO): DAT read: user:3>

2025-02-20T21:46:58.609Z,1740088018.609 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-02-20T21:46:58.609Z,1740088018.609 [DAT](INFO): set transmit power to 8
2025-02-20T21:46:58.609Z,1740088018.609 [DAT](INFO): setting local address to 2
2025-02-20T21:46:58.860Z,1740088018.860 [DAT](INFO): DAT read: user:4>

2025-02-20T21:46:58.861Z,1740088018.861 [DAT](INFO): DAT read: LocalAddr       | 2           

2025-02-20T21:46:58.861Z,1740088018.861 [DAT](INFO): set local address to 2
2025-02-20T21:46:58.862Z,1740088018.862 [DAT](INFO): Setting time to: 21:46:58 And date to:2/20/2025
2025-02-20T21:46:59.112Z,1740088019.112 [DAT](INFO): DAT read: user:5>

2025-02-20T21:46:59.113Z,1740088019.113 [DAT](INFO): DAT read: Thu Feb 20, 2025  21:46:58  

2025-02-20T21:46:59.113Z,1740088019.113 [DAT](INFO): Local DAT time set to Thu Feb 20, 2025  21:46:58  

2025-02-20T21:47:05.337Z,1740088025.337 [NAL9602](INFO): Powering up NAL9602
2025-02-20T21:47:16.241Z,1740088036.241 [NAL9602](INFO): NAL9602 initialized
2025-02-20T21:47:30.380Z,1740088050.380 [NAL9602](INFO): SBD MO Status=0, MOMSN=12944, MT Status=0, MTMSN=0
2025-02-20T21:47:30.380Z,1740088050.380 [NAL9602](INFO): No messages in MT queue
2025-02-20T21:47:47.744Z,1740088067.744 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T21:47:47.807Z,1740088067.807 [SBIT](IMPORTANT): Beginning Startup BIT
2025-02-20T21:47:47.820Z,1740088067.820 [CBIT](IMPORTANT): Beginning ground fault scan
2025-02-20T21:47:59.149Z,1740088079.149 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.001141
CHAN A1 (24V): -0.000469
CHAN A2 (12V): 0.000221
CHAN A3 (5V): -0.001992
CHAN B0 (3.3V): -0.001132
CHAN B1 (3.15aV): -0.001131
CHAN B2 (3.15bV): -0.001078
CHAN B3 (GND): -0.002575
OPEN: 0.004840
Full Scale: +/- 1 mA
2025-02-20T21:47:59.944Z,1740088079.944 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T21:48:12.477Z,1740088092.477 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T21:48:25.810Z,1740088105.810 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T21:48:38.800Z,1740088118.800 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T21:48:42.058Z,1740088122.058 [SBIT](IMPORTANT): SBIT PASSED
2025-02-20T21:48:42.059Z,1740088122.059 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-02-20T21:48:42.060Z,1740088122.060 [SBIT](IMPORTANT): BioacousticsDataBridge.loadAtStartup=0 bool;

2025-02-20T21:48:42.060Z,1740088122.060 [SBIT](IMPORTANT): CBIT.runNavErrorCritical=1 bool;

2025-02-20T21:48:42.060Z,1740088122.060 [SBIT](IMPORTANT): DAT.loadAtStartup=1 bool;

2025-02-20T21:48:42.060Z,1740088122.060 [SBIT](IMPORTANT): DATMMP.loadAtStartup=0 bool;

2025-02-20T21:48:42.061Z,1740088122.061 [SBIT](IMPORTANT): DATMMP.simulateHardware=0 bool;

2025-02-20T21:48:42.064Z,1740088122.064 [SBIT](IMPORTANT): ESPComponent.loadAtStartup=1 bool;

2025-02-20T21:48:42.064Z,1740088122.064 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute;

2025-02-20T21:48:42.064Z,1740088122.064 [SBIT](IMPORTANT): ESPComponent.simulateHardware=1 bool;

2025-02-20T21:48:42.064Z,1740088122.064 [SBIT](IMPORTANT): Express none PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water;

2025-02-20T21:48:42.065Z,1740088122.065 [SBIT](IMPORTANT): SpeedControl.rollOptimum=0.950000 m/s;

2025-02-20T21:48:42.065Z,1740088122.065 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=305.318315 cubic_centimeter;

2025-02-20T21:48:42.065Z,1740088122.065 [SBIT](IMPORTANT): VerticalControl.elevDeadband=0.5 degree;

2025-02-20T21:48:42.065Z,1740088122.065 [SBIT](IMPORTANT): VerticalControl.kpDepthBuoy=20 ratio;

2025-02-20T21:48:42.065Z,1740088122.065 [SBIT](IMPORTANT): VerticalControl.massDefault=11.647778 millimeter;

