2025-02-20T22:27:58.849Z,1740090478.849 [CommandExec](IMPORTANT): got command restart logs
2025-02-20T22:27:59.254Z,1740090479.254 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-02-20T22:27:59.255Z,1740090479.255 [BuoyancyServo](INFO): Powering down
2025-02-20T22:28:00.053Z,1740090480.053 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2025-02-20T22:28:00.053Z,1740090480.053 [BuoyancyServo] No Fault, FailCount= 1
2025-02-20T22:28:00.446Z,1740090480.446 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-02-20T22:28:00.451Z,1740090480.451 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-02-20T22:30:27.853Z,1740090627.853 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T223026
2025-02-20T22:30:35.319Z,1740090635.319 [DataOverHttps](INFO): Received command: configset verticalcontrol.kpdepthbuoy 40 ratio persist
2025-02-20T22:30:35.796Z,1740090635.796 [CommandExec](IMPORTANT): got command configSet VerticalControl.kpDepthBuoy 40 ratio persist
2025-02-20T22:30:36.321Z,1740090636.321 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T223035
2025-02-20T22:30:43.751Z,1740090643.751 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 30 min;set keepstation:BackseatDriver.EnableBackseat 1 bool;run
2025-02-20T22:30:43.854Z,1740090643.854 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-20T22:30:43.855Z,1740090643.855 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-20T22:30:43.855Z,1740090643.855 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-20T22:30:43.856Z,1740090643.856 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-20T22:30:44.598Z,1740090644.598 [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>

2025-02-20T22:30:44.603Z,1740090644.603 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-20T22:30:44.605Z,1740090644.605 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-20T22:30:44.622Z,1740090644.622 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-20T22:30:44.624Z,1740090644.624 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-20T22:30:44.626Z,1740090644.626 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-20T22:30:44.628Z,1740090644.628 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-20T22:30:44.630Z,1740090644.630 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-20T22:30:44.633Z,1740090644.633 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-20T22:30:44.635Z,1740090644.635 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-20T22:30:44.637Z,1740090644.637 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-20T22:30:44.639Z,1740090644.639 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-20T22:30:44.640Z,1740090644.640 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-20T22:30:44.640Z,1740090644.640 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-20T22:30:44.641Z,1740090644.641 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-20T22:30:44.943Z,1740090644.943 [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>

2025-02-20T22:30:44.952Z,1740090644.952 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-20T22:30:44.954Z,1740090644.954 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-20T22:30:44.959Z,1740090644.959 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-20T22:30:44.961Z,1740090644.961 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-20T22:30:44.963Z,1740090644.963 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-20T22:30:44.965Z,1740090644.965 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-20T22:30:44.968Z,1740090644.968 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-20T22:30:44.970Z,1740090644.970 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-20T22:30:45.004Z,1740090645.004 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-20T22:30:45.037Z,1740090645.037 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-20T22:30:45.037Z,1740090645.037 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-20T22:30:45.038Z,1740090645.038 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-20T22:30:45.104Z,1740090645.104 [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>

2025-02-20T22:30:45.107Z,1740090645.107 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-20T22:30:45.109Z,1740090645.109 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-20T22:30:45.111Z,1740090645.111 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-20T22:30:45.113Z,1740090645.113 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-20T22:30:45.114Z,1740090645.114 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-20T22:30:45.120Z,1740090645.120 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-20T22:30:45.125Z,1740090645.125 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-20T22:30:45.132Z,1740090645.132 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-20T22:30:45.133Z,1740090645.133 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-20T22:30:45.134Z,1740090645.134 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-20T22:30:45.183Z,1740090645.183 [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>

