2025-02-21T16:31:45.368Z,1740155505.368 [CommandExec](IMPORTANT): got command restart logs
2025-02-21T16:31:50.688Z,1740155510.688 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T16:32:13.086Z,1740155533.086 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,163212.00,A,3648.58122,N,12150.65847,W,0.214,0.00,210225,,,A*72
2025-02-21T16:32:13.089Z,1740155533.089 [NAL9602](INFO): GPS fix at 20250221T163212: (36.809687, -121.844308)
2025-02-21T16:32:13.103Z,1740155533.103 [keepstation:NeedComms:C] Stopped
2025-02-21T16:32:13.103Z,1740155533.103 [keepstation:NeedComms:D] Running Loop=1
2025-02-21T16:32:13.520Z,1740155533.520 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-21T16:32:21.827Z,1740155541.827 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T16:32:52.963Z,1740155572.963 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T16:33:02.430Z,1740155582.430 [NAL9602](INFO): SBD MO Status=1, MOMSN=13032, MT Status=0, MTMSN=0
2025-02-21T16:33:02.491Z,1740155582.491 [NAL9602](INFO): Sent 86 bytes from file Logs/20250221T062322/Courier0027.lzma
2025-02-21T16:33:02.492Z,1740155582.492 [NAL9602](INFO): Packets left to send: 0
2025-02-21T16:33:12.214Z,1740155592.214 [NAL9602](INFO): SBD MO Status=1, MOMSN=13033, MT Status=0, MTMSN=0
2025-02-21T16:33:12.264Z,1740155592.264 [NAL9602](INFO): Sent 268 bytes from file Logs/20250221T163145/Courier0000.lzma
2025-02-21T16:33:12.264Z,1740155592.264 [NAL9602](INFO): Packets left to send: 0
2025-02-21T16:33:24.100Z,1740155604.100 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T16:33:32.520Z,1740155612.520 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003478
2025-02-21T16:33:40.178Z,1740155620.178 [DataOverHttps](INFO): Sending 1587 bytes from file Logs/20250221T062322/Express0028.lzma
2025-02-21T16:33:41.173Z,1740155621.173 [DataOverHttps](INFO): Moved sent file to Logs/20250221T062322/Express0028.lzma.bak
2025-02-21T16:33:41.173Z,1740155621.173 [DataOverHttps](INFO): SBD MOMSN=23970984
2025-02-21T16:33:45.074Z,1740155625.074 [NAL9602](INFO): SBD MO Status=1, MOMSN=13034, MT Status=0, MTMSN=0
2025-02-21T16:33:45.132Z,1740155625.132 [NAL9602](INFO): Sent 332 bytes from file Logs/20250221T062322/Express0028.lzma
2025-02-21T16:33:45.132Z,1740155625.132 [NAL9602](INFO): Packets left to send: 4
2025-02-21T16:33:57.531Z,1740155637.531 [DataOverHttps](INFO): Sending 260 bytes from file Logs/20250221T163145/Express0001.lzma
2025-02-21T16:33:58.545Z,1740155638.545 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Express0001.lzma.bak
2025-02-21T16:33:58.545Z,1740155638.545 [DataOverHttps](INFO): SBD MOMSN=23971027
2025-02-21T16:34:15.972Z,1740155655.972 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T16:34:26.094Z,1740155666.094 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250221T163145/Courier0003.lzma
2025-02-21T16:34:27.093Z,1740155667.093 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Courier0003.lzma.bak
2025-02-21T16:34:27.093Z,1740155667.093 [DataOverHttps](INFO): SBD MOMSN=23971031
2025-02-21T16:34:47.808Z,1740155687.808 [DataOverHttps](INFO): Sending 197 bytes from file Logs/20250221T163145/Express0004.lzma
2025-02-21T16:34:48.809Z,1740155688.809 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Express0004.lzma.bak
2025-02-21T16:34:48.809Z,1740155688.809 [DataOverHttps](INFO): SBD MOMSN=23971033
2025-02-21T16:34:50.320Z,1740155690.320 [keepstation:NeedComms:D] Stopped
2025-02-21T16:34:50.320Z,1740155690.320 [keepstation:NeedComms:E] Running Loop=1
2025-02-21T16:34:50.714Z,1740155690.714 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-21T16:34:52.314Z,1740155692.314 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,163451.00,A,3648.59355,N,12150.66266,W,0.272,328.19,210225,,,A*7B
2025-02-21T16:34:52.316Z,1740155692.316 [NAL9602](INFO): GPS fix at 20250221T163451: (36.809892, -121.844378)
2025-02-21T16:34:52.368Z,1740155692.368 [keepstation:NeedComms:E] Stopped
2025-02-21T16:34:52.369Z,1740155692.369 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-21T16:34:52.369Z,1740155692.369 [keepstation:NeedComms] Stopped
2025-02-21T16:34:52.369Z,1740155692.369 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-21T16:34:52.370Z,1740155692.370 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-21T16:34:52.370Z,1740155692.370 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-21T16:34:52.744Z,1740155692.744 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-21T16:34:52.744Z,1740155692.744 [keepstation:StartingMission] Stopped
2025-02-21T16:34:52.744Z,1740155692.744 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-21T16:34:52.745Z,1740155692.745 [keepstation:TransitToStation] Running Loop=1
2025-02-21T16:34:52.745Z,1740155692.745 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-21T16:34:52.745Z,1740155692.745 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-21T16:34:52.745Z,1740155692.745 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-21T16:34:52.745Z,1740155692.745 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-21T16:34:52.745Z,1740155692.745 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-21T16:34:52.745Z,1740155692.745 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-21T16:34:52.745Z,1740155692.745 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-21T16:34:52.745Z,1740155692.745 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-21T16:34:52.746Z,1740155692.746 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-21T16:34:52.746Z,1740155692.746 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-21T16:34:53.136Z,1740155693.136 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm.
2025-02-21T16:34:53.137Z,1740155693.137 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.95 m/s, pitch 30.00 deg, mass-position 11.65 mm.
2025-02-21T16:34:53.138Z,1740155693.138 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.95 m/s, pitch -0.00 deg, mass-position 11.65 mm.
2025-02-21T16:34:53.139Z,1740155693.139 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.95 m/s, pitch -1.00 deg, mass-position 11.65 mm.
2025-02-21T16:34:53.144Z,1740155693.144 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.95 m/s, pitch -2.01 deg, mass-position 11.65 mm.
2025-02-21T16:34:53.145Z,1740155693.145 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.95 m/s, pitch -3.01 deg, mass-position 11.65 mm.
2025-02-21T16:34:53.145Z,1740155693.145 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.95 m/s, pitch -4.02 deg, mass-position 11.65 mm.
2025-02-21T16:34:53.146Z,1740155693.146 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.95 m/s, pitch -5.03 deg, mass-position 11.65 mm.