2025-02-20T21:48:42.473Z,1740088122.473 [MissionManager](IMPORTANT): Started mission Startup
2025-02-20T21:48:42.474Z,1740088122.474 [Startup] Running Loop=1
2025-02-20T21:48:42.474Z,1740088122.474 [Startup](DEBUG): Aggregate::initialize Startup
2025-02-20T21:48:42.474Z,1740088122.474 [Startup:A.GoToSurface] Running Loop=1
2025-02-20T21:48:42.474Z,1740088122.474 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T21:48:42.475Z,1740088122.475 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-20T21:48:42.475Z,1740088122.475 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-20T21:48:42.476Z,1740088122.476 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-20T21:48:42.476Z,1740088122.476 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-20T21:48:42.476Z,1740088122.476 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T21:48:42.477Z,1740088122.477 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T21:48:42.478Z,1740088122.478 [Startup:StartupSatComms] Running Loop=1
2025-02-20T21:48:42.478Z,1740088122.478 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-02-20T21:48:42.478Z,1740088122.478 [Startup:StartupSatComms:A] Running Loop=1
2025-02-20T21:48:42.881Z,1740088122.881 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-02-20T21:48:51.332Z,1740088131.332 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T21:48:54.257Z,1740088134.257 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004662
2025-02-20T21:49:04.061Z,1740088144.061 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T21:49:30.872Z,1740088170.872 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214927.00,A,3647.51411,N,12152.09487,W,1.613,186.28,200225,,,A*71
2025-02-20T21:49:30.880Z,1740088170.880 [NAL9602](INFO): GPS fix at 20250220T214927: (36.791902, -121.868248)
2025-02-20T21:49:30.924Z,1740088170.924 [Startup:StartupSatComms:A] Stopped
2025-02-20T21:49:30.924Z,1740088170.924 [Startup:StartupSatComms:B] Running Loop=1
2025-02-20T21:49:31.212Z,1740088171.212 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-20T21:49:38.863Z,1740088178.863 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250220T214421/Courier0003.lzma
2025-02-20T21:49:39.865Z,1740088179.865 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214421/Courier0003.lzma.bak
2025-02-20T21:49:39.865Z,1740088179.865 [DataOverHttps](INFO): SBD MOMSN=23969006
2025-02-20T21:49:57.771Z,1740088197.771 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250220T214421/Courier0006.lzma
2025-02-20T21:49:58.773Z,1740088198.773 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214421/Courier0006.lzma.bak
2025-02-20T21:49:58.773Z,1740088198.773 [DataOverHttps](INFO): SBD MOMSN=23969009
2025-02-20T21:50:03.408Z,1740088203.408 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T21:50:15.419Z,1740088215.419 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20250220T214620/Courier0000.lzma
2025-02-20T21:50:16.422Z,1740088216.422 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214620/Courier0000.lzma.bak
2025-02-20T21:50:16.422Z,1740088216.422 [DataOverHttps](INFO): SBD MOMSN=23969011
2025-02-20T21:50:31.326Z,1740088231.326 [Startup:StartupSatComms:B](INFO): Timed out from 2025-02-20T21:49:30.9Z
2025-02-20T21:50:31.326Z,1740088231.326 [Startup:StartupSatComms:B] Stopped
2025-02-20T21:50:31.326Z,1740088231.326 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-02-20T21:50:31.326Z,1740088231.326 [Startup:StartupSatComms] Stopped
2025-02-20T21:50:31.326Z,1740088231.326 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-02-20T21:50:31.331Z,1740088231.331 [Startup](INFO): Completed Startup
2025-02-20T21:50:31.331Z,1740088231.331 [MissionManager](INFO): Startup is completed.
2025-02-20T21:50:31.332Z,1740088231.332 [MissionManager](INFO): Uninitializing Mission Startup
2025-02-20T21:50:31.332Z,1740088231.332 [Startup] Stopped
2025-02-20T21:50:31.332Z,1740088231.332 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-02-20T21:50:31.332Z,1740088231.332 [Startup:A.GoToSurface] Stopped
2025-02-20T21:50:31.332Z,1740088231.332 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T21:50:31.796Z,1740088231.796 [MissionManager](IMPORTANT): Started mission Default
2025-02-20T21:50:31.797Z,1740088231.797 [Default] Running Loop=1
2025-02-20T21:50:31.797Z,1740088231.797 [Default](DEBUG): Aggregate::initialize Default
2025-02-20T21:50:31.797Z,1740088231.797 [Default:B.GoToSurface] Running Loop=1
2025-02-20T21:50:31.797Z,1740088231.797 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T21:50:31.797Z,1740088231.797 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-20T21:50:31.797Z,1740088231.797 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-20T21:50:31.798Z,1740088231.798 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-20T21:50:31.798Z,1740088231.798 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-20T21:50:31.798Z,1740088231.798 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T21:50:31.799Z,1740088231.799 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T21:50:31.799Z,1740088231.799 [Default:A.Wait] Running Loop=1
2025-02-20T21:50:31.799Z,1740088231.799 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-20T21:50:32.783Z,1740088232.783 [DataOverHttps](INFO): Sending 163 bytes from file Logs/20250220T211527/Express0016.lzma
2025-02-20T21:50:33.785Z,1740088233.785 [DataOverHttps](INFO): Moved sent file to Logs/20250220T211527/Express0016.lzma.bak
2025-02-20T21:50:33.785Z,1740088233.785 [DataOverHttps](INFO): SBD MOMSN=23969015
2025-02-20T21:50:45.098Z,1740088245.098 [Default:A.Wait](INFO): Done Waiting.
2025-02-20T21:50:45.098Z,1740088245.098 [Default:A.Wait] Stopped
2025-02-20T21:50:45.098Z,1740088245.098 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T21:50:45.444Z,1740088245.444 [Default:CheckIn] Running Loop=1
2025-02-20T21:50:45.445Z,1740088245.445 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T21:50:45.445Z,1740088245.445 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T21:50:45.861Z,1740088245.861 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-20T21:50:47.479Z,1740088247.479 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215043.00,A,3647.51627,N,12152.09282,W,0.564,44.82,200225,,,A*42
2025-02-20T21:50:47.481Z,1740088247.481 [NAL9602](INFO): GPS fix at 20250220T215043: (36.791938, -121.868214)
2025-02-20T21:50:47.493Z,1740088247.493 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T21:50:47.493Z,1740088247.493 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T21:50:47.879Z,1740088247.879 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-20T21:50:55.865Z,1740088255.865 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250220T214620/Courier0004.lzma
2025-02-20T21:50:56.258Z,1740088256.258 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214620/Courier0004.lzma.bak
2025-02-20T21:50:56.258Z,1740088256.258 [DataOverHttps](INFO): SBD MOMSN=23969021
2025-02-20T21:51:08.111Z,1740088268.111 [NAL9602](INFO): SBD MO Status=2, MOMSN=12945, MT Status=2, MTMSN=0
2025-02-20T21:51:08.111Z,1740088268.111 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-20T21:51:15.488Z,1740088275.488 [DataOverHttps](INFO): Sending 116 bytes from file Logs/20250220T211527/Express0019.lzma
2025-02-20T21:51:16.220Z,1740088276.220 [NAL9602](INFO): SBD MO Status=0, MOMSN=12945, MT Status=0, MTMSN=0
2025-02-20T21:51:16.220Z,1740088276.220 [NAL9602](INFO): No messages in MT queue
2025-02-20T21:51:16.490Z,1740088276.490 [DataOverHttps](INFO): Moved sent file to Logs/20250220T211527/Express0019.lzma.bak
2025-02-20T21:51:16.490Z,1740088276.490 [DataOverHttps](INFO): SBD MOMSN=23969024
2025-02-20T21:51:32.448Z,1740088292.448 [DataOverHttps](INFO): Sending 459 bytes from file Logs/20250220T214421/Express0004.lzma
2025-02-20T21:51:33.449Z,1740088293.449 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214421/Express0004.lzma.bak
2025-02-20T21:51:33.449Z,1740088293.449 [DataOverHttps](INFO): SBD MOMSN=23969027
2025-02-20T21:51:46.920Z,1740088306.920 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T21:51:49.551Z,1740088309.551 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250220T214421/Express0007.lzma
2025-02-20T21:51:50.553Z,1740088310.553 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214421/Express0007.lzma.bak
2025-02-20T21:51:50.553Z,1740088310.553 [DataOverHttps](INFO): SBD MOMSN=23969035
2025-02-20T21:52:06.468Z,1740088326.468 [DataOverHttps](INFO): Sending 1056 bytes from file Logs/20250220T214620/Express0001.lzma
2025-02-20T21:52:07.470Z,1740088327.470 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214620/Express0001.lzma.bak
2025-02-20T21:52:07.470Z,1740088327.470 [DataOverHttps](INFO): SBD MOMSN=23969037
2025-02-20T21:52:23.767Z,1740088343.767 [DataOverHttps](INFO): Sending 104 bytes from file Logs/20250220T214620/Express0005.lzma
2025-02-20T21:52:24.769Z,1740088344.769 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214620/Express0005.lzma.bak
2025-02-20T21:52:24.769Z,1740088344.769 [DataOverHttps](INFO): SBD MOMSN=23969064
2025-02-20T21:52:26.132Z,1740088346.132 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T21:52:26.132Z,1740088346.132 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-20T21:52:26.133Z,1740088346.133 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-20T21:54:04.817Z,1740088444.817 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T215403
2025-02-20T21:54:07.922Z,1740088447.922 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-20T21:54:11.974Z,1740088451.974 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-20T21:54:11.974Z,1740088451.974 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-20T21:54:11.977Z,1740088451.977 [BPC1](INFO): Received data from all battery sticks.
2025-02-20T21:54:12.435Z,1740088452.435 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 30 min;set keepstation:BackseatDriver.EnableBackseat 1 bool;run
2025-02-20T21:54:12.495Z,1740088452.495 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-20T21:54:12.495Z,1740088452.495 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-20T21:54:12.496Z,1740088452.496 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-20T21:54:12.500Z,1740088452.500 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-20T21:54:13.233Z,1740088453.233 [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>