2025-02-20T22:30:45.185Z,1740090645.185 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-20T22:30:45.201Z,1740090645.201 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-20T22:30:45.203Z,1740090645.203 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-20T22:30:45.203Z,1740090645.203 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-20T22:30:45.204Z,1740090645.204 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-20T22:30:45.342Z,1740090645.342 [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>

2025-02-20T22:30:45.364Z,1740090645.364 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-20T22:30:45.366Z,1740090645.366 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-20T22:30:45.368Z,1740090645.368 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-20T22:30:45.370Z,1740090645.370 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-20T22:30:45.372Z,1740090645.372 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-20T22:30:45.378Z,1740090645.378 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-20T22:30:45.380Z,1740090645.380 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-20T22:30:45.386Z,1740090645.386 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-20T22:30:45.389Z,1740090645.389 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-20T22:30:45.394Z,1740090645.394 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-20T22:30:45.425Z,1740090645.425 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-20T22:30:45.441Z,1740090645.441 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-20T22:30:45.454Z,1740090645.454 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-20T22:30:45.462Z,1740090645.462 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-20T22:30:45.477Z,1740090645.477 [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
    }
  }
}


2025-02-20T22:30:45.478Z,1740090645.478 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-20T22:30:54.014Z,1740090654.014 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 30 minute
2025-02-20T22:30:54.015Z,1740090654.015 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-02-20T22:30:54.015Z,1740090654.015 [CommandExec](IMPORTANT): got command run
2025-02-20T22:30:54.017Z,1740090654.017 [CommandExec](IMPORTANT): Running 
2025-02-20T22:30:54.188Z,1740090654.188 [Default] Stopped
2025-02-20T22:30:54.188Z,1740090654.188 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-20T22:30:54.188Z,1740090654.188 [Default:B.GoToSurface] Stopped
2025-02-20T22:30:54.188Z,1740090654.188 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T22:30:54.188Z,1740090654.188 [Default:CheckIn] Stopped
2025-02-20T22:30:54.188Z,1740090654.188 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T22:30:54.188Z,1740090654.188 [Default:CheckIn:C.Wait] Stopped
2025-02-20T22:30:54.188Z,1740090654.188 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T22:30:54.189Z,1740090654.189 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-20T22:30:54.189Z,1740090654.189 [keepstation] Running Loop=1
2025-02-20T22:30:54.189Z,1740090654.189 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-20T22:30:54.189Z,1740090654.189 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-20T22:30:54.189Z,1740090654.189 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-20T22:30:54.189Z,1740090654.189 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T22:30:54.189Z,1740090654.189 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-20T22:30:54.191Z,1740090654.191 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T22:30:54.191Z,1740090654.191 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-20T22:30:54.192Z,1740090654.192 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T22:30:54.192Z,1740090654.192 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-20T22:30:54.192Z,1740090654.192 [keepstation:BackseatDriver] Running Loop=1
2025-02-20T22:30:54.192Z,1740090654.192 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-20T22:30:54.192Z,1740090654.192 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-20T22:30:54.192Z,1740090654.192 [keepstation:PowerOnly] Running Loop=1
2025-02-20T22:30:54.192Z,1740090654.192 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-20T22:30:54.192Z,1740090654.192 [keepstation:PowerOnly:A] Running Loop=1
2025-02-20T22:30:54.192Z,1740090654.192 [keepstation:PowerOnly:B] Running Loop=1
2025-02-20T22:30:54.192Z,1740090654.192 [keepstation:PowerOnly:C] Running Loop=1
2025-02-20T22:30:54.192Z,1740090654.192 [keepstation:PowerOnly:D] Running Loop=1
2025-02-20T22:30:54.193Z,1740090654.193 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-20T22:30:54.193Z,1740090654.193 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-20T22:30:54.193Z,1740090654.193 [keepstation:H.Pitch] Running Loop=1