2025-02-21T16:34:53.147Z,1740155693.147 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.95 m/s, pitch -6.04 deg, mass-position 11.65 mm.
2025-02-21T16:34:53.152Z,1740155693.152 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.95 m/s, pitch -7.04 deg, mass-position 11.65 mm.
2025-02-21T16:34:53.153Z,1740155693.153 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch -20.00 deg, mass-position 11.65 mm.
2025-02-21T16:34:53.199Z,1740155693.199 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-21T16:34:53.200Z,1740155693.200 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-21T16:34:53.200Z,1740155693.200 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-21T16:34:53.201Z,1740155693.201 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-21T16:35:11.361Z,1740155711.361 [NAL9602](INFO): SBD MO Status=2, MOMSN=13035, MT Status=2, MTMSN=0
2025-02-21T16:35:11.361Z,1740155711.361 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T16:35:27.526Z,1740155727.526 [NAL9602](INFO): SBD MO Status=0, MOMSN=13035, MT Status=0, MTMSN=0
2025-02-21T16:35:27.526Z,1740155727.526 [NAL9602](INFO): No messages in MT queue
2025-02-21T16:35:58.320Z,1740155758.320 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T16:36:10.442Z,1740155770.442 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 20.00 deg, mass-position 11.65 mm (1 active estimators).
2025-02-21T16:36:51.812Z,1740155811.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T16:37:10.799Z,1740155830.799 [Radio_Surface](INFO): Powering down
2025-02-21T16:37:22.943Z,1740155842.943 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T16:37:23.947Z,1740155843.947 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-21T16:39:00.340Z,1740155940.340 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.742935
2025-02-21T17:04:52.337Z,1740157492.337 [keepstation:NeedComms] Running Loop=1
2025-02-21T17:04:52.338Z,1740157492.338 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-21T17:04:52.338Z,1740157492.338 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-21T17:04:52.338Z,1740157492.338 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T17:04:52.338Z,1740157492.338 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-21T17:04:52.338Z,1740157492.338 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-21T17:04:52.339Z,1740157492.339 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-21T17:04:52.339Z,1740157492.339 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-21T17:04:52.340Z,1740157492.340 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T17:04:52.340Z,1740157492.340 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T17:04:52.340Z,1740157492.340 [keepstation:NeedComms:A] Running Loop=1
2025-02-21T17:04:52.342Z,1740157492.342 [keepstation:NeedComms:A](INFO): last time_fix was:  1740155691.000000 second since 1970/01/01T00:00:00Z 
2025-02-21T17:04:52.342Z,1740157492.342 [keepstation:NeedComms:A] Stopped
2025-02-21T17:05:31.241Z,1740157531.241 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T17:05:43.846Z,1740157543.846 [keepstation:NeedComms:C] Running Loop=1
2025-02-21T17:05:44.170Z,1740157544.170 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T17:05:44.580Z,1740157544.580 [Radio_Surface](INFO): Powering up
2025-02-21T17:05:49.952Z,1740157549.952 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-21T17:05:57.513Z,1740157557.513 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T17:06:10.030Z,1740157570.030 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T17:06:14.094Z,1740157574.094 [NAL9602](INFO): SBD MO Status=2, MOMSN=13036, MT Status=2, MTMSN=0
2025-02-21T17:06:14.094Z,1740157574.094 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T17:06:20.071Z,1740157580.071 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T17:06:22.554Z,1740157582.554 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T17:06:23.367Z,1740157583.367 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=13036, MT Status=1, MTMSN=266
2025-02-21T17:06:23.367Z,1740157583.367 [NAL9602](INFO): Data available in MT queue
2025-02-21T17:06:23.872Z,1740157583.872 [NAL9602](INFO): Received command: stop
2025-02-21T17:06:23.924Z,1740157583.924 [CommandExec](IMPORTANT): got command stop
2025-02-21T17:06:23.931Z,1740157583.931 [CommandExec](IMPORTANT): Scheduling is paused
2025-02-21T17:06:23.931Z,1740157583.931 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-02-21T17:06:24.200Z,1740157584.200 [MissionManager](INFO): MissionManager is completed.
2025-02-21T17:06:24.200Z,1740157584.200 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-21T17:06:24.200Z,1740157584.200 [keepstation] Stopped
2025-02-21T17:06:24.200Z,1740157584.200 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-21T17:06:24.200Z,1740157584.200 [keepstation:NeedComms] Stopped
2025-02-21T17:06:24.200Z,1740157584.200 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-21T17:06:24.200Z,1740157584.200 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-21T17:06:24.200Z,1740157584.200 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-21T17:06:24.200Z,1740157584.200 [keepstation:NeedComms:C] Stopped
2025-02-21T17:06:24.200Z,1740157584.200 [keepstation:StandardEnvelopes] Stopped
2025-02-21T17:06:24.201Z,1740157584.201 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-21T17:06:24.201Z,1740157584.201 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-21T17:06:24.201Z,1740157584.201 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-21T17:06:24.201Z,1740157584.201 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-21T17:06:24.201Z,1740157584.201 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-21T17:06:24.201Z,1740157584.201 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-21T17:06:24.201Z,1740157584.201 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-21T17:06:24.201Z,1740157584.201 [keepstation:BackseatDriver] Stopped
2025-02-21T17:06:24.201Z,1740157584.201 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-21T17:06:24.201Z,1740157584.201 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-21T17:06:24.201Z,1740157584.201 [keepstation:PowerOnly] Stopped
2025-02-21T17:06:24.201Z,1740157584.201 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-21T17:06:24.201Z,1740157584.201 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-21T17:06:24.202Z,1740157584.202 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T17:06:24.202Z,1740157584.202 [keepstation:H.Pitch] Stopped
2025-02-21T17:06:24.202Z,1740157584.202 [keepstation:TransitToStation] Stopped
2025-02-21T17:06:24.202Z,1740157584.202 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-21T17:06:24.202Z,1740157584.202 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-21T17:06:24.202Z,1740157584.202 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-21T17:06:24.202Z,1740157584.202 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-21T17:06:24.202Z,1740157584.202 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-21T17:06:24.202Z,1740157584.202 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-21T17:06:24.202Z,1740157584.202 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-21T17:06:24.202Z,1740157584.202 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-21T17:06:24.640Z,1740157584.640 [MissionManager](IMPORTANT): Started mission Default
2025-02-21T17:06:24.640Z,1740157584.640 [Default] Running Loop=1
2025-02-21T17:06:24.640Z,1740157584.640 [Default](DEBUG): Aggregate::initialize Default
2025-02-21T17:06:24.641Z,1740157584.641 [Default:B.GoToSurface] Running Loop=1
2025-02-21T17:06:24.641Z,1740157584.641 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T17:06:24.641Z,1740157584.641 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-21T17:06:24.641Z,1740157584.641 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-21T17:06:24.642Z,1740157584.642 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-21T17:06:24.642Z,1740157584.642 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-21T17:06:24.642Z,1740157584.642 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T17:06:24.642Z,1740157584.642 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T17:06:24.643Z,1740157584.643 [Default:A.Wait] Running Loop=1
2025-02-21T17:06:24.643Z,1740157584.643 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-21T17:06:24.989Z,1740157584.989 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,170624.00,A,3647.85470,N,12150.73671,W,0.914,214.22,210225,,,A*7C
2025-02-21T17:06:24.992Z,1740157584.992 [NAL9602](INFO): GPS fix at 20250221T170624: (36.797578, -121.845612)
2025-02-21T17:06:25.004Z,1740157585.004 [UniversalFixResidualReporter](INFO): Fix residual: 8.8 %DT, over the last 1459.5 m. Residual distance 128.5 m at bearing -93.7 degrees. Fix at (36.7976, -121.8456) with 1373.7 m made good.