2025-02-20T21:54:13.244Z,1740088453.244 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-20T21:54:13.248Z,1740088453.248 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-20T21:54:13.251Z,1740088453.251 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-20T21:54:13.254Z,1740088453.254 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-20T21:54:13.272Z,1740088453.272 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-20T21:54:13.279Z,1740088453.279 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-20T21:54:13.282Z,1740088453.282 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-20T21:54:13.289Z,1740088453.289 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-20T21:54:13.295Z,1740088453.295 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-20T21:54:13.306Z,1740088453.306 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-20T21:54:13.310Z,1740088453.310 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-20T21:54:13.310Z,1740088453.310 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-20T21:54:13.311Z,1740088453.311 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-20T21:54:13.312Z,1740088453.312 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-20T21:54:13.629Z,1740088453.629 [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>

2025-02-20T21:54:13.650Z,1740088453.650 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-20T21:54:13.658Z,1740088453.658 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-20T21:54:13.662Z,1740088453.662 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-20T21:54:13.673Z,1740088453.673 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-20T21:54:13.688Z,1740088453.688 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-20T21:54:13.691Z,1740088453.691 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-20T21:54:13.699Z,1740088453.699 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-20T21:54:13.706Z,1740088453.706 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-20T21:54:13.717Z,1740088453.717 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-20T21:54:13.766Z,1740088453.766 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-20T21:54:13.766Z,1740088453.766 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-20T21:54:13.772Z,1740088453.772 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-20T21:54:13.886Z,1740088453.886 [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>