2025-02-20T22:30:54.193Z,1740090654.193 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-20T22:30:54.193Z,1740090654.193 [keepstation:B] Running Loop=1
2025-02-20T22:30:54.194Z,1740090654.194 [keepstation:H.Pitch] Running Loop=1
2025-02-20T22:30:54.194Z,1740090654.194 [keepstation:PowerOnly] Running Loop=1
2025-02-20T22:30:54.194Z,1740090654.194 [keepstation:PowerOnly:D] Stopped
2025-02-20T22:30:54.194Z,1740090654.194 [keepstation:PowerOnly:C] Stopped
2025-02-20T22:30:54.194Z,1740090654.194 [keepstation:PowerOnly:B] Stopped
2025-02-20T22:30:54.194Z,1740090654.194 [keepstation:PowerOnly:A] Stopped
2025-02-20T22:30:54.194Z,1740090654.194 [keepstation:BackseatDriver] Running Loop=1
2025-02-20T22:30:54.195Z,1740090654.195 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-20T22:30:54.253Z,1740090654.253 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-20T22:30:54.253Z,1740090654.253 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T22:30:54.253Z,1740090654.253 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T22:30:54.254Z,1740090654.254 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T22:30:54.254Z,1740090654.254 [keepstation:B] Stopped
2025-02-20T22:30:54.254Z,1740090654.254 [keepstation:D] Running Loop=1
2025-02-20T22:30:54.275Z,1740090654.275 [BackseatComponent](INFO): Powering up
2025-02-20T22:30:54.276Z,1740090654.276 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-20T22:30:54.595Z,1740090654.595 [keepstation:D] Stopped
2025-02-20T22:30:54.595Z,1740090654.595 [keepstation:E] Running Loop=1
2025-02-20T22:30:55.003Z,1740090655.003 [keepstation:E] Stopped
2025-02-20T22:30:55.004Z,1740090655.004 [keepstation:StartingMission] Running Loop=1
2025-02-20T22:30:55.004Z,1740090655.004 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-20T22:30:55.408Z,1740090655.408 [keepstation:NeedComms] Running Loop=1
2025-02-20T22:30:55.408Z,1740090655.408 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-20T22:30:55.408Z,1740090655.408 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-20T22:30:55.408Z,1740090655.408 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T22:30:55.409Z,1740090655.409 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-20T22:30:55.409Z,1740090655.409 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-20T22:30:55.409Z,1740090655.409 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-20T22:30:55.410Z,1740090655.410 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-20T22:30:55.410Z,1740090655.410 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T22:30:55.410Z,1740090655.410 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T22:30:55.410Z,1740090655.410 [keepstation:NeedComms:A] Running Loop=1
2025-02-20T22:30:55.412Z,1740090655.412 [keepstation:NeedComms:A](INFO): last time_fix was:  1740090363.000000 second since 1970/01/01T00:00:00Z 
2025-02-20T22:30:55.412Z,1740090655.412 [keepstation:NeedComms:A] Stopped
2025-02-20T22:30:55.804Z,1740090655.804 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-20T22:30:55.805Z,1740090655.805 [keepstation:NeedComms:C] Running Loop=1
2025-02-20T22:30:56.205Z,1740090656.205 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-20T22:30:57.810Z,1740090657.810 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223057.00,A,3647.41134,N,12152.04071,W,1.050,194.13,200225,,,A*72
2025-02-20T22:30:57.812Z,1740090657.812 [NAL9602](INFO): GPS fix at 20250220T223057: (36.790189, -121.867345)
2025-02-20T22:30:57.828Z,1740090657.828 [keepstation:NeedComms:C] Stopped
2025-02-20T22:30:57.828Z,1740090657.828 [keepstation:NeedComms:D] Running Loop=1
2025-02-20T22:30:58.248Z,1740090658.248 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-20T22:31:08.199Z,1740090668.199 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250220T214620/Courier0019.lzma
2025-02-20T22:31:09.201Z,1740090669.201 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214620/Courier0019.lzma.bak
2025-02-20T22:31:09.201Z,1740090669.201 [DataOverHttps](INFO): SBD MOMSN=23970093
2025-02-20T22:31:09.982Z,1740090669.982 [NAL9602](INFO): SBD MO Status=0, MOMSN=12954, MT Status=0, MTMSN=0
2025-02-20T22:31:09.982Z,1740090669.982 [NAL9602](INFO): No messages in MT queue
2025-02-20T22:31:26.179Z,1740090686.179 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20250220T222758/Courier0000.lzma
2025-02-20T22:31:27.181Z,1740090687.181 [DataOverHttps](INFO): Moved sent file to Logs/20250220T222758/Courier0000.lzma.bak
2025-02-20T22:31:27.181Z,1740090687.181 [DataOverHttps](INFO): SBD MOMSN=23970095
2025-02-20T22:31:40.684Z,1740090700.684 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T22:31:43.187Z,1740090703.187 [DataOverHttps](INFO): Sending 38 bytes from file Logs/20250220T222758/Courier0003.lzma
2025-02-20T22:31:44.189Z,1740090704.189 [DataOverHttps](INFO): Moved sent file to Logs/20250220T222758/Courier0003.lzma.bak