2025-02-21T17:06:35.886Z,1740157595.886 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T17:06:38.001Z,1740157598.001 [Default:A.Wait](INFO): Done Waiting.
2025-02-21T17:06:38.002Z,1740157598.002 [Default:A.Wait] Stopped
2025-02-21T17:06:38.002Z,1740157598.002 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T17:06:38.331Z,1740157598.331 [Default:CheckIn] Running Loop=1
2025-02-21T17:06:38.331Z,1740157598.331 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-21T17:06:38.331Z,1740157598.331 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-21T17:06:40.343Z,1740157600.343 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,170639.00,A,3647.85404,N,12150.73647,W,0.641,122.55,210225,,,A*7F
2025-02-21T17:06:40.345Z,1740157600.345 [NAL9602](INFO): GPS fix at 20250221T170639: (36.797567, -121.845608)
2025-02-21T17:06:40.376Z,1740157600.376 [Default:CheckIn:Read_GPS] Stopped
2025-02-21T17:06:40.376Z,1740157600.376 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-21T17:06:48.814Z,1740157608.814 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T17:06:51.207Z,1740157611.207 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T17:07:04.648Z,1740157624.648 [NAL9602](INFO): SBD MO Status=1, MOMSN=13037, MT Status=0, MTMSN=0
2025-02-21T17:07:04.712Z,1740157624.712 [NAL9602](INFO): Sent 207 bytes from file Logs/20250221T163145/Courier0006.lzma
2025-02-21T17:07:04.712Z,1740157624.712 [NAL9602](INFO): Packets left to send: 0
2025-02-21T17:07:17.122Z,1740157637.122 [NAL9602](INFO): SBD MO Status=1, MOMSN=13038, MT Status=0, MTMSN=0
2025-02-21T17:07:17.181Z,1740157637.181 [NAL9602](INFO): Sent 332 bytes from file Logs/20250221T163145/Express0007.lzma
2025-02-21T17:07:17.182Z,1740157637.182 [NAL9602](INFO): Packets left to send: 1
2025-02-21T17:07:22.347Z,1740157642.347 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T17:07:34.729Z,1740157654.729 [NAL9602](INFO): SBD MO Status=2, MOMSN=13039, MT Status=2, MTMSN=0
2025-02-21T17:07:34.729Z,1740157654.729 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T17:07:53.492Z,1740157673.492 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T17:07:59.494Z,1740157679.494 [NAL9602](INFO): SBD MO Status=2, MOMSN=13039, MT Status=2, MTMSN=0
2025-02-21T17:07:59.494Z,1740157679.494 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T17:08:08.471Z,1740157688.471 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003129
2025-02-21T17:08:17.539Z,1740157697.539 [DataOverHttps](INFO): Sending 368 bytes from file Logs/20250221T163145/Express0007.lzma
2025-02-21T17:08:18.541Z,1740157698.541 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Express0007.lzma.bak
2025-02-21T17:08:18.541Z,1740157698.541 [DataOverHttps](INFO): SBD MOMSN=23971044
2025-02-21T17:08:20.336Z,1740157700.336 [Default:CheckIn:Read_Iridium] Stopped
2025-02-21T17:08:20.336Z,1740157700.336 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-21T17:08:20.337Z,1740157700.337 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-21T17:08:23.158Z,1740157703.158 [NAL9602](INFO): SBD MO Status=2, MOMSN=13039, MT Status=2, MTMSN=0
2025-02-21T17:08:23.158Z,1740157703.158 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T17:08:53.652Z,1740157733.652 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T17:11:48.874Z,1740157908.874 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-02-21T17:11:51.620Z,1740157911.620 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-21T17:11:55.848Z,1740157915.848 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4BD0.
2025-02-21T17:11:55.849Z,1740157915.849 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-21T17:11:55.882Z,1740157915.882 [BPC1](INFO): Received data from all battery sticks.
2025-02-21T17:13:21.043Z,1740158001.043 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-21T17:13:21.043Z,1740158001.043 [Default:CheckIn:C.Wait] Stopped
2025-02-21T17:13:21.043Z,1740158001.043 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T17:13:21.044Z,1740158001.044 [Default:CheckIn:D] Running Loop=1
2025-02-21T17:13:21.493Z,1740158001.493 [Default:CheckIn:D] Stopped
2025-02-21T17:13:21.493Z,1740158001.493 [Default:CheckIn:E] Running Loop=1
2025-02-21T17:13:21.978Z,1740158001.978 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.947541 min 
2025-02-21T17:13:21.978Z,1740158001.978 [Default:CheckIn:E] Stopped
2025-02-21T17:13:21.978Z,1740158001.978 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-21T17:13:21.979Z,1740158001.979 [Default:CheckIn] Stopped
2025-02-21T17:13:21.979Z,1740158001.979 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-21T17:13:22.043Z,1740158002.043 [Default:CheckIn](INFO): Running loop #2
2025-02-21T17:13:22.043Z,1740158002.043 [Default:CheckIn] Running Loop=2
2025-02-21T17:13:22.043Z,1740158002.043 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-21T17:13:22.043Z,1740158002.043 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-21T17:13:24.516Z,1740158004.516 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171323.00,A,3647.85928,N,12150.71886,W,1.166,63.46,210225,,,A*47
2025-02-21T17:13:24.518Z,1740158004.518 [NAL9602](INFO): GPS fix at 20250221T171323: (36.797655, -121.845314)
2025-02-21T17:13:24.697Z,1740158004.697 [Default:CheckIn:Read_GPS] Stopped
2025-02-21T17:13:24.697Z,1740158004.697 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-21T17:13:42.493Z,1740158022.493 [NAL9602](INFO): SBD MO Status=1, MOMSN=13039, MT Status=0, MTMSN=0
2025-02-21T17:13:42.493Z,1740158022.493 [NAL9602](INFO): No messages in MT queue
2025-02-21T17:14:13.545Z,1740158053.545 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T17:14:31.789Z,1740158071.789 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=187.804123
2025-02-21T17:14:56.430Z,1740158096.430 [NAL9602](INFO): SBD MO Status=1, MOMSN=13040, MT Status=0, MTMSN=0
2025-02-21T17:14:56.480Z,1740158096.480 [NAL9602](INFO): Sent 203 bytes from file Logs/20250221T163145/Courier0009.lzma
2025-02-21T17:14:56.480Z,1740158096.480 [NAL9602](INFO): Packets left to send: 0
2025-02-21T17:15:03.453Z,1740158103.453 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T171502
2025-02-21T17:15:03.461Z,1740158103.461 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.007760
2025-02-21T17:15:14.328Z,1740158114.328 [NAL9602](INFO): SBD MO Status=1, MOMSN=13041, MT Status=0, MTMSN=0
2025-02-21T17:15:14.376Z,1740158114.376 [NAL9602](INFO): Sent 174 bytes from file Logs/20250221T163145/Express0010.lzma
2025-02-21T17:15:14.376Z,1740158114.376 [NAL9602](INFO): Packets left to send: 0
2025-02-21T17:15:42.472Z,1740158142.472 [Default:CheckIn:Read_Iridium] Stopped
2025-02-21T17:15:42.472Z,1740158142.472 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-21T17:15:42.472Z,1740158142.472 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-21T17:15:45.220Z,1740158145.220 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T17:16:00.828Z,1740158160.828 [DataOverHttps](INFO): Received command: sched asap "configset VerticalControl.kpPitchMass 0.1 none persist; configset VerticalControl.kiPitchMass 0.001 1/s persist; configset VerticalControl.kdPitchMass 0.1 s persist; configset VerticalControl.massDeadband 0.0 mm persist" 23ejz 1 2