2025-02-20T21:54:13.899Z,1740088453.899 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-20T21:54:13.902Z,1740088453.902 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-20T21:54:13.909Z,1740088453.909 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-20T21:54:13.920Z,1740088453.920 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-20T21:54:13.922Z,1740088453.922 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-20T21:54:13.944Z,1740088453.944 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-20T21:54:13.966Z,1740088453.966 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-20T21:54:14.038Z,1740088454.038 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-20T21:54:14.038Z,1740088454.038 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-20T21:54:14.040Z,1740088454.040 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-20T21:54:14.081Z,1740088454.081 [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>

2025-02-20T21:54:14.090Z,1740088454.090 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-20T21:54:14.097Z,1740088454.097 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-20T21:54:14.104Z,1740088454.104 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-20T21:54:14.104Z,1740088454.104 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-20T21:54:14.105Z,1740088454.105 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-20T21:54:14.327Z,1740088454.327 [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>

2025-02-20T21:54:14.332Z,1740088454.332 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-20T21:54:14.334Z,1740088454.334 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-20T21:54:14.338Z,1740088454.338 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-20T21:54:14.349Z,1740088454.349 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-20T21:54:14.364Z,1740088454.364 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-20T21:54:14.417Z,1740088454.417 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-20T21:54:14.419Z,1740088454.419 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-20T21:54:14.457Z,1740088454.457 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-20T21:54:14.471Z,1740088454.471 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-20T21:54:14.478Z,1740088454.478 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-20T21:54:14.493Z,1740088454.493 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-20T21:54:14.513Z,1740088454.513 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-20T21:54:14.518Z,1740088454.518 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-20T21:54:14.532Z,1740088454.532 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-20T21:54:14.550Z,1740088454.550 [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
    }
  }
}