2025-02-20T22:31:44.189Z,1740090704.189 [DataOverHttps](INFO): SBD MOMSN=23970100
2025-02-20T22:32:00.119Z,1740090720.119 [DataOverHttps](INFO): Sending 208 bytes from file Logs/20250220T214620/Express0020.lzma
2025-02-20T22:32:01.121Z,1740090721.121 [DataOverHttps](INFO): Moved sent file to Logs/20250220T214620/Express0020.lzma.bak
2025-02-20T22:32:01.121Z,1740090721.121 [DataOverHttps](INFO): SBD MOMSN=23970102
2025-02-20T22:32:01.428Z,1740090721.428 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250220T223205
2025-02-20T22:32:17.216Z,1740090737.216 [DataOverHttps](INFO): Sending 586 bytes from file Logs/20250220T222758/Express0001.lzma
2025-02-20T22:32:18.217Z,1740090738.217 [DataOverHttps](INFO): Moved sent file to Logs/20250220T222758/Express0001.lzma.bak
2025-02-20T22:32:18.217Z,1740090738.217 [DataOverHttps](INFO): SBD MOMSN=23970107
2025-02-20T22:32:34.559Z,1740090754.559 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250220T222758/Express0004.lzma
2025-02-20T22:32:35.561Z,1740090755.561 [DataOverHttps](INFO): Moved sent file to Logs/20250220T222758/Express0004.lzma.bak
2025-02-20T22:32:35.561Z,1740090755.561 [DataOverHttps](INFO): SBD MOMSN=23970120
2025-02-20T22:32:36.872Z,1740090756.872 [keepstation:NeedComms:D] Stopped
2025-02-20T22:32:36.872Z,1740090756.872 [keepstation:NeedComms:E] Running Loop=1
2025-02-20T22:32:37.260Z,1740090757.260 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-20T22:32:38.879Z,1740090758.879 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223238.00,A,3647.40714,N,12152.03778,W,0.700,96.70,200225,,,D*45
2025-02-20T22:32:38.882Z,1740090758.882 [NAL9602](INFO): GPS fix at 20250220T223238: (36.790119, -121.867296)
2025-02-20T22:32:38.928Z,1740090758.928 [keepstation:NeedComms:E] Stopped
2025-02-20T22:32:38.929Z,1740090758.929 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-20T22:32:38.929Z,1740090758.929 [keepstation:NeedComms] Stopped
2025-02-20T22:32:38.929Z,1740090758.929 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-20T22:32:38.929Z,1740090758.929 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-20T22:32:38.929Z,1740090758.929 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T22:32:39.296Z,1740090759.296 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-20T22:32:39.296Z,1740090759.296 [keepstation:StartingMission] Stopped
2025-02-20T22:32:39.296Z,1740090759.296 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-20T22:32:39.296Z,1740090759.296 [keepstation:TransitToStation] Running Loop=1
2025-02-20T22:32:39.296Z,1740090759.296 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-20T22:32:39.296Z,1740090759.296 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-20T22:32:39.296Z,1740090759.296 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-20T22:32:39.296Z,1740090759.296 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-20T22:32:39.296Z,1740090759.296 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-20T22:32:39.297Z,1740090759.297 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-20T22:32:39.297Z,1740090759.297 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-20T22:32:39.297Z,1740090759.297 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-20T22:32:39.297Z,1740090759.297 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-20T22:32:39.698Z,1740090759.698 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-20T22:32:39.698Z,1740090759.698 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-20T22:32:39.698Z,1740090759.698 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-20T22:32:44.126Z,1740090764.126 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-20T22:32:44.126Z,1740090764.126 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-20T22:32:44.127Z,1740090764.127 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-02-20T22:32:44.127Z,1740090764.127 [keepstation:TransitToStation] Stopped
2025-02-20T22:32:44.127Z,1740090764.127 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-20T22:32:44.127Z,1740090764.127 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-20T22:32:44.127Z,1740090764.127 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-20T22:32:44.128Z,1740090764.128 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-20T22:32:44.128Z,1740090764.128 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-20T22:32:44.128Z,1740090764.128 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-20T22:32:44.128Z,1740090764.128 [keepstation:OnStation] Running Loop=1
2025-02-20T22:32:44.128Z,1740090764.128 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-02-20T22:32:44.536Z,1740090764.536 [keepstation:NeedComms] Running Loop=1