2025-02-21T17:16:00.880Z,1740158160.880 [CommandExec](IMPORTANT): got command schedule asap "configset VerticalControl.kpPitchMass 0.1 none persist; configset VerticalControl.kiPitchMass 0.001 1/s persist; configset VerticalControl.kdPitchMass 0.1 s persist; configset VerticalControl.massDeadband 0.0 mm persist" 23ejz 1 2.000000
2025-02-21T17:16:00.881Z,1740158160.881 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=23ejz
2025-02-21T17:16:00.882Z,1740158160.882 [CommandExec](IMPORTANT): Scheduled #35 (#1 of 2 with id='23ejz'): "configset VerticalControl.kpPitchMass 0.1 none persist; configset VerticalControl.kiPitchMass 0.001 1/s persist; configset VerticalControl.kdPitchMass 0.1 s persist; configset VerticalControl.massDeadband 0.0 mm persist", ASAP
2025-02-21T17:16:01.830Z,1740158161.830 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T171600
2025-02-21T17:16:17.900Z,1740158177.900 [DataOverHttps](INFO): Received command: sched asap " configset VerticalControl.massOnlyForceInt 1 bool persist; configset cbit.runnavcritical 1 bool persist" 23ejz 2 2
2025-02-21T17:16:17.908Z,1740158177.908 [CommandExec](IMPORTANT): got command schedule asap " configset VerticalControl.massOnlyForceInt 1 bool persist; configset cbit.runnavcritical 1 bool persist" 23ejz 2 2.000000
2025-02-21T17:16:17.909Z,1740158177.909 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=23ejz
2025-02-21T17:16:17.910Z,1740158177.910 [CommandExec](IMPORTANT): Scheduled #36 (#2 of 2 with id='23ejz'): " configset VerticalControl.massOnlyForceInt 1 bool persist; configset cbit.runnavcritical 1 bool persist", ASAP
2025-02-21T17:16:24.199Z,1740158184.199 [CommandExec](IMPORTANT): got command configSet VerticalControl.kpPitchMass 0.1 none persist
2025-02-21T17:16:24.263Z,1740158184.263 [CommandExec](IMPORTANT): got command configSet VerticalControl.kiPitchMass 0.001 reciprocal_second persist
2025-02-21T17:16:24.279Z,1740158184.279 [CommandExec](IMPORTANT): got command configSet VerticalControl.kdPitchMass 0.1 second persist
2025-02-21T17:16:24.294Z,1740158184.294 [CommandExec](IMPORTANT): got command configSet VerticalControl.massDeadband 0.0 millimeter persist
2025-02-21T17:16:27.886Z,1740158187.886 [CommandExec](IMPORTANT): got command configSet VerticalControl.massOnlyForceInt 1 bool persist
2025-02-21T17:16:27.893Z,1740158187.893 [CommandExec](IMPORTANT): got command configSet 
2025-02-21T17:16:27.893Z,1740158187.893 [CommandExec](FAULT): Incomplete syntax. Try: help configSet
2025-02-21T17:17:21.137Z,1740158241.137 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T171720
2025-02-21T17:17:33.043Z,1740158253.043 [DataOverHttps](INFO): Received command: configset verticalcontrol.kpdepthbuoy 30 ratio persist
2025-02-21T17:17:33.939Z,1740158253.939 [CommandExec](IMPORTANT): got command configSet VerticalControl.kpDepthBuoy 30 ratio persist
2025-02-21T17:20:42.971Z,1740158442.971 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-21T17:20:42.971Z,1740158442.971 [Default:CheckIn:C.Wait] Stopped
2025-02-21T17:20:42.972Z,1740158442.972 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T17:20:42.972Z,1740158442.972 [Default:CheckIn:D] Running Loop=1
2025-02-21T17:20:43.375Z,1740158443.375 [Default:CheckIn:D] Stopped
2025-02-21T17:20:43.375Z,1740158443.375 [Default:CheckIn:E] Running Loop=1
2025-02-21T17:20:43.797Z,1740158443.797 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  14.311906 min 
2025-02-21T17:20:43.797Z,1740158443.797 [Default:CheckIn:E] Stopped
2025-02-21T17:20:43.798Z,1740158443.798 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-21T17:20:43.798Z,1740158443.798 [Default:CheckIn] Stopped
2025-02-21T17:20:43.798Z,1740158443.798 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-21T17:20:43.798Z,1740158443.798 [Default:CheckIn](INFO): Running loop #3
2025-02-21T17:20:43.798Z,1740158443.798 [Default:CheckIn] Running Loop=3
2025-02-21T17:20:43.798Z,1740158443.798 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-21T17:20:43.798Z,1740158443.798 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-21T17:20:45.778Z,1740158445.778 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172045.00,A,3647.86592,N,12150.70192,W,0.369,115.94,210225,,,D*72
2025-02-21T17:20:45.780Z,1740158445.780 [NAL9602](INFO): GPS fix at 20250221T172045: (36.797765, -121.845032)
2025-02-21T17:20:45.845Z,1740158445.845 [Default:CheckIn:Read_GPS] Stopped
2025-02-21T17:20:45.845Z,1740158445.845 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-21T17:20:56.887Z,1740158456.887 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250221T163145/Courier0012.lzma
2025-02-21T17:20:57.890Z,1740158457.890 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Courier0012.lzma.bak
2025-02-21T17:20:57.890Z,1740158457.890 [DataOverHttps](INFO): SBD MOMSN=23971064
2025-02-21T17:21:08.042Z,1740158468.042 [NAL9602](INFO): SBD MO Status=0, MOMSN=13042, MT Status=0, MTMSN=0
2025-02-21T17:21:08.042Z,1740158468.042 [NAL9602](INFO): No messages in MT queue
2025-02-21T17:21:29.469Z,1740158489.469 [DataOverHttps](INFO): Sending 597 bytes from file Logs/20250221T163145/Express0013.lzma
2025-02-21T17:21:30.469Z,1740158490.469 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Express0013.lzma.bak
2025-02-21T17:21:30.469Z,1740158490.469 [DataOverHttps](INFO): SBD MOMSN=23971068
2025-02-21T17:21:32.717Z,1740158492.717 [Default:CheckIn:Read_Iridium] Stopped
2025-02-21T17:21:32.717Z,1740158492.717 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-21T17:21:32.717Z,1740158492.717 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-21T17:21:38.761Z,1740158498.761 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T17:24:25.813Z,1740158665.813 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T172424
2025-02-21T17:24:33.468Z,1740158673.468 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 60 min;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree" 23ezx 1 2
2025-02-21T17:24:33.504Z,1740158673.504 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 60 min;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree" 23ezx 1 2.000000
2025-02-21T17:24:33.504Z,1740158673.504 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=23ezx
2025-02-21T17:24:33.505Z,1740158673.505 [CommandExec](IMPORTANT): Scheduled #37 (#1 of 2 with id='23ezx'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 60 min;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree", ASAP
2025-02-21T17:24:34.465Z,1740158674.465 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T172433
2025-02-21T17:24:41.975Z,1740158681.975 [DataOverHttps](INFO): Received command: sched asap "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 23ezx 2 2
2025-02-21T17:24:41.984Z,1740158681.984 [CommandExec](IMPORTANT): got command schedule asap "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 23ezx 2 2.000000
2025-02-21T17:24:41.985Z,1740158681.985 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=23ezx