2025-02-20T21:54:14.550Z,1740088454.550 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-20T21:54:23.470Z,1740088463.470 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 30 minute
2025-02-20T21:54:23.470Z,1740088463.470 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-02-20T21:54:23.471Z,1740088463.471 [CommandExec](IMPORTANT): got command run
2025-02-20T21:54:23.521Z,1740088463.521 [CommandExec](IMPORTANT): Running 
2025-02-20T21:54:23.700Z,1740088463.700 [Default] Stopped
2025-02-20T21:54:23.700Z,1740088463.700 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-20T21:54:23.700Z,1740088463.700 [Default:B.GoToSurface] Stopped
2025-02-20T21:54:23.700Z,1740088463.700 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T21:54:23.700Z,1740088463.700 [Default:CheckIn] Stopped
2025-02-20T21:54:23.701Z,1740088463.701 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T21:54:23.701Z,1740088463.701 [Default:CheckIn:C.Wait] Stopped
2025-02-20T21:54:23.701Z,1740088463.701 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T21:54:23.701Z,1740088463.701 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-20T21:54:23.701Z,1740088463.701 [keepstation] Running Loop=1
2025-02-20T21:54:23.701Z,1740088463.701 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-20T21:54:23.701Z,1740088463.701 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-20T21:54:23.701Z,1740088463.701 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-20T21:54:23.701Z,1740088463.701 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T21:54:23.702Z,1740088463.702 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-20T21:54:23.702Z,1740088463.702 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T21:54:23.702Z,1740088463.702 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-20T21:54:23.702Z,1740088463.702 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T21:54:23.702Z,1740088463.702 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-20T21:54:23.702Z,1740088463.702 [keepstation:BackseatDriver] Running Loop=1
2025-02-20T21:54:23.702Z,1740088463.702 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-20T21:54:23.703Z,1740088463.703 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-20T21:54:23.703Z,1740088463.703 [keepstation:PowerOnly] Running Loop=1
2025-02-20T21:54:23.703Z,1740088463.703 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-20T21:54:23.703Z,1740088463.703 [keepstation:PowerOnly:A] Running Loop=1
2025-02-20T21:54:23.703Z,1740088463.703 [keepstation:PowerOnly:B] Running Loop=1
2025-02-20T21:54:23.703Z,1740088463.703 [keepstation:PowerOnly:C] Running Loop=1
2025-02-20T21:54:23.703Z,1740088463.703 [keepstation:PowerOnly:D] Running Loop=1
2025-02-20T21:54:23.703Z,1740088463.703 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-20T21:54:23.703Z,1740088463.703 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-20T21:54:23.704Z,1740088463.704 [keepstation:H.Pitch] Running Loop=1
2025-02-20T21:54:23.704Z,1740088463.704 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-20T21:54:23.704Z,1740088463.704 [keepstation:B] Running Loop=1
2025-02-20T21:54:23.704Z,1740088463.704 [keepstation:H.Pitch] Running Loop=1
2025-02-20T21:54:23.705Z,1740088463.705 [keepstation:PowerOnly] Running Loop=1
2025-02-20T21:54:23.705Z,1740088463.705 [keepstation:PowerOnly:D] Stopped
2025-02-20T21:54:23.705Z,1740088463.705 [keepstation:PowerOnly:C] Stopped
2025-02-20T21:54:23.705Z,1740088463.705 [keepstation:PowerOnly:B] Stopped
2025-02-20T21:54:23.705Z,1740088463.705 [keepstation:PowerOnly:A] Stopped
2025-02-20T21:54:23.705Z,1740088463.705 [keepstation:BackseatDriver] Running Loop=1
2025-02-20T21:54:23.706Z,1740088463.706 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-20T21:54:23.772Z,1740088463.772 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-20T21:54:23.772Z,1740088463.772 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T21:54:23.772Z,1740088463.772 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T21:54:23.773Z,1740088463.773 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T21:54:23.774Z,1740088463.774 [keepstation:B] Stopped
2025-02-20T21:54:23.774Z,1740088463.774 [keepstation:D] Running Loop=1
2025-02-20T21:54:23.779Z,1740088463.779 [BackseatComponent](INFO): Powering up
2025-02-20T21:54:23.780Z,1740088463.780 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-20T21:54:24.103Z,1740088464.103 [keepstation:D] Stopped
2025-02-20T21:54:24.103Z,1740088464.103 [keepstation:E] Running Loop=1
2025-02-20T21:54:24.515Z,1740088464.515 [keepstation:E] Stopped
2025-02-20T21:54:24.516Z,1740088464.516 [keepstation:StartingMission] Running Loop=1
2025-02-20T21:54:24.516Z,1740088464.516 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-20T21:54:24.924Z,1740088464.924 [keepstation:NeedComms] Running Loop=1
2025-02-20T21:54:24.924Z,1740088464.924 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-20T21:54:24.924Z,1740088464.924 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-20T21:54:24.924Z,1740088464.924 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T21:54:24.925Z,1740088464.925 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-20T21:54:24.925Z,1740088464.925 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-20T21:54:24.925Z,1740088464.925 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-20T21:54:24.926Z,1740088464.926 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-20T21:54:24.926Z,1740088464.926 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T21:54:24.926Z,1740088464.926 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T21:54:24.927Z,1740088464.927 [keepstation:NeedComms:A] Running Loop=1
2025-02-20T21:54:24.929Z,1740088464.929 [keepstation:NeedComms:A](INFO): last time_fix was:  1740088243.000000 second since 1970/01/01T00:00:00Z 
2025-02-20T21:54:24.929Z,1740088464.929 [keepstation:NeedComms:A] Stopped
2025-02-20T21:54:25.312Z,1740088465.312 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-20T21:54:25.313Z,1740088465.313 [keepstation:NeedComms:C] Running Loop=1
2025-02-20T21:54:25.725Z,1740088465.725 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-20T21:54:27.326Z,1740088467.326 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215426.00,A,3647.50807,N,12152.09042,W,0.233,167.09,200225,,,A*70
2025-02-20T21:54:27.329Z,1740088467.329 [NAL9602](INFO): GPS fix at 20250220T215426: (36.791801, -121.868174)
2025-02-20T21:54:27.344Z,1740088467.344 [keepstation:NeedComms:C] Stopped
2025-02-20T21:54:27.344Z,1740088467.344 [keepstation:NeedComms:D] Running Loop=1
2025-02-20T21:54:27.749Z,1740088467.749 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-20T21:54:35.344Z,1740088475.344 [DataOverHttps](INFO): Sending 201 bytes from file Logs/20250220T214620/Courier0007.lzma