2025-02-20T22:32:44.536Z,1740090764.536 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-20T22:32:44.536Z,1740090764.536 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-20T22:32:44.536Z,1740090764.536 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T22:32:44.537Z,1740090764.537 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-20T22:32:44.537Z,1740090764.537 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-20T22:32:44.537Z,1740090764.537 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-20T22:32:44.538Z,1740090764.538 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-20T22:32:44.538Z,1740090764.538 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T22:32:44.538Z,1740090764.538 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T22:32:44.539Z,1740090764.539 [keepstation:NeedComms:A] Running Loop=1
2025-02-20T22:32:44.540Z,1740090764.540 [keepstation:NeedComms:A](INFO): last time_fix was:  1740090758.000000 second since 1970/01/01T00:00:00Z 
2025-02-20T22:32:44.540Z,1740090764.540 [keepstation:NeedComms:A] Stopped
2025-02-20T22:32:44.977Z,1740090764.977 [keepstation:NeedComms:C] Running Loop=1
2025-02-20T22:32:51.426Z,1740090771.426 [NAL9602](INFO): SBD MO Status=0, MOMSN=12955, MT Status=0, MTMSN=0
2025-02-20T22:32:51.426Z,1740090771.426 [NAL9602](INFO): No messages in MT queue
2025-02-20T22:32:52.643Z,1740090772.643 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223251.00,A,3647.40673,N,12152.03777,W,1.030,153.00,200225,,,D*7F
2025-02-20T22:32:52.645Z,1740090772.645 [NAL9602](INFO): GPS fix at 20250220T223251: (36.790112, -121.867296)
2025-02-20T22:32:52.660Z,1740090772.660 [keepstation:NeedComms:C] Stopped
2025-02-20T22:32:52.660Z,1740090772.660 [keepstation:NeedComms:D] Running Loop=1
2025-02-20T22:33:00.091Z,1740090780.091 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250220T222758/Courier0006.lzma
2025-02-20T22:33:01.093Z,1740090781.093 [DataOverHttps](INFO): Moved sent file to Logs/20250220T222758/Courier0006.lzma.bak
2025-02-20T22:33:01.093Z,1740090781.093 [DataOverHttps](INFO): SBD MOMSN=23970122
2025-02-20T22:33:02.396Z,1740090782.396 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 1975
2025-02-20T22:33:20.865Z,1740090800.865 [DataOverHttps](INFO): Sending 183 bytes from file Logs/20250220T222758/Express0007.lzma
2025-02-20T22:33:21.875Z,1740090801.875 [DataOverHttps](INFO): Moved sent file to Logs/20250220T222758/Express0007.lzma.bak
2025-02-20T22:33:21.876Z,1740090801.876 [DataOverHttps](INFO): SBD MOMSN=23970126
2025-02-20T22:33:23.428Z,1740090803.428 [keepstation:NeedComms:D] Stopped
2025-02-20T22:33:23.428Z,1740090803.428 [keepstation:NeedComms:E] Running Loop=1
2025-02-20T22:33:25.413Z,1740090805.413 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223324.00,A,3647.40577,N,12152.03687,W,0.641,194.87,200225,,,D*70
2025-02-20T22:33:25.433Z,1740090805.433 [NAL9602](INFO): GPS fix at 20250220T223324: (36.790096, -121.867281)
2025-02-20T22:33:25.488Z,1740090805.488 [keepstation:NeedComms:E] Stopped
2025-02-20T22:33:25.489Z,1740090805.489 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-20T22:33:25.489Z,1740090805.489 [keepstation:NeedComms] Stopped
2025-02-20T22:33:25.489Z,1740090805.489 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-20T22:33:25.489Z,1740090805.489 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-20T22:33:25.491Z,1740090805.491 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T22:33:25.858Z,1740090805.858 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-02-20T22:33:25.858Z,1740090805.858 [keepstation:OnStation] Stopped
2025-02-20T22:33:25.858Z,1740090805.858 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-02-20T22:33:25.859Z,1740090805.859 [keepstation:KeepStation] Running Loop=1
2025-02-20T22:33:25.859Z,1740090805.859 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-02-20T22:33:25.863Z,1740090805.863 [keepstation:KeepStation:A] Running Loop=1
2025-02-20T22:33:25.863Z,1740090805.863 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-20T22:33:25.863Z,1740090805.863 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-02-20T22:33:25.863Z,1740090805.863 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-20T22:33:25.863Z,1740090805.863 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-20T22:33:25.864Z,1740090805.864 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-02-20T22:33:25.864Z,1740090805.864 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-02-20T22:33:26.254Z,1740090806.254 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-20T22:33:26.254Z,1740090806.254 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-20T22:33:26.255Z,1740090806.255 [keepstation:KeepStation:A] Running Loop=1
2025-02-20T22:33:57.332Z,1740090837.332 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T22:36:57.995Z,1740091017.995 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T22:37:02.016Z,1740091022.016 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 1976
2025-02-20T22:37:26.755Z,1740091046.755 [Radio_Surface](INFO): Powering down
