2025-02-20T23:03:34.306Z,1740092614.306 [CommandExec](IMPORTANT): got command restart logs
2025-02-20T23:07:59.060Z,1740092879.060 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-20T23:07:59.060Z,1740092879.060 [Default:CheckIn:C.Wait] Stopped
2025-02-20T23:07:59.060Z,1740092879.060 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T23:07:59.060Z,1740092879.060 [Default:CheckIn:D] Running Loop=1
2025-02-20T23:07:59.464Z,1740092879.464 [Default:CheckIn:D] Stopped
2025-02-20T23:07:59.464Z,1740092879.464 [Default:CheckIn:E] Running Loop=1
2025-02-20T23:07:59.878Z,1740092879.878 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  7.074523 min 
2025-02-20T23:07:59.878Z,1740092879.878 [Default:CheckIn:E] Stopped
2025-02-20T23:07:59.878Z,1740092879.878 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-20T23:07:59.878Z,1740092879.878 [Default:CheckIn] Stopped
2025-02-20T23:07:59.878Z,1740092879.878 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T23:07:59.878Z,1740092879.878 [Default:CheckIn](INFO): Running loop #2
2025-02-20T23:07:59.878Z,1740092879.878 [Default:CheckIn] Running Loop=2
2025-02-20T23:07:59.878Z,1740092879.878 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T23:07:59.878Z,1740092879.878 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T23:08:01.874Z,1740092881.874 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230801.00,A,3647.25079,N,12152.02713,W,0.136,215.09,200225,,,D*70
2025-02-20T23:08:01.877Z,1740092881.877 [NAL9602](INFO): GPS fix at 20250220T230801: (36.787513, -121.867119)
2025-02-20T23:08:01.914Z,1740092881.914 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T23:08:01.914Z,1740092881.914 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T23:08:04.307Z,1740092884.307 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250220T222758/Courier0012.lzma
2025-02-20T23:08:04.925Z,1740092884.925 [DataOverHttps](INFO): Moved sent file to Logs/20250220T222758/Courier0012.lzma.bak
2025-02-20T23:08:04.925Z,1740092884.925 [DataOverHttps](INFO): SBD MOMSN=23970138
2025-02-20T23:08:12.518Z,1740092892.518 [NAL9602](INFO): SBD MO Status=0, MOMSN=12960, MT Status=0, MTMSN=0
2025-02-20T23:08:12.518Z,1740092892.518 [NAL9602](INFO): No messages in MT queue
2025-02-20T23:08:21.355Z,1740092901.355 [DataOverHttps](INFO): Sending 268 bytes from file Logs/20250220T230334/Courier0000.lzma
2025-02-20T23:08:22.357Z,1740092902.357 [DataOverHttps](INFO): Moved sent file to Logs/20250220T230334/Courier0000.lzma.bak
2025-02-20T23:08:22.357Z,1740092902.357 [DataOverHttps](INFO): SBD MOMSN=23970141
2025-02-20T23:08:38.515Z,1740092918.515 [DataOverHttps](INFO): Sending 106 bytes from file Logs/20250220T222758/Express0013.lzma
2025-02-20T23:08:39.518Z,1740092919.518 [DataOverHttps](INFO): Moved sent file to Logs/20250220T222758/Express0013.lzma.bak
2025-02-20T23:08:39.518Z,1740092919.518 [DataOverHttps](IMPORTANT): SBD MOMSN=23970146, MTMSN=20250220T230838
2025-02-20T23:08:43.221Z,1740092923.221 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T23:08:46.991Z,1740092926.991 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 30 min;set keepstation.DepthDeadband 1 m;set keepstation:BackseatDriver.EnableBackseat 1 bool;run
2025-02-20T23:08:47.082Z,1740092927.082 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-20T23:08:47.082Z,1740092927.082 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-20T23:08:47.082Z,1740092927.082 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-20T23:08:47.085Z,1740092927.085 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-20T23:08:47.790Z,1740092927.790 [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>

2025-02-20T23:08:47.797Z,1740092927.797 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-20T23:08:47.799Z,1740092927.799 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-20T23:08:47.801Z,1740092927.801 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-20T23:08:47.803Z,1740092927.803 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-20T23:08:47.805Z,1740092927.805 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-20T23:08:47.807Z,1740092927.807 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-20T23:08:47.810Z,1740092927.810 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-20T23:08:47.812Z,1740092927.812 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-20T23:08:47.814Z,1740092927.814 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-20T23:08:47.817Z,1740092927.817 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-20T23:08:47.819Z,1740092927.819 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-20T23:08:47.819Z,1740092927.819 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-20T23:08:47.820Z,1740092927.820 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-20T23:08:47.821Z,1740092927.821 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-20T23:08:48.225Z,1740092928.225 [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>