2025-02-21T17:24:41.986Z,1740158681.986 [CommandExec](IMPORTANT): Scheduled #38 (#2 of 2 with id='23ezx'): "set keepstation:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2025-02-21T17:24:42.099Z,1740158682.099 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-21T17:24:42.099Z,1740158682.099 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-21T17:24:42.100Z,1740158682.100 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-21T17:24:42.101Z,1740158682.101 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-21T17:24:43.738Z,1740158683.738 [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>

2025-02-21T17:24:43.743Z,1740158683.743 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-21T17:24:43.745Z,1740158683.745 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-21T17:24:43.762Z,1740158683.762 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-21T17:24:43.764Z,1740158683.764 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-21T17:24:43.766Z,1740158683.766 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-21T17:24:43.769Z,1740158683.769 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-21T17:24:43.771Z,1740158683.771 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-21T17:24:43.773Z,1740158683.773 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-21T17:24:43.776Z,1740158683.776 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-21T17:24:43.778Z,1740158683.778 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-21T17:24:43.780Z,1740158683.780 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-21T17:24:43.781Z,1740158683.781 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-21T17:24:43.781Z,1740158683.781 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-21T17:24:43.782Z,1740158683.782 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-21T17:24:44.123Z,1740158684.123 [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>

2025-02-21T17:24:44.132Z,1740158684.132 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-21T17:24:44.136Z,1740158684.136 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-21T17:24:44.138Z,1740158684.138 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-21T17:24:44.142Z,1740158684.142 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-21T17:24:44.144Z,1740158684.144 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-21T17:24:44.146Z,1740158684.146 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-21T17:24:44.149Z,1740158684.149 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-21T17:24:44.151Z,1740158684.151 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-21T17:24:44.161Z,1740158684.161 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-21T17:24:44.178Z,1740158684.178 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-21T17:24:44.178Z,1740158684.178 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-21T17:24:44.204Z,1740158684.204 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-21T17:24:44.366Z,1740158684.366 [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>

2025-02-21T17:24:44.370Z,1740158684.370 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-21T17:24:44.372Z,1740158684.372 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-21T17:24:44.374Z,1740158684.374 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-21T17:24:44.377Z,1740158684.377 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-21T17:24:44.378Z,1740158684.378 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-21T17:24:44.387Z,1740158684.386 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-21T17:24:44.432Z,1740158684.432 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-21T17:24:44.440Z,1740158684.440 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-21T17:24:44.440Z,1740158684.440 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-21T17:24:44.441Z,1740158684.441 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-21T17:24:44.470Z,1740158684.470 [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>

2025-02-21T17:24:44.473Z,1740158684.473 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-21T17:24:44.476Z,1740158684.476 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-21T17:24:44.478Z,1740158684.478 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-21T17:24:44.478Z,1740158684.478 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-21T17:24:44.479Z,1740158684.479 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-21T17:24:44.593Z,1740158684.593 [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>

2025-02-21T17:24:44.597Z,1740158684.597 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-21T17:24:44.607Z,1740158684.607 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-21T17:24:44.609Z,1740158684.609 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-21T17:24:44.636Z,1740158684.636 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-21T17:24:44.638Z,1740158684.638 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-21T17:24:44.688Z,1740158684.688 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-21T17:24:44.690Z,1740158684.690 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-21T17:24:44.710Z,1740158684.710 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-21T17:24:44.714Z,1740158684.714 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-21T17:24:44.732Z,1740158684.732 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-21T17:24:44.734Z,1740158684.734 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-21T17:24:44.747Z,1740158684.747 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-21T17:24:44.751Z,1740158684.751 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-21T17:24:44.756Z,1740158684.756 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-21T17:24:44.774Z,1740158684.774 [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
    }
  }
}


2025-02-21T17:24:44.774Z,1740158684.774 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-21T17:25:07.481Z,1740158707.481 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 60 minute
2025-02-21T17:25:07.482Z,1740158707.482 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-02-21T17:25:07.483Z,1740158707.483 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-02-21T17:25:07.484Z,1740158707.484 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-02-21T17:25:26.621Z,1740158726.621 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-02-21T17:25:26.621Z,1740158726.621 [CommandExec](IMPORTANT): got command run
2025-02-21T17:25:26.623Z,1740158726.623 [CommandExec](IMPORTANT): Running 
2025-02-21T17:25:26.768Z,1740158726.768 [Default] Stopped
2025-02-21T17:25:26.768Z,1740158726.768 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-21T17:25:26.768Z,1740158726.768 [Default:B.GoToSurface] Stopped
2025-02-21T17:25:26.769Z,1740158726.769 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-21T17:25:26.769Z,1740158726.769 [Default:CheckIn] Stopped
2025-02-21T17:25:26.769Z,1740158726.769 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-21T17:25:26.769Z,1740158726.769 [Default:CheckIn:C.Wait] Stopped
2025-02-21T17:25:26.769Z,1740158726.769 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T17:25:26.769Z,1740158726.769 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-21T17:25:26.769Z,1740158726.769 [keepstation] Running Loop=1