2025-02-20T22:37:29.119Z,1740091049.119 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T22:37:30.123Z,1740091050.123 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-20T22:39:05.524Z,1740091145.524 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.739197
2025-02-20T22:55:18.443Z,1740092118.443 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T22:55:31.371Z,1740092131.371 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T22:55:44.298Z,1740092144.298 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T22:55:56.822Z,1740092156.822 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T22:56:09.750Z,1740092169.750 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T22:56:23.082Z,1740092183.082 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T22:56:35.607Z,1740092195.607 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-20T22:58:26.711Z,1740092306.711 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-02-20T23:00:50.536Z,1740092450.536 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-02-20T23:00:54.588Z,1740092454.588 [keepstation](INFO): Timed out from 2025-02-20T22:30:54.2Z
2025-02-20T23:00:54.588Z,1740092454.588 [MissionManager](INFO): keepstation is completed.
2025-02-20T23:00:54.588Z,1740092454.588 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-20T23:00:54.588Z,1740092454.588 [keepstation] Stopped
2025-02-20T23:00:54.589Z,1740092454.589 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-20T23:00:54.589Z,1740092454.589 [keepstation:StandardEnvelopes] Stopped
2025-02-20T23:00:54.589Z,1740092454.589 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-20T23:00:54.589Z,1740092454.589 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-20T23:00:54.589Z,1740092454.589 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-20T23:00:54.589Z,1740092454.589 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-20T23:00:54.589Z,1740092454.589 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-20T23:00:54.589Z,1740092454.589 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-20T23:00:54.589Z,1740092454.589 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-20T23:00:54.589Z,1740092454.589 [keepstation:BackseatDriver] Stopped
2025-02-20T23:00:54.589Z,1740092454.589 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-20T23:00:54.589Z,1740092454.589 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-20T23:00:54.590Z,1740092454.590 [keepstation:PowerOnly] Stopped
2025-02-20T23:00:54.590Z,1740092454.590 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-20T23:00:54.590Z,1740092454.590 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-20T23:00:54.590Z,1740092454.590 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T23:00:54.590Z,1740092454.590 [keepstation:H.Pitch] Stopped
2025-02-20T23:00:54.590Z,1740092454.590 [keepstation:KeepStation] Stopped
2025-02-20T23:00:54.590Z,1740092454.590 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-02-20T23:00:54.590Z,1740092454.590 [keepstation:KeepStation:A] Stopped
2025-02-20T23:00:54.590Z,1740092454.590 [keepstation:KeepStation:B.Pitch] Stopped
2025-02-20T23:00:54.590Z,1740092454.590 [keepstation:KeepStation:C.KeepStation] Stopped
2025-02-20T23:00:54.590Z,1740092454.590 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-20T23:00:54.590Z,1740092454.590 [keepstation:KeepStation:D.Wait] Stopped
2025-02-20T23:00:54.590Z,1740092454.590 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T23:00:54.992Z,1740092454.992 [MissionManager](IMPORTANT): Started mission Default
2025-02-20T23:00:54.992Z,1740092454.992 [Default] Running Loop=1
2025-02-20T23:00:54.992Z,1740092454.992 [Default](DEBUG): Aggregate::initialize Default
2025-02-20T23:00:54.992Z,1740092454.992 [Default:B.GoToSurface] Running Loop=1
2025-02-20T23:00:54.993Z,1740092454.993 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T23:00:54.993Z,1740092454.993 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-20T23:00:54.993Z,1740092454.993 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-20T23:00:54.993Z,1740092454.993 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-20T23:00:54.994Z,1740092454.994 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-20T23:00:54.994Z,1740092454.994 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T23:00:54.994Z,1740092454.994 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T23:00:54.995Z,1740092454.995 [Default:A.Wait] Running Loop=1
2025-02-20T23:00:54.995Z,1740092454.995 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-20T23:00:55.515Z,1740092455.515 [Radio_Surface](INFO): Powering up
2025-02-20T23:00:55.984Z,1740092455.984 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-20T23:00:55.984Z,1740092455.984 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-20T23:01:00.943Z,1740092460.943 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-20T23:01:08.141Z,1740092468.141 [Default:A.Wait](INFO): Done Waiting.