2025-02-20T23:08:48.229Z,1740092928.229 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-20T23:08:48.231Z,1740092928.231 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-20T23:08:48.233Z,1740092928.233 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-20T23:08:48.247Z,1740092928.247 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-20T23:08:48.249Z,1740092928.249 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-20T23:08:48.283Z,1740092928.283 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-20T23:08:48.285Z,1740092928.285 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-20T23:08:48.287Z,1740092928.287 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-20T23:08:48.305Z,1740092928.305 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-20T23:08:48.356Z,1740092928.356 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-20T23:08:48.356Z,1740092928.356 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-20T23:08:48.369Z,1740092928.369 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-20T23:08:48.561Z,1740092928.561 [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>

2025-02-20T23:08:48.566Z,1740092928.566 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-20T23:08:48.586Z,1740092928.586 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-20T23:08:48.589Z,1740092928.589 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-20T23:08:48.591Z,1740092928.591 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-20T23:08:48.592Z,1740092928.592 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-20T23:08:48.599Z,1740092928.599 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-20T23:08:48.606Z,1740092928.606 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-20T23:08:48.614Z,1740092928.614 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-20T23:08:48.614Z,1740092928.614 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-20T23:08:48.615Z,1740092928.615 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-20T23:08:48.681Z,1740092928.681 [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>

2025-02-20T23:08:48.685Z,1740092928.685 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-20T23:08:48.687Z,1740092928.687 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-20T23:08:48.690Z,1740092928.690 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-20T23:08:48.690Z,1740092928.690 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-20T23:08:48.691Z,1740092928.691 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-20T23:08:48.800Z,1740092928.800 [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>

2025-02-20T23:08:48.804Z,1740092928.804 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-20T23:08:48.806Z,1740092928.806 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-20T23:08:48.807Z,1740092928.807 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-20T23:08:48.809Z,1740092928.809 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-20T23:08:48.812Z,1740092928.812 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-20T23:08:48.818Z,1740092928.818 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-20T23:08:48.819Z,1740092928.819 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-20T23:08:48.825Z,1740092928.825 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-20T23:08:48.896Z,1740092928.896 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-20T23:08:48.913Z,1740092928.913 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-20T23:08:48.918Z,1740092928.918 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-20T23:08:48.941Z,1740092928.941 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-20T23:08:48.949Z,1740092928.949 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-20T23:08:48.958Z,1740092928.958 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-20T23:08:48.996Z,1740092928.996 [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
    }
  }
}


2025-02-20T23:08:48.997Z,1740092928.997 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-20T23:08:59.252Z,1740092939.252 [DataOverHttps](INFO): Sending 382 bytes from file Logs/20250220T230334/Express0001.lzma
2025-02-20T23:09:00.253Z,1740092940.253 [DataOverHttps](INFO): Moved sent file to Logs/20250220T230334/Express0001.lzma.bak