2025-02-21T17:25:26.769Z,1740158726.769 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-21T17:25:26.770Z,1740158726.770 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-21T17:25:26.770Z,1740158726.770 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-21T17:25:26.770Z,1740158726.770 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-21T17:25:26.770Z,1740158726.770 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-21T17:25:26.770Z,1740158726.770 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-21T17:25:26.770Z,1740158726.770 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-21T17:25:26.770Z,1740158726.770 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-21T17:25:26.770Z,1740158726.770 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-21T17:25:26.770Z,1740158726.770 [keepstation:BackseatDriver] Running Loop=1
2025-02-21T17:25:26.770Z,1740158726.770 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-21T17:25:26.771Z,1740158726.771 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-21T17:25:26.771Z,1740158726.771 [keepstation:PowerOnly] Running Loop=1
2025-02-21T17:25:26.771Z,1740158726.771 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-21T17:25:26.771Z,1740158726.771 [keepstation:PowerOnly:A] Running Loop=1
2025-02-21T17:25:26.771Z,1740158726.771 [keepstation:PowerOnly:B] Running Loop=1
2025-02-21T17:25:26.771Z,1740158726.771 [keepstation:PowerOnly:C] Running Loop=1
2025-02-21T17:25:26.771Z,1740158726.771 [keepstation:PowerOnly:D] Running Loop=1
2025-02-21T17:25:26.772Z,1740158726.772 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-21T17:25:26.772Z,1740158726.772 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-21T17:25:26.772Z,1740158726.772 [keepstation:H.Pitch] Running Loop=1
2025-02-21T17:25:26.772Z,1740158726.772 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-21T17:25:26.772Z,1740158726.772 [keepstation:B] Running Loop=1
2025-02-21T17:25:26.773Z,1740158726.773 [keepstation:H.Pitch] Running Loop=1
2025-02-21T17:25:26.773Z,1740158726.773 [keepstation:PowerOnly] Running Loop=1
2025-02-21T17:25:26.774Z,1740158726.774 [keepstation:PowerOnly:D] Stopped
2025-02-21T17:25:26.774Z,1740158726.774 [keepstation:PowerOnly:C] Stopped
2025-02-21T17:25:26.774Z,1740158726.774 [keepstation:PowerOnly:B] Stopped
2025-02-21T17:25:26.774Z,1740158726.774 [keepstation:PowerOnly:A] Stopped
2025-02-21T17:25:26.774Z,1740158726.774 [keepstation:BackseatDriver] Running Loop=1
2025-02-21T17:25:26.774Z,1740158726.774 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-21T17:25:26.801Z,1740158726.801 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-21T17:25:26.801Z,1740158726.801 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-21T17:25:26.802Z,1740158726.802 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-21T17:25:26.802Z,1740158726.802 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-21T17:25:26.802Z,1740158726.802 [keepstation:B] Stopped
2025-02-21T17:25:26.803Z,1740158726.803 [keepstation:D] Running Loop=1
2025-02-21T17:25:26.943Z,1740158726.943 [BackseatComponent](INFO): Powering up
2025-02-21T17:25:26.944Z,1740158726.944 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-21T17:25:27.187Z,1740158727.187 [keepstation:D] Stopped
2025-02-21T17:25:27.188Z,1740158727.188 [keepstation:E] Running Loop=1
2025-02-21T17:25:27.575Z,1740158727.575 [keepstation:E] Stopped
2025-02-21T17:25:27.575Z,1740158727.575 [keepstation:StartingMission] Running Loop=1
2025-02-21T17:25:27.576Z,1740158727.576 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-21T17:25:27.981Z,1740158727.981 [keepstation:NeedComms] Running Loop=1
2025-02-21T17:25:27.981Z,1740158727.981 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-21T17:25:27.982Z,1740158727.982 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-21T17:25:27.982Z,1740158727.982 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T17:25:27.982Z,1740158727.982 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-21T17:25:27.982Z,1740158727.982 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-21T17:25:27.983Z,1740158727.983 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-21T17:25:27.983Z,1740158727.983 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-21T17:25:27.985Z,1740158727.985 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T17:25:27.985Z,1740158727.985 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T17:25:27.986Z,1740158727.986 [keepstation:NeedComms:A] Running Loop=1
2025-02-21T17:25:27.987Z,1740158727.987 [keepstation:NeedComms:A](INFO): last time_fix was:  1740158445.000000 second since 1970/01/01T00:00:00Z 
2025-02-21T17:25:27.987Z,1740158727.987 [keepstation:NeedComms:A] Stopped
2025-02-21T17:25:28.388Z,1740158728.388 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-21T17:25:28.389Z,1740158728.389 [keepstation:NeedComms:C] Running Loop=1
2025-02-21T17:25:28.800Z,1740158728.800 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-21T17:25:30.389Z,1740158730.389 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172529.00,A,3647.87188,N,12150.69425,W,0.369,31.67,210225,,,D*49
2025-02-21T17:25:30.400Z,1740158730.400 [NAL9602](INFO): GPS fix at 20250221T172529: (36.797865, -121.844904)
2025-02-21T17:25:30.416Z,1740158730.416 [keepstation:NeedComms:C] Stopped
2025-02-21T17:25:30.416Z,1740158730.416 [keepstation:NeedComms:D] Running Loop=1
2025-02-21T17:25:30.840Z,1740158730.840 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-21T17:25:38.431Z,1740158738.431 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250221T163145/Courier0015.lzma
2025-02-21T17:25:39.433Z,1740158739.433 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Courier0015.lzma.bak
2025-02-21T17:25:39.433Z,1740158739.433 [DataOverHttps](INFO): SBD MOMSN=23971091
2025-02-21T17:25:51.430Z,1740158751.430 [NAL9602](INFO): SBD MO Status=0, MOMSN=13043, MT Status=0, MTMSN=0
2025-02-21T17:25:51.430Z,1740158751.430 [NAL9602](INFO): No messages in MT queue
2025-02-21T17:25:55.757Z,1740158755.757 [DataOverHttps](INFO): Sending 512 bytes from file Logs/20250221T163145/Express0017.lzma
2025-02-21T17:25:56.757Z,1740158756.757 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Express0017.lzma.bak
2025-02-21T17:25:56.757Z,1740158756.757 [DataOverHttps](INFO): SBD MOMSN=23971094
2025-02-21T17:26:13.305Z,1740158773.305 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250221T163145/Express0022.lzma
2025-02-21T17:26:14.305Z,1740158774.305 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Express0022.lzma.bak
2025-02-21T17:26:14.305Z,1740158774.305 [DataOverHttps](INFO): SBD MOMSN=23971115
2025-02-21T17:26:16.100Z,1740158776.100 [keepstation:NeedComms:D] Stopped
2025-02-21T17:26:16.101Z,1740158776.101 [keepstation:NeedComms:E] Running Loop=1
2025-02-21T17:26:16.496Z,1740158776.496 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-21T17:26:18.094Z,1740158778.094 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172617.00,A,3647.87233,N,12150.69237,W,0.233,178.05,210225,,,D*77
2025-02-21T17:26:18.098Z,1740158778.098 [NAL9602](INFO): GPS fix at 20250221T172617: (36.797872, -121.844873)
2025-02-21T17:26:18.156Z,1740158778.156 [keepstation:NeedComms:E] Stopped
2025-02-21T17:26:18.157Z,1740158778.157 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-21T17:26:18.157Z,1740158778.157 [keepstation:NeedComms] Stopped