2025-02-20T21:54:36.348Z,1740088476.348 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214620/Courier0007.lzma.bak
2025-02-20T21:54:36.349Z,1740088476.349 [DataOverHttps](INFO): SBD MOMSN=23969070
2025-02-20T21:54:42.678Z,1740088482.678 [NAL9602](INFO): SBD MO Status=0, MOMSN=12946, MT Status=0, MTMSN=0
2025-02-20T21:54:42.678Z,1740088482.678 [NAL9602](INFO): No messages in MT queue
2025-02-20T21:54:52.687Z,1740088492.687 [DataOverHttps](INFO): Sending 323 bytes from file Logs/20250220T214620/Express0008.lzma
2025-02-20T21:54:53.689Z,1740088493.689 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214620/Express0008.lzma.bak
2025-02-20T21:54:53.689Z,1740088493.689 [DataOverHttps](INFO): SBD MOMSN=23969073
2025-02-20T21:55:13.339Z,1740088513.339 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250220T214620/Express0011.lzma
2025-02-20T21:55:13.436Z,1740088513.436 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T21:55:14.341Z,1740088514.341 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214620/Express0011.lzma.bak
2025-02-20T21:55:14.341Z,1740088514.341 [DataOverHttps](INFO): SBD MOMSN=23969083
2025-02-20T21:55:15.880Z,1740088515.880 [keepstation:NeedComms:D] Stopped
2025-02-20T21:55:15.881Z,1740088515.881 [keepstation:NeedComms:E] Running Loop=1
2025-02-20T21:55:16.273Z,1740088516.273 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-20T21:55:17.878Z,1740088517.878 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215517.00,A,3647.50754,N,12152.08995,W,0.292,16.33,200225,,,A*4D
2025-02-20T21:55:17.881Z,1740088517.881 [NAL9602](INFO): GPS fix at 20250220T215517: (36.791792, -121.868166)
2025-02-20T21:55:17.936Z,1740088517.936 [keepstation:NeedComms:E] Stopped
2025-02-20T21:55:17.937Z,1740088517.937 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-20T21:55:17.937Z,1740088517.937 [keepstation:NeedComms] Stopped
2025-02-20T21:55:17.937Z,1740088517.937 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-20T21:55:17.937Z,1740088517.937 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-20T21:55:17.937Z,1740088517.937 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T21:55:18.328Z,1740088518.328 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-20T21:55:18.328Z,1740088518.328 [keepstation:StartingMission] Stopped
2025-02-20T21:55:18.328Z,1740088518.328 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-20T21:55:18.328Z,1740088518.328 [keepstation:TransitToStation] Running Loop=1
2025-02-20T21:55:18.328Z,1740088518.328 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-20T21:55:18.328Z,1740088518.328 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-20T21:55:18.328Z,1740088518.328 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-20T21:55:18.329Z,1740088518.329 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-20T21:55:18.329Z,1740088518.329 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-20T21:55:18.329Z,1740088518.329 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-20T21:55:18.329Z,1740088518.329 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-20T21:55:18.329Z,1740088518.329 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-20T21:55:18.329Z,1740088518.329 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-20T21:55:18.709Z,1740088518.709 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-20T21:55:18.710Z,1740088518.710 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-20T21:55:18.710Z,1740088518.710 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-20T21:55:18.756Z,1740088518.756 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-02-20T21:55:18.756Z,1740088518.756 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-02-20T21:55:18.758Z,1740088518.758 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-02-20T21:55:30.922Z,1740088530.922 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250220T215534
2025-02-20T21:55:33.630Z,1740088533.630 [BackseatComponent](INFO): Created universal data reader for depth with code: 6
2025-02-20T21:55:33.631Z,1740088533.631 [BackseatComponent](INFO): Requesting data from depth (6). Requested size is: 1
2025-02-20T21:55:33.634Z,1740088533.634 [BackseatComponent](INFO): Created universal data reader for latitude with code: 23
2025-02-20T21:55:33.634Z,1740088533.634 [BackseatComponent](INFO): Requesting data from latitude (23). Requested size is: 2
2025-02-20T21:55:33.669Z,1740088533.669 [BackseatComponent](INFO): Created universal data reader for longitude with code: 26
2025-02-20T21:55:33.669Z,1740088533.669 [BackseatComponent](INFO): Requesting data from longitude (26). Requested size is: 3
2025-02-20T21:55:33.695Z,1740088533.695 [BackseatComponent](INFO): Created universal data reader for platform_orientation with code: 52
2025-02-20T21:55:33.696Z,1740088533.696 [BackseatComponent](INFO): Requesting data from platform_orientation (52). Requested size is: 4
2025-02-20T21:55:33.699Z,1740088533.699 [BackseatComponent](INFO): Created universal data reader for platform_pitch_angle with code: 54
2025-02-20T21:55:33.704Z,1740088533.704 [BackseatComponent](INFO): Requesting data from platform_pitch_angle (54). Requested size is: 5
2025-02-20T21:55:33.707Z,1740088533.707 [BackseatComponent](INFO): Created universal data reader for platform_roll_angle with code: 59
2025-02-20T21:55:33.715Z,1740088533.715 [BackseatComponent](INFO): Requesting data from platform_roll_angle (59). Requested size is: 6
2025-02-20T21:55:33.718Z,1740088533.718 [BackseatComponent](INFO): Created universal data reader for platform_x_velocity_wrt_sea_water with code: 70
2025-02-20T21:55:33.719Z,1740088533.719 [BackseatComponent](INFO): Requesting data from platform_x_velocity_wrt_sea_water (70). Requested size is: 7
2025-02-20T21:55:40.944Z,1740088540.944 [NAL9602](INFO): SBD MO Status=0, MOMSN=12947, MT Status=0, MTMSN=0
2025-02-20T21:55:40.944Z,1740088540.944 [NAL9602](INFO): No messages in MT queue
2025-02-20T21:56:11.648Z,1740088571.648 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T21:56:16.591Z,1740088576.591 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T21:56:32.265Z,1740088592.265 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 1975
2025-02-20T21:56:47.731Z,1740088607.731 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T21:56:56.500Z,1740088616.500 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-20T21:56:56.500Z,1740088616.500 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-20T21:56:56.501Z,1740088616.501 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-02-20T21:56:56.501Z,1740088616.501 [keepstation:TransitToStation] Stopped