2025-02-20T23:09:00.253Z,1740092940.253 [DataOverHttps](INFO): SBD MOMSN=23970150
2025-02-20T23:09:11.142Z,1740092951.142 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 30 minute
2025-02-20T23:09:11.188Z,1740092951.188 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 1 meter
2025-02-20T23:09:11.189Z,1740092951.189 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-02-20T23:09:11.189Z,1740092951.189 [CommandExec](IMPORTANT): got command run
2025-02-20T23:09:11.205Z,1740092951.205 [Default] Stopped
2025-02-20T23:09:11.205Z,1740092951.205 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-20T23:09:11.205Z,1740092951.205 [Default:B.GoToSurface] Stopped
2025-02-20T23:09:11.205Z,1740092951.205 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T23:09:11.205Z,1740092951.205 [Default:CheckIn] Stopped
2025-02-20T23:09:11.205Z,1740092951.205 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T23:09:11.205Z,1740092951.205 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T23:09:11.205Z,1740092951.205 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-20T23:09:11.206Z,1740092951.206 [keepstation] Running Loop=1
2025-02-20T23:09:11.206Z,1740092951.206 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-20T23:09:11.206Z,1740092951.206 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-20T23:09:11.206Z,1740092951.206 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-20T23:09:11.206Z,1740092951.206 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T23:09:11.206Z,1740092951.206 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-20T23:09:11.206Z,1740092951.206 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T23:09:11.207Z,1740092951.207 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-20T23:09:11.207Z,1740092951.207 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T23:09:11.207Z,1740092951.207 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-20T23:09:11.207Z,1740092951.207 [CommandExec](IMPORTANT): Running 
2025-02-20T23:09:11.235Z,1740092951.235 [keepstation:BackseatDriver] Running Loop=1
2025-02-20T23:09:11.235Z,1740092951.235 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-20T23:09:11.235Z,1740092951.235 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-20T23:09:11.235Z,1740092951.235 [keepstation:PowerOnly] Running Loop=1
2025-02-20T23:09:11.236Z,1740092951.236 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-20T23:09:11.236Z,1740092951.236 [keepstation:PowerOnly:A] Running Loop=1
2025-02-20T23:09:11.236Z,1740092951.236 [keepstation:PowerOnly:B] Running Loop=1
2025-02-20T23:09:11.236Z,1740092951.236 [keepstation:PowerOnly:C] Running Loop=1
2025-02-20T23:09:11.236Z,1740092951.236 [keepstation:PowerOnly:D] Running Loop=1
2025-02-20T23:09:11.236Z,1740092951.236 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-20T23:09:11.236Z,1740092951.236 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-20T23:09:11.236Z,1740092951.236 [keepstation:H.Pitch] Running Loop=1
2025-02-20T23:09:11.236Z,1740092951.236 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-20T23:09:11.236Z,1740092951.236 [keepstation:B] Running Loop=1
2025-02-20T23:09:11.237Z,1740092951.237 [keepstation:H.Pitch] Running Loop=1
2025-02-20T23:09:11.237Z,1740092951.237 [keepstation:PowerOnly] Running Loop=1
2025-02-20T23:09:11.238Z,1740092951.238 [keepstation:PowerOnly:D] Stopped
2025-02-20T23:09:11.238Z,1740092951.238 [keepstation:PowerOnly:C] Stopped
2025-02-20T23:09:11.238Z,1740092951.238 [keepstation:PowerOnly:B] Stopped
2025-02-20T23:09:11.238Z,1740092951.238 [keepstation:PowerOnly:A] Stopped
2025-02-20T23:09:11.238Z,1740092951.238 [keepstation:BackseatDriver] Running Loop=1
2025-02-20T23:09:11.238Z,1740092951.238 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-20T23:09:11.361Z,1740092951.361 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-20T23:09:11.361Z,1740092951.361 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-20T23:09:11.361Z,1740092951.361 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-20T23:09:11.362Z,1740092951.362 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-20T23:09:11.362Z,1740092951.362 [keepstation:B] Stopped
2025-02-20T23:09:11.362Z,1740092951.362 [keepstation:D] Running Loop=1
2025-02-20T23:09:11.439Z,1740092951.439 [BackseatComponent](INFO): Powering up
2025-02-20T23:09:11.440Z,1740092951.440 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-20T23:09:11.583Z,1740092951.583 [keepstation:D] Stopped
2025-02-20T23:09:11.584Z,1740092951.584 [keepstation:E] Running Loop=1