2025-02-21T17:26:18.157Z,1740158778.157 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-21T17:26:18.157Z,1740158778.157 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-21T17:26:18.157Z,1740158778.157 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-21T17:26:18.533Z,1740158778.533 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-21T17:26:18.533Z,1740158778.533 [keepstation:StartingMission] Stopped
2025-02-21T17:26:18.533Z,1740158778.533 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-21T17:26:18.533Z,1740158778.533 [keepstation:TransitToStation] Running Loop=1
2025-02-21T17:26:18.533Z,1740158778.533 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-21T17:26:18.533Z,1740158778.533 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-21T17:26:18.533Z,1740158778.533 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-21T17:26:18.533Z,1740158778.533 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-21T17:26:18.533Z,1740158778.533 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-21T17:26:18.534Z,1740158778.534 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-21T17:26:18.534Z,1740158778.534 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-21T17:26:18.534Z,1740158778.534 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-21T17:26:18.534Z,1740158778.534 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-21T17:26:18.539Z,1740158778.539 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-21T17:26:18.930Z,1740158778.930 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-21T17:26:18.930Z,1740158778.930 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-21T17:26:18.930Z,1740158778.930 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-21T17:26:18.935Z,1740158778.935 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-21T17:26:35.565Z,1740158795.565 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250221T172639
2025-02-21T17:26:50.412Z,1740158810.412 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T17:27:34.887Z,1740158854.887 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 1975
2025-02-21T17:27:46.888Z,1740158866.888 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T17:27:58.079Z,1740158878.079 [Radio_Surface](INFO): Powering down
2025-02-21T17:28:18.011Z,1740158898.011 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T17:28:19.015Z,1740158899.015 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-21T17:29:55.416Z,1740158995.416 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.746994
2025-02-21T17:31:36.496Z,1740159096.496 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 1976
2025-02-21T17:32:35.478Z,1740159155.478 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-02-21T17:32:35.478Z,1740159155.478 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-21T17:32:35.478Z,1740159155.478 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-21T17:32:35.480Z,1740159155.480 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-02-21T17:32:35.480Z,1740159155.480 [keepstation:TransitToStation] Stopped
2025-02-21T17:32:35.480Z,1740159155.480 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-21T17:32:35.480Z,1740159155.480 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-21T17:32:35.480Z,1740159155.480 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-21T17:32:35.480Z,1740159155.480 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-21T17:32:35.480Z,1740159155.480 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-21T17:32:35.480Z,1740159155.480 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-21T17:32:35.480Z,1740159155.480 [keepstation:OnStation] Running Loop=1
2025-02-21T17:32:35.480Z,1740159155.480 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-02-21T17:32:35.900Z,1740159155.900 [keepstation:NeedComms] Running Loop=1
2025-02-21T17:32:35.900Z,1740159155.900 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-21T17:32:35.900Z,1740159155.900 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-21T17:32:35.900Z,1740159155.900 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T17:32:35.901Z,1740159155.901 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-21T17:32:35.901Z,1740159155.901 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-21T17:32:35.901Z,1740159155.901 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-21T17:32:35.902Z,1740159155.902 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-21T17:32:35.902Z,1740159155.902 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T17:32:35.902Z,1740159155.902 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T17:32:35.902Z,1740159155.902 [keepstation:NeedComms:A] Running Loop=1
2025-02-21T17:32:35.904Z,1740159155.904 [keepstation:NeedComms:A](INFO): last time_fix was:  1740158777.000000 second since 1970/01/01T00:00:00Z 
2025-02-21T17:32:35.904Z,1740159155.904 [keepstation:NeedComms:A] Stopped
2025-02-21T17:33:27.597Z,1740159207.597 [keepstation:NeedComms:C] Running Loop=1
2025-02-21T17:33:28.151Z,1740159208.151 [Radio_Surface](INFO): Powering up
2025-02-21T17:33:34.296Z,1740159214.296 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-21T17:34:04.416Z,1740159244.416 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T17:34:35.540Z,1740159275.540 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T17:35:06.675Z,1740159306.675 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T17:35:15.445Z,1740159315.445 [NAL9602](INFO): SBD MO Status=2, MOMSN=13044, MT Status=2, MTMSN=0
2025-02-21T17:35:15.445Z,1740159315.445 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T17:35:26.758Z,1740159326.758 [NAL9602](INFO): SBD MO Status=0, MOMSN=13044, MT Status=0, MTMSN=0
2025-02-21T17:35:26.758Z,1740159326.758 [NAL9602](INFO): No messages in MT queue
2025-02-21T17:35:27.969Z,1740159327.969 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,173527.00,A,3647.82622,N,12150.83099,W,0.175,311.43,210225,,,D*7B
2025-02-21T17:35:27.973Z,1740159327.973 [NAL9602](INFO): GPS fix at 20250221T173527: (36.797104, -121.847183)
2025-02-21T17:35:28.040Z,1740159328.040 [keepstation:NeedComms:C] Stopped
2025-02-21T17:35:28.041Z,1740159328.041 [keepstation:NeedComms:D] Running Loop=1
2025-02-21T17:35:37.803Z,1740159337.803 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T17:35:37.843Z,1740159337.843 [NAL9602](INFO): SBD MO Status=1, MOMSN=13045, MT Status=0, MTMSN=0
2025-02-21T17:35:37.891Z,1740159337.891 [NAL9602](INFO): Sent 73 bytes from file Logs/20250221T163145/Courier0024.lzma
2025-02-21T17:35:37.892Z,1740159337.892 [NAL9602](INFO): Packets left to send: 0
2025-02-21T17:35:46.451Z,1740159346.451 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003022
2025-02-21T17:35:51.974Z,1740159351.974 [NAL9602](INFO): SBD MO Status=1, MOMSN=13046, MT Status=0, MTMSN=0
2025-02-21T17:35:52.027Z,1740159352.027 [NAL9602](INFO): Sent 288 bytes from file Logs/20250221T163145/Express0025.lzma
2025-02-21T17:35:52.028Z,1740159352.028 [NAL9602](INFO): Packets left to send: 0
2025-02-21T17:35:54.456Z,1740159354.456 [keepstation:NeedComms:D] Stopped
2025-02-21T17:35:54.456Z,1740159354.456 [keepstation:NeedComms:E] Running Loop=1
2025-02-21T17:35:56.418Z,1740159356.418 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,173555.00,A,3647.82712,N,12150.82969,W,1.302,80.31,210225,,,D*46