2025-02-20T21:56:56.501Z,1740088616.501 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-20T21:56:56.501Z,1740088616.501 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-20T21:56:56.501Z,1740088616.501 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-20T21:56:56.501Z,1740088616.501 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-20T21:56:56.501Z,1740088616.501 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-20T21:56:56.501Z,1740088616.501 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-20T21:56:56.502Z,1740088616.502 [keepstation:OnStation] Running Loop=1
2025-02-20T21:56:56.502Z,1740088616.502 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-02-20T21:56:56.912Z,1740088616.912 [keepstation:NeedComms] Running Loop=1
2025-02-20T21:56:56.912Z,1740088616.912 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-20T21:56:56.912Z,1740088616.912 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-20T21:56:56.912Z,1740088616.912 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T21:56:56.912Z,1740088616.912 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-20T21:56:56.913Z,1740088616.913 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-20T21:56:56.913Z,1740088616.913 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-20T21:56:56.914Z,1740088616.914 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-20T21:56:56.914Z,1740088616.914 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T21:56:56.914Z,1740088616.914 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T21:56:56.914Z,1740088616.914 [keepstation:NeedComms:A] Running Loop=1
2025-02-20T21:56:56.916Z,1740088616.916 [keepstation:NeedComms:A](INFO): last time_fix was:  1740088517.000000 second since 1970/01/01T00:00:00Z 
2025-02-20T21:56:56.916Z,1740088616.916 [keepstation:NeedComms:A] Stopped
2025-02-20T21:57:12.081Z,1740088632.081 [keepstation:NeedComms:C] Running Loop=1
2025-02-20T21:57:40.779Z,1740088660.779 [NAL9602](INFO): SBD MO Status=0, MOMSN=12948, MT Status=0, MTMSN=0
2025-02-20T21:57:40.779Z,1740088660.779 [NAL9602](INFO): No messages in MT queue
2025-02-20T21:57:42.014Z,1740088662.014 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215741.00,A,3647.51923,N,12152.07791,W,0.408,61.71,200225,,,A*45
2025-02-20T21:57:42.028Z,1740088662.028 [NAL9602](INFO): GPS fix at 20250220T215741: (36.791987, -121.867965)
2025-02-20T21:57:42.100Z,1740088662.100 [keepstation:NeedComms:C] Stopped
2025-02-20T21:57:42.100Z,1740088662.100 [keepstation:NeedComms:D] Running Loop=1
2025-02-20T21:57:48.463Z,1740088668.463 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250220T214620/Courier0013.lzma
2025-02-20T21:57:49.465Z,1740088669.465 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214620/Courier0013.lzma.bak
2025-02-20T21:57:49.466Z,1740088669.466 [DataOverHttps](INFO): SBD MOMSN=23969088
2025-02-20T21:58:14.375Z,1740088694.375 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T21:58:42.295Z,1740088722.295 [DataOverHttps](INFO): Sending 192 bytes from file Logs/20250220T214620/Express0014.lzma
2025-02-20T21:58:43.297Z,1740088723.297 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214620/Express0014.lzma.bak
2025-02-20T21:58:43.297Z,1740088723.297 [DataOverHttps](INFO): SBD MOMSN=23969092
2025-02-20T21:58:45.180Z,1740088725.180 [keepstation:NeedComms:D] Stopped
2025-02-20T21:58:45.181Z,1740088725.181 [keepstation:NeedComms:E] Running Loop=1
2025-02-20T21:58:47.166Z,1740088727.166 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215846.00,A,3647.51636,N,12152.07455,W,0.758,79.89,200225,,,A*45
2025-02-20T21:58:47.168Z,1740088727.168 [NAL9602](INFO): GPS fix at 20250220T215846: (36.791939, -121.867909)
2025-02-20T21:58:47.220Z,1740088727.220 [keepstation:NeedComms:E] Stopped
2025-02-20T21:58:47.222Z,1740088727.222 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-20T21:58:47.222Z,1740088727.222 [keepstation:NeedComms] Stopped
2025-02-20T21:58:47.222Z,1740088727.222 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-20T21:58:47.222Z,1740088727.222 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-20T21:58:47.222Z,1740088727.222 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T21:58:47.624Z,1740088727.624 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-02-20T21:58:47.624Z,1740088727.624 [keepstation:OnStation] Stopped
2025-02-20T21:58:47.624Z,1740088727.624 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-02-20T21:58:47.624Z,1740088727.624 [keepstation:KeepStation] Running Loop=1
2025-02-20T21:58:47.624Z,1740088727.624 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-02-20T21:58:47.624Z,1740088727.624 [keepstation:KeepStation:A] Running Loop=1
2025-02-20T21:58:47.624Z,1740088727.624 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-20T21:58:47.624Z,1740088727.624 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-02-20T21:58:47.625Z,1740088727.625 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-20T21:58:47.625Z,1740088727.625 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-20T21:58:47.625Z,1740088727.625 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-02-20T21:58:47.625Z,1740088727.625 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-02-20T21:58:47.992Z,1740088727.992 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-20T21:58:47.992Z,1740088727.992 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-20T21:58:47.993Z,1740088727.993 [keepstation:KeepStation:A] Running Loop=1
2025-02-20T21:59:24.753Z,1740088764.753 [NAL9602](INFO): SBD MO Status=0, MOMSN=12949, MT Status=0, MTMSN=0
2025-02-20T21:59:24.753Z,1740088764.753 [NAL9602](INFO): No messages in MT queue
2025-02-20T21:59:55.461Z,1740088795.461 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T22:00:16.092Z,1740088816.092 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T22:00:31.432Z,1740088831.432 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 1976
2025-02-20T22:00:47.215Z,1740088847.215 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T22:00:50.559Z,1740088850.559 [Radio_Surface](INFO): Powering down
2025-02-20T22:01:18.339Z,1740088878.339 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T22:01:19.343Z,1740088879.343 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-20T22:02:23.600Z,1740088943.600 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.719009
2025-02-20T22:24:24.009Z,1740090264.009 [keepstation](INFO): Timed out from 2025-02-20T21:54:23.7Z
2025-02-20T22:24:24.009Z,1740090264.009 [MissionManager](INFO): keepstation is completed.
2025-02-20T22:24:24.009Z,1740090264.009 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-20T22:24:24.009Z,1740090264.009 [keepstation] Stopped
2025-02-20T22:24:24.009Z,1740090264.009 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-20T22:24:24.009Z,1740090264.009 [keepstation:StandardEnvelopes] Stopped