2025-02-20T23:09:11.999Z,1740092951.999 [keepstation:E] Stopped
2025-02-20T23:09:11.999Z,1740092951.999 [keepstation:StartingMission] Running Loop=1
2025-02-20T23:09:11.000Z,1740092952.000 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-20T23:09:12.388Z,1740092952.388 [keepstation:NeedComms] Running Loop=1
2025-02-20T23:09:12.388Z,1740092952.388 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-20T23:09:12.388Z,1740092952.388 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-20T23:09:12.388Z,1740092952.388 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T23:09:12.389Z,1740092952.389 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-20T23:09:12.389Z,1740092952.389 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-20T23:09:12.389Z,1740092952.389 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-20T23:09:12.390Z,1740092952.390 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-20T23:09:12.390Z,1740092952.390 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T23:09:12.390Z,1740092952.390 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T23:09:12.391Z,1740092952.391 [keepstation:NeedComms:A] Running Loop=1
2025-02-20T23:09:12.428Z,1740092952.428 [keepstation:NeedComms:A](INFO): last time_fix was:  1740092881.000000 second since 1970/01/01T00:00:00Z 
2025-02-20T23:09:12.428Z,1740092952.428 [keepstation:NeedComms:A] Stopped
2025-02-20T23:09:12.772Z,1740092952.772 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-20T23:09:12.773Z,1740092952.773 [keepstation:NeedComms:C] Running Loop=1
2025-02-20T23:09:13.217Z,1740092953.217 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-20T23:09:14.758Z,1740092954.758 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230914.00,A,3647.24635,N,12152.02808,W,0.583,261.47,200225,,,D*7C
2025-02-20T23:09:14.760Z,1740092954.760 [NAL9602](INFO): GPS fix at 20250220T230914: (36.787439, -121.867135)
2025-02-20T23:09:14.788Z,1740092954.788 [keepstation:NeedComms:C] Stopped
2025-02-20T23:09:14.788Z,1740092954.788 [keepstation:NeedComms:D] Running Loop=1
2025-02-20T23:09:15.193Z,1740092955.193 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-20T23:09:26.239Z,1740092966.239 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250220T230334/Courier0006.lzma
2025-02-20T23:09:29.322Z,1740092969.322 [DataOverHttps](INFO): Moved sent file to Logs/20250220T230334/Courier0006.lzma.bak
2025-02-20T23:09:29.322Z,1740092969.322 [DataOverHttps](INFO): SBD MOMSN=23970154
2025-02-20T23:09:34.610Z,1740092974.610 [NAL9602](INFO): SBD MO Status=0, MOMSN=12961, MT Status=0, MTMSN=0
2025-02-20T23:09:34.610Z,1740092974.610 [NAL9602](INFO): No messages in MT queue
2025-02-20T23:09:46.260Z,1740092986.260 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250220T230334/Courier0009.lzma
2025-02-20T23:09:47.261Z,1740092987.261 [DataOverHttps](INFO): Moved sent file to Logs/20250220T230334/Courier0009.lzma.bak
2025-02-20T23:09:47.261Z,1740092987.261 [DataOverHttps](INFO): SBD MOMSN=23970156
2025-02-20T23:10:03.716Z,1740093003.716 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250220T230334/Express0004.lzma
2025-02-20T23:10:04.717Z,1740093004.717 [DataOverHttps](INFO): Moved sent file to Logs/20250220T230334/Express0004.lzma.bak
2025-02-20T23:10:04.717Z,1740093004.717 [DataOverHttps](INFO): SBD MOMSN=23970160
2025-02-20T23:10:05.307Z,1740093005.307 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T23:10:18.469Z,1740093018.469 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250220T231022
2025-02-20T23:10:20.784Z,1740093020.784 [DataOverHttps](INFO): Sending 204 bytes from file Logs/20250220T230334/Express0007.lzma
2025-02-20T23:10:21.785Z,1740093021.785 [DataOverHttps](INFO): Moved sent file to Logs/20250220T230334/Express0007.lzma.bak
2025-02-20T23:10:21.785Z,1740093021.785 [DataOverHttps](INFO): SBD MOMSN=23970162
2025-02-20T23:10:38.600Z,1740093038.600 [DataOverHttps](INFO): Sending 279 bytes from file Logs/20250220T230334/Express0010.lzma
2025-02-20T23:10:39.601Z,1740093039.601 [DataOverHttps](INFO): Moved sent file to Logs/20250220T230334/Express0010.lzma.bak
2025-02-20T23:10:39.601Z,1740093039.601 [DataOverHttps](INFO): SBD MOMSN=23970166
2025-02-20T23:10:41.300Z,1740093041.300 [keepstation:NeedComms:D] Stopped
2025-02-20T23:10:41.300Z,1740093041.300 [keepstation:NeedComms:E] Running Loop=1
2025-02-20T23:10:41.688Z,1740093041.688 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-20T23:10:43.351Z,1740093043.351 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231042.00,A,3647.24088,N,12152.02770,W,0.447,218.95,200225,,,D*7F