2025-02-20T23:01:08.141Z,1740092468.141 [Default:A.Wait] Stopped
2025-02-20T23:01:08.141Z,1740092468.141 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T23:01:14.151Z,1740092474.151 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-20T23:01:14.152Z,1740092474.152 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-20T23:01:14.152Z,1740092474.152 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-20T23:01:31.071Z,1740092491.071 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T23:01:32.539Z,1740092492.539 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-02-20T23:01:38.135Z,1740092498.135 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-20T23:01:44.202Z,1740092504.202 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-20T23:01:44.202Z,1740092504.202 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-20T23:01:44.205Z,1740092504.205 [BPC1](INFO): Received data from all battery sticks.
2025-02-20T23:02:01.175Z,1740092521.175 [Default:CheckIn] Running Loop=1
2025-02-20T23:02:01.175Z,1740092521.175 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T23:02:01.175Z,1740092521.175 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T23:02:02.195Z,1740092522.195 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T23:02:21.371Z,1740092541.371 [NAL9602](INFO): SBD MO Status=0, MOMSN=12956, MT Status=0, MTMSN=0
2025-02-20T23:02:21.371Z,1740092541.371 [NAL9602](INFO): No messages in MT queue
2025-02-20T23:02:22.578Z,1740092542.578 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230221.00,A,3647.27382,N,12152.03191,W,1.225,185.14,200225,,,A*73
2025-02-20T23:02:22.581Z,1740092542.581 [NAL9602](INFO): GPS fix at 20250220T230221: (36.787897, -121.867199)
2025-02-20T23:02:22.608Z,1740092542.608 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T23:02:22.608Z,1740092542.608 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T23:02:33.323Z,1740092553.323 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T23:02:39.649Z,1740092559.649 [NAL9602](INFO): SBD MO Status=1, MOMSN=12957, MT Status=0, MTMSN=0
2025-02-20T23:02:39.699Z,1740092559.699 [NAL9602](INFO): Sent 202 bytes from file Logs/20250220T222758/Courier0009.lzma
2025-02-20T23:02:39.700Z,1740092559.700 [NAL9602](INFO): Packets left to send: 0
2025-02-20T23:02:47.889Z,1740092567.889 [NAL9602](INFO): SBD MO Status=1, MOMSN=12958, MT Status=0, MTMSN=0
2025-02-20T23:02:47.951Z,1740092567.951 [NAL9602](INFO): Sent 181 bytes from file Logs/20250220T222758/Express0010.lzma
2025-02-20T23:02:47.952Z,1740092567.952 [NAL9602](INFO): Packets left to send: 0
2025-02-20T23:02:58.392Z,1740092578.392 [NAL9602](INFO): SBD MO Status=0, MOMSN=12959, MT Status=0, MTMSN=0
2025-02-20T23:02:58.469Z,1740092578.469 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T23:02:58.469Z,1740092578.469 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-20T23:02:58.469Z,1740092578.469 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-20T23:03:04.455Z,1740092584.455 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T23:03:21.904Z,1740092601.904 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T230320
2025-02-20T23:03:21.912Z,1740092601.912 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.007470
2025-02-20T23:03:28.852Z,1740092608.852 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T23:03:34.219Z,1740092614.219 [DataOverHttps](INFO): Received command: restart logs