2025-02-20T22:24:24.010Z,1740090264.010 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-20T22:24:24.010Z,1740090264.010 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-20T22:24:24.010Z,1740090264.010 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-20T22:24:24.010Z,1740090264.010 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-20T22:24:24.010Z,1740090264.010 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-20T22:24:24.010Z,1740090264.010 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-20T22:24:24.010Z,1740090264.010 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-20T22:24:24.010Z,1740090264.010 [keepstation:BackseatDriver] Stopped
2025-02-20T22:24:24.010Z,1740090264.010 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-20T22:24:24.010Z,1740090264.010 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-20T22:24:24.010Z,1740090264.010 [keepstation:PowerOnly] Stopped
2025-02-20T22:24:24.011Z,1740090264.011 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-20T22:24:24.011Z,1740090264.011 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-20T22:24:24.011Z,1740090264.011 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T22:24:24.011Z,1740090264.011 [keepstation:H.Pitch] Stopped
2025-02-20T22:24:24.011Z,1740090264.011 [keepstation:KeepStation] Stopped
2025-02-20T22:24:24.011Z,1740090264.011 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-02-20T22:24:24.011Z,1740090264.011 [keepstation:KeepStation:A] Stopped
2025-02-20T22:24:24.011Z,1740090264.011 [keepstation:KeepStation:B.Pitch] Stopped
2025-02-20T22:24:24.011Z,1740090264.011 [keepstation:KeepStation:C.KeepStation] Stopped
2025-02-20T22:24:24.011Z,1740090264.011 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-20T22:24:24.011Z,1740090264.011 [keepstation:KeepStation:D.Wait] Stopped
2025-02-20T22:24:24.012Z,1740090264.012 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T22:24:24.118Z,1740090264.118 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-20T22:24:24.118Z,1740090264.118 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-20T22:24:24.426Z,1740090264.426 [MissionManager](IMPORTANT): Started mission Default
2025-02-20T22:24:24.427Z,1740090264.427 [Default] Running Loop=1
2025-02-20T22:24:24.427Z,1740090264.427 [Default](DEBUG): Aggregate::initialize Default
2025-02-20T22:24:24.427Z,1740090264.427 [Default:B.GoToSurface] Running Loop=1
2025-02-20T22:24:24.427Z,1740090264.427 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T22:24:24.427Z,1740090264.427 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-20T22:24:24.428Z,1740090264.428 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-20T22:24:24.428Z,1740090264.428 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-20T22:24:24.428Z,1740090264.428 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-20T22:24:24.429Z,1740090264.429 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T22:24:24.429Z,1740090264.429 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T22:24:24.429Z,1740090264.429 [Default:A.Wait] Running Loop=1
2025-02-20T22:24:24.430Z,1740090264.430 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-20T22:24:24.816Z,1740090264.816 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (1 active estimators).
2025-02-20T22:24:24.975Z,1740090264.975 [Radio_Surface](INFO): Powering up
2025-02-20T22:24:31.112Z,1740090271.112 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-20T22:24:37.557Z,1740090277.557 [Default:A.Wait](INFO): Done Waiting.
2025-02-20T22:24:37.557Z,1740090277.557 [Default:A.Wait] Stopped
2025-02-20T22:24:37.557Z,1740090277.557 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T22:24:42.280Z,1740090282.280 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-20T22:24:42.281Z,1740090282.281 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-20T22:24:42.281Z,1740090282.281 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-20T22:25:01.251Z,1740090301.251 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T22:25:24.456Z,1740090324.456 [Default:CheckIn] Running Loop=1
2025-02-20T22:25:24.457Z,1740090324.457 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T22:25:24.457Z,1740090324.457 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T22:25:32.375Z,1740090332.375 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T22:26:03.238Z,1740090363.238 [NAL9602](INFO): SBD MO Status=0, MOMSN=12950, MT Status=0, MTMSN=0
2025-02-20T22:26:03.238Z,1740090363.238 [NAL9602](INFO): No messages in MT queue
2025-02-20T22:26:03.499Z,1740090363.499 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T22:26:04.446Z,1740090364.446 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222603.00,A,3647.42090,N,12152.04752,W,0.797,161.41,200225,,,A*7E
2025-02-20T22:26:04.448Z,1740090364.448 [NAL9602](INFO): GPS fix at 20250220T222603: (36.790348, -121.867459)
2025-02-20T22:26:04.461Z,1740090364.461 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T22:26:04.461Z,1740090364.461 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T22:26:15.054Z,1740090375.054 [NAL9602](INFO): SBD MO Status=1, MOMSN=12951, MT Status=0, MTMSN=0
2025-02-20T22:26:15.103Z,1740090375.103 [NAL9602](INFO): Sent 73 bytes from file Logs/20250220T214620/Courier0016.lzma
2025-02-20T22:26:15.104Z,1740090375.104 [NAL9602](INFO): Packets left to send: 0
2025-02-20T22:26:26.458Z,1740090386.458 [NAL9602](INFO): SBD MO Status=1, MOMSN=12952, MT Status=0, MTMSN=0
2025-02-20T22:26:26.516Z,1740090386.516 [NAL9602](INFO): Sent 148 bytes from file Logs/20250220T214620/Express0017.lzma
2025-02-20T22:26:26.516Z,1740090386.516 [NAL9602](INFO): Packets left to send: 0
2025-02-20T22:26:33.340Z,1740090393.340 [NAL9602](INFO): SBD MO Status=0, MOMSN=12953, MT Status=0, MTMSN=0
2025-02-20T22:26:33.420Z,1740090393.420 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T22:26:33.420Z,1740090393.420 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-20T22:26:33.420Z,1740090393.420 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-20T22:26:34.624Z,1740090394.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T22:26:46.604Z,1740090406.604 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003404
2025-02-20T22:27:04.104Z,1740090424.104 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T22:27:46.540Z,1740090466.540 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T222745
2025-02-20T22:27:57.256Z,1740090477.256 [BuoyancyServo](FAULT): Invalid EZ Servo response:"\377\r"
2025-02-20T22:27:57.256Z,1740090477.256 [BuoyancyServo] Communications Fault, FailCount= 1
2025-02-20T22:27:57.256Z,1740090477.256 [BuoyancyServo](ERROR): Communications Fault
2025-02-20T22:27:57.256Z,1740090477.256 [BuoyancyServo](FAULT): Buoyancy engine reporting null position
2025-02-20T22:27:57.256Z,1740090477.256 [BuoyancyServo] Hardware Fault, FailCount= 1
2025-02-20T22:27:57.256Z,1740090477.256 [BuoyancyServo](ERROR): Hardware Fault
2025-02-20T22:27:57.261Z,1740090477.261 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2025-02-20T22:27:58.744Z,1740090478.744 [DataOverHttps](INFO): Received command: restart logs