2025-02-20T23:10:43.354Z,1740093043.354 [NAL9602](INFO): GPS fix at 20250220T231042: (36.787348, -121.867128)
2025-02-20T23:10:43.425Z,1740093043.425 [keepstation:NeedComms:E] Stopped
2025-02-20T23:10:43.426Z,1740093043.426 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-20T23:10:43.426Z,1740093043.426 [keepstation:NeedComms] Stopped
2025-02-20T23:10:43.426Z,1740093043.426 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-20T23:10:43.426Z,1740093043.426 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-20T23:10:43.426Z,1740093043.426 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T23:10:43.771Z,1740093043.771 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-20T23:10:43.771Z,1740093043.771 [keepstation:StartingMission] Stopped
2025-02-20T23:10:43.771Z,1740093043.771 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-20T23:10:43.771Z,1740093043.771 [keepstation:TransitToStation] Running Loop=1
2025-02-20T23:10:43.772Z,1740093043.772 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-20T23:10:43.772Z,1740093043.772 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-20T23:10:43.772Z,1740093043.772 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-20T23:10:43.772Z,1740093043.772 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-20T23:10:43.772Z,1740093043.772 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-20T23:10:43.772Z,1740093043.772 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-20T23:10:43.772Z,1740093043.772 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-20T23:10:43.772Z,1740093043.772 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-20T23:10:43.772Z,1740093043.772 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-20T23:10:44.167Z,1740093044.167 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-20T23:10:44.171Z,1740093044.171 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-20T23:10:44.172Z,1740093044.172 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-20T23:10:49.014Z,1740093049.014 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-20T23:10:49.014Z,1740093049.014 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-20T23:10:49.015Z,1740093049.015 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-02-20T23:10:49.015Z,1740093049.015 [keepstation:TransitToStation] Stopped
2025-02-20T23:10:49.015Z,1740093049.015 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-20T23:10:49.015Z,1740093049.015 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-20T23:10:49.015Z,1740093049.015 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-20T23:10:49.016Z,1740093049.016 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-20T23:10:49.016Z,1740093049.016 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-20T23:10:49.016Z,1740093049.016 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-20T23:10:49.016Z,1740093049.016 [keepstation:OnStation] Running Loop=1
2025-02-20T23:10:49.016Z,1740093049.016 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-02-20T23:10:49.420Z,1740093049.420 [keepstation:NeedComms] Running Loop=1
2025-02-20T23:10:49.420Z,1740093049.420 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-20T23:10:49.420Z,1740093049.420 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-20T23:10:49.420Z,1740093049.420 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T23:10:49.421Z,1740093049.421 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-20T23:10:49.421Z,1740093049.421 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-20T23:10:49.421Z,1740093049.421 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-20T23:10:49.422Z,1740093049.422 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-20T23:10:49.422Z,1740093049.422 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T23:10:49.422Z,1740093049.422 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T23:10:49.422Z,1740093049.422 [keepstation:NeedComms:A] Running Loop=1
2025-02-20T23:10:49.424Z,1740093049.424 [keepstation:NeedComms:A](INFO): last time_fix was:  1740093042.000000 second since 1970/01/01T00:00:00Z 
2025-02-20T23:10:49.424Z,1740093049.424 [keepstation:NeedComms:A] Stopped
2025-02-20T23:10:49.829Z,1740093049.829 [keepstation:NeedComms:C] Running Loop=1
2025-02-20T23:11:03.950Z,1740093063.950 [NAL9602](INFO): SBD MO Status=2, MOMSN=12962, MT Status=2, MTMSN=0
2025-02-20T23:11:03.950Z,1740093063.950 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-20T23:11:24.550Z,1740093084.550 [NAL9602](INFO): SBD MO Status=2, MOMSN=12962, MT Status=2, MTMSN=0
2025-02-20T23:11:24.551Z,1740093084.551 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-20T23:11:25.369Z,1740093085.369 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 1975
2025-02-20T23:12:02.126Z,1740093122.126 [NAL9602](INFO): SBD MO Status=0, MOMSN=12962, MT Status=0, MTMSN=0
2025-02-20T23:12:02.126Z,1740093122.126 [NAL9602](INFO): No messages in MT queue
2025-02-20T23:12:03.334Z,1740093123.334 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231202.00,A,3647.23788,N,12152.02752,W,0.097,150.93,200225,,,D*79
2025-02-20T23:12:03.336Z,1740093123.336 [NAL9602](INFO): GPS fix at 20250220T231202: (36.787298, -121.867125)
2025-02-20T23:12:03.372Z,1740093123.372 [keepstation:NeedComms:C] Stopped
2025-02-20T23:12:03.372Z,1740093123.372 [keepstation:NeedComms:D] Running Loop=1
2025-02-20T23:12:11.107Z,1740093131.107 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250220T230334/Courier0012.lzma
2025-02-20T23:12:12.109Z,1740093132.109 [DataOverHttps](INFO): Moved sent file to Logs/20250220T230334/Courier0012.lzma.bak
2025-02-20T23:12:12.109Z,1740093132.109 [DataOverHttps](INFO): SBD MOMSN=23970175
2025-02-20T23:12:28.919Z,1740093148.919 [DataOverHttps](INFO): Sending 183 bytes from file Logs/20250220T230334/Express0013.lzma
2025-02-20T23:12:29.922Z,1740093149.922 [DataOverHttps](INFO): Moved sent file to Logs/20250220T230334/Express0013.lzma.bak
2025-02-20T23:12:29.922Z,1740093149.922 [DataOverHttps](INFO): SBD MOMSN=23970179
2025-02-20T23:12:31.240Z,1740093151.240 [keepstation:NeedComms:D] Stopped
2025-02-20T23:12:31.240Z,1740093151.240 [keepstation:NeedComms:E] Running Loop=1
2025-02-20T23:12:33.244Z,1740093153.244 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231232.00,A,3647.23653,N,12152.02712,W,1.575,121.20,200225,,,D*7F
2025-02-20T23:12:33.247Z,1740093153.247 [NAL9602](INFO): GPS fix at 20250220T231232: (36.787275, -121.867119)
2025-02-20T23:12:33.332Z,1740093153.332 [keepstation:NeedComms:E] Stopped
2025-02-20T23:12:33.333Z,1740093153.333 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-20T23:12:33.333Z,1740093153.333 [keepstation:NeedComms] Stopped
2025-02-20T23:12:33.333Z,1740093153.333 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-20T23:12:33.333Z,1740093153.333 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-20T23:12:33.334Z,1740093153.334 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-20T23:12:33.685Z,1740093153.685 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-02-20T23:12:33.686Z,1740093153.686 [keepstation:OnStation] Stopped
2025-02-20T23:12:33.686Z,1740093153.686 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-02-20T23:12:33.686Z,1740093153.686 [keepstation:KeepStation] Running Loop=1
2025-02-20T23:12:33.686Z,1740093153.686 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-02-20T23:12:33.686Z,1740093153.686 [keepstation:KeepStation:A] Running Loop=1
2025-02-20T23:12:33.686Z,1740093153.686 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-20T23:12:33.686Z,1740093153.686 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-02-20T23:12:33.686Z,1740093153.686 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-20T23:12:33.686Z,1740093153.686 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-20T23:12:33.687Z,1740093153.687 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-02-20T23:12:33.691Z,1740093153.691 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-02-20T23:12:34.059Z,1740093154.059 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-20T23:12:34.060Z,1740093154.060 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-20T23:12:34.060Z,1740093154.060 [keepstation:KeepStation:A] Running Loop=1
2025-02-20T23:13:05.576Z,1740093185.576 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T23:15:19.014Z,1740093319.014 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 1976
2025-02-20T23:15:36.404Z,1740093336.404 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-02-20T23:20:43.711Z,1740093643.711 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T23:21:14.835Z,1740093674.835 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T23:21:26.059Z,1740093686.059 [Radio_Surface](INFO): Powering down
2025-02-20T23:21:45.983Z,1740093705.983 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T23:21:46.988Z,1740093706.988 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-20T23:22:51.244Z,1740093771.244 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.743393
2025-02-20T23:39:11.244Z,1740094751.244 [keepstation](INFO): Timed out from 2025-02-20T23:09:11.2Z
2025-02-20T23:39:11.244Z,1740094751.244 [MissionManager](INFO): keepstation is completed.
2025-02-20T23:39:11.244Z,1740094751.244 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-20T23:39:11.244Z,1740094751.244 [keepstation] Stopped
2025-02-20T23:39:11.245Z,1740094751.245 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-20T23:39:11.245Z,1740094751.245 [keepstation:StandardEnvelopes] Stopped
2025-02-20T23:39:11.245Z,1740094751.245 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-20T23:39:11.245Z,1740094751.245 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-20T23:39:11.245Z,1740094751.245 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-20T23:39:11.245Z,1740094751.245 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-20T23:39:11.245Z,1740094751.245 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-20T23:39:11.245Z,1740094751.245 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-20T23:39:11.245Z,1740094751.245 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-20T23:39:11.245Z,1740094751.245 [keepstation:BackseatDriver] Stopped
2025-02-20T23:39:11.245Z,1740094751.245 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-20T23:39:11.245Z,1740094751.245 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-20T23:39:11.246Z,1740094751.246 [keepstation:PowerOnly] Stopped
2025-02-20T23:39:11.246Z,1740094751.246 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-20T23:39:11.246Z,1740094751.246 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-20T23:39:11.246Z,1740094751.246 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T23:39:11.246Z,1740094751.246 [keepstation:H.Pitch] Stopped
2025-02-20T23:39:11.246Z,1740094751.246 [keepstation:KeepStation] Stopped
2025-02-20T23:39:11.246Z,1740094751.246 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-02-20T23:39:11.246Z,1740094751.246 [keepstation:KeepStation:A] Stopped
2025-02-20T23:39:11.246Z,1740094751.246 [keepstation:KeepStation:B.Pitch] Stopped
2025-02-20T23:39:11.246Z,1740094751.246 [keepstation:KeepStation:C.KeepStation] Stopped
2025-02-20T23:39:11.246Z,1740094751.246 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-20T23:39:11.246Z,1740094751.246 [keepstation:KeepStation:D.Wait] Stopped
2025-02-20T23:39:11.246Z,1740094751.246 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T23:39:11.658Z,1740094751.658 [MissionManager](IMPORTANT): Started mission Default
2025-02-20T23:39:11.658Z,1740094751.658 [Default] Running Loop=1
2025-02-20T23:39:11.658Z,1740094751.658 [Default](DEBUG): Aggregate::initialize Default
2025-02-20T23:39:11.658Z,1740094751.658 [Default:B.GoToSurface] Running Loop=1
2025-02-20T23:39:11.658Z,1740094751.658 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-20T23:39:11.658Z,1740094751.658 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-20T23:39:11.659Z,1740094751.659 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-20T23:39:11.659Z,1740094751.659 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-20T23:39:11.659Z,1740094751.659 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-20T23:39:11.660Z,1740094751.660 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-20T23:39:11.660Z,1740094751.660 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-20T23:39:11.661Z,1740094751.661 [Default:A.Wait] Running Loop=1
2025-02-20T23:39:11.661Z,1740094751.661 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-20T23:39:12.239Z,1740094752.239 [Radio_Surface](INFO): Powering up
2025-02-20T23:39:12.628Z,1740094752.628 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-20T23:39:12.629Z,1740094752.629 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-20T23:39:18.392Z,1740094758.392 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-20T23:39:24.755Z,1740094764.755 [Default:A.Wait](INFO): Done Waiting.
2025-02-20T23:39:24.755Z,1740094764.755 [Default:A.Wait] Stopped
2025-02-20T23:39:24.756Z,1740094764.756 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T23:39:30.804Z,1740094770.804 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-20T23:39:30.804Z,1740094770.804 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-20T23:39:30.804Z,1740094770.804 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-20T23:39:48.511Z,1740094788.511 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T23:40:19.635Z,1740094819.635 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T23:40:21.085Z,1740094821.085 [Default:CheckIn] Running Loop=1
2025-02-20T23:40:21.085Z,1740094821.085 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T23:40:21.085Z,1740094821.085 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T23:40:40.874Z,1740094840.874 [NAL9602](INFO): SBD MO Status=2, MOMSN=12963, MT Status=2, MTMSN=0
2025-02-20T23:40:40.874Z,1740094840.874 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-20T23:40:50.759Z,1740094850.759 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T23:41:18.866Z,1740094878.866 [NAL9602](INFO): SBD MO Status=2, MOMSN=12963, MT Status=2, MTMSN=0
2025-02-20T23:41:18.866Z,1740094878.866 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-20T23:41:21.903Z,1740094881.903 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T23:41:37.792Z,1740094897.792 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003090
2025-02-20T23:41:45.585Z,1740094905.585 [NAL9602](INFO): SBD MO Status=0, MOMSN=12963, MT Status=0, MTMSN=0
2025-02-20T23:41:45.585Z,1740094905.585 [NAL9602](INFO): No messages in MT queue
2025-02-20T23:41:46.798Z,1740094906.798 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234146.00,A,3647.12160,N,12152.06076,W,0.583,223.86,200225,,,D*7B
2025-02-20T23:41:46.801Z,1740094906.801 [NAL9602](INFO): GPS fix at 20250220T234146: (36.785360, -121.867679)
2025-02-20T23:41:46.849Z,1740094906.849 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T23:41:46.849Z,1740094906.849 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T23:41:58.051Z,1740094918.051 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250220T230334/Courier0015.lzma
2025-02-20T23:41:59.053Z,1740094919.053 [DataOverHttps](INFO): Moved sent file to Logs/20250220T230334/Courier0015.lzma.bak
2025-02-20T23:41:59.053Z,1740094919.053 [DataOverHttps](INFO): SBD MOMSN=23970182
2025-02-20T23:42:17.151Z,1740094937.151 [DataOverHttps](INFO): Sending 165 bytes from file Logs/20250220T230334/Express0016.lzma
2025-02-20T23:42:18.153Z,1740094938.153 [DataOverHttps](INFO): Moved sent file to Logs/20250220T230334/Express0016.lzma.bak
2025-02-20T23:42:18.153Z,1740094938.153 [DataOverHttps](INFO): SBD MOMSN=23970186
2025-02-20T23:42:19.681Z,1740094939.681 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T23:42:20.545Z,1740094940.545 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T23:42:20.545Z,1740094940.545 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-20T23:42:20.545Z,1740094940.545 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-20T23:47:21.158Z,1740095241.158 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-20T23:47:21.158Z,1740095241.158 [Default:CheckIn:C.Wait] Stopped
2025-02-20T23:47:21.159Z,1740095241.159 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-20T23:47:21.159Z,1740095241.159 [Default:CheckIn:D] Running Loop=1
2025-02-20T23:47:21.566Z,1740095241.566 [Default:CheckIn:D] Stopped
2025-02-20T23:47:21.566Z,1740095241.566 [Default:CheckIn:E] Running Loop=1
2025-02-20T23:47:21.958Z,1740095241.958 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  8.165133 min 
2025-02-20T23:47:21.958Z,1740095241.958 [Default:CheckIn:E] Stopped
2025-02-20T23:47:21.958Z,1740095241.958 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-20T23:47:21.958Z,1740095241.958 [Default:CheckIn] Stopped
2025-02-20T23:47:21.958Z,1740095241.958 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-20T23:47:21.959Z,1740095241.959 [Default:CheckIn](INFO): Running loop #2
2025-02-20T23:47:21.959Z,1740095241.959 [Default:CheckIn] Running Loop=2
2025-02-20T23:47:21.959Z,1740095241.959 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-20T23:47:21.959Z,1740095241.959 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-20T23:47:23.974Z,1740095243.974 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234723.00,A,3647.09450,N,12152.07039,W,0.816,257.80,200225,,,D*7C
2025-02-20T23:47:23.977Z,1740095243.977 [NAL9602](INFO): GPS fix at 20250220T234723: (36.784908, -121.867840)
2025-02-20T23:47:23.989Z,1740095243.989 [Default:CheckIn:Read_GPS] Stopped
2025-02-20T23:47:23.989Z,1740095243.989 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-20T23:47:31.259Z,1740095251.259 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250220T230334/Courier0018.lzma
2025-02-20T23:47:32.261Z,1740095252.261 [DataOverHttps](INFO): Moved sent file to Logs/20250220T230334/Courier0018.lzma.bak
2025-02-20T23:47:32.261Z,1740095252.261 [DataOverHttps](INFO): SBD MOMSN=23970189
2025-02-20T23:47:35.306Z,1740095255.306 [NAL9602](INFO): SBD MO Status=0, MOMSN=12964, MT Status=0, MTMSN=0
2025-02-20T23:47:35.306Z,1740095255.306 [NAL9602](INFO): No messages in MT queue
2025-02-20T23:47:48.243Z,1740095268.243 [DataOverHttps](INFO): Sending 129 bytes from file Logs/20250220T230334/Express0019.lzma
2025-02-20T23:47:49.245Z,1740095269.245 [DataOverHttps](INFO): Moved sent file to Logs/20250220T230334/Express0019.lzma.bak
2025-02-20T23:47:49.245Z,1740095269.245 [DataOverHttps](INFO): SBD MOMSN=23970192
2025-02-20T23:47:50.660Z,1740095270.660 [Default:CheckIn:Read_Iridium] Stopped
2025-02-20T23:47:50.660Z,1740095270.660 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-20T23:47:50.660Z,1740095270.660 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-20T23:48:05.988Z,1740095285.988 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-20T23:49:52.559Z,1740095392.559 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-20T23:50:15.088Z,1740095415.088 [DataOverHttps](IMPORTANT): SBD MTMSN=20250220T235014
2025-02-20T23:50:22.597Z,1740095422.597 [DataOverHttps](INFO): Received command: restart logs