2025-02-21T17:35:56.421Z,1740159356.421 [NAL9602](INFO): GPS fix at 20250221T173555: (36.797119, -121.847161)
2025-02-21T17:35:56.436Z,1740159356.436 [keepstation:NeedComms:E] Stopped
2025-02-21T17:35:56.437Z,1740159356.437 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-21T17:35:56.437Z,1740159356.437 [keepstation:NeedComms] Stopped
2025-02-21T17:35:56.437Z,1740159356.437 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-21T17:35:56.437Z,1740159356.437 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-21T17:35:56.437Z,1740159356.437 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-21T17:35:56.849Z,1740159356.849 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-02-21T17:35:56.849Z,1740159356.849 [keepstation:OnStation] Stopped
2025-02-21T17:35:56.849Z,1740159356.849 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-02-21T17:35:56.849Z,1740159356.849 [keepstation:KeepStation] Running Loop=1
2025-02-21T17:35:56.849Z,1740159356.849 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-02-21T17:35:56.849Z,1740159356.849 [keepstation:KeepStation:A] Running Loop=1
2025-02-21T17:35:56.849Z,1740159356.849 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-21T17:35:56.849Z,1740159356.849 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-02-21T17:35:56.849Z,1740159356.849 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-21T17:35:56.850Z,1740159356.850 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-21T17:35:56.850Z,1740159356.850 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-02-21T17:35:56.850Z,1740159356.850 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-02-21T17:35:57.240Z,1740159357.240 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-21T17:35:57.240Z,1740159357.240 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-21T17:35:57.241Z,1740159357.241 [keepstation:KeepStation:A] Running Loop=1
2025-02-21T17:36:28.436Z,1740159388.436 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T17:37:58.139Z,1740159478.139 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T17:38:14.427Z,1740159494.427 [Radio_Surface](INFO): Powering down
2025-02-21T17:38:29.285Z,1740159509.285 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T17:38:30.287Z,1740159510.287 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-21T17:39:41.600Z,1740159581.600 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.190689
2025-02-21T18:13:03.302Z,1740161583.302 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T18:13:16.216Z,1740161596.216 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T18:13:29.138Z,1740161609.138 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T18:13:42.470Z,1740161622.470 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T18:13:54.994Z,1740161634.994 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T18:14:07.114Z,1740161647.114 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T18:14:19.638Z,1740161659.638 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T18:19:27.497Z,1740161967.497 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-21T18:19:28.731Z,1740161968.731 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-21T18:19:28.731Z,1740161968.731 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-21T18:19:28.734Z,1740161968.734 [BPC1](INFO): Received data from all battery sticks.
2025-02-21T18:25:27.085Z,1740162327.085 [keepstation](INFO): Timed out from 2025-02-21T17:25:26.8Z
2025-02-21T18:25:27.086Z,1740162327.086 [MissionManager](INFO): keepstation is completed.
2025-02-21T18:25:27.086Z,1740162327.086 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-21T18:25:27.086Z,1740162327.086 [keepstation] Stopped
2025-02-21T18:25:27.086Z,1740162327.086 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-21T18:25:27.086Z,1740162327.086 [keepstation:StandardEnvelopes] Stopped
2025-02-21T18:25:27.086Z,1740162327.086 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-21T18:25:27.086Z,1740162327.086 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-21T18:25:27.086Z,1740162327.086 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-21T18:25:27.086Z,1740162327.086 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-21T18:25:27.086Z,1740162327.086 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-21T18:25:27.086Z,1740162327.086 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-21T18:25:27.087Z,1740162327.087 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-21T18:25:27.087Z,1740162327.087 [keepstation:BackseatDriver] Stopped
2025-02-21T18:25:27.087Z,1740162327.087 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-21T18:25:27.087Z,1740162327.087 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-21T18:25:27.087Z,1740162327.087 [keepstation:PowerOnly] Stopped
2025-02-21T18:25:27.087Z,1740162327.087 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-21T18:25:27.087Z,1740162327.087 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-21T18:25:27.087Z,1740162327.087 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T18:25:27.088Z,1740162327.088 [keepstation:H.Pitch] Stopped
2025-02-21T18:25:27.088Z,1740162327.088 [keepstation:KeepStation] Stopped
2025-02-21T18:25:27.088Z,1740162327.088 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-02-21T18:25:27.088Z,1740162327.088 [keepstation:KeepStation:A] Stopped
2025-02-21T18:25:27.088Z,1740162327.088 [keepstation:KeepStation:B.Pitch] Stopped
2025-02-21T18:25:27.088Z,1740162327.088 [keepstation:KeepStation:C.KeepStation] Stopped
2025-02-21T18:25:27.088Z,1740162327.088 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-21T18:25:27.088Z,1740162327.088 [keepstation:KeepStation:D.Wait] Stopped
2025-02-21T18:25:27.088Z,1740162327.088 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T18:25:27.496Z,1740162327.496 [MissionManager](IMPORTANT): Started mission Default
2025-02-21T18:25:27.497Z,1740162327.497 [Default] Running Loop=1
2025-02-21T18:25:27.497Z,1740162327.497 [Default](DEBUG): Aggregate::initialize Default
2025-02-21T18:25:27.497Z,1740162327.497 [Default:B.GoToSurface] Running Loop=1
2025-02-21T18:25:27.497Z,1740162327.497 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T18:25:27.497Z,1740162327.497 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-21T18:25:27.498Z,1740162327.498 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-21T18:25:27.498Z,1740162327.498 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-21T18:25:27.498Z,1740162327.498 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-21T18:25:27.498Z,1740162327.498 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T18:25:27.499Z,1740162327.499 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T18:25:27.500Z,1740162327.500 [Default:A.Wait] Running Loop=1
2025-02-21T18:25:27.500Z,1740162327.500 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-21T18:25:27.824Z,1740162327.824 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-21T18:25:27.824Z,1740162327.824 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-21T18:25:27.882Z,1740162327.882 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (2 active estimators).
2025-02-21T18:25:28.099Z,1740162328.099 [Radio_Surface](INFO): Powering up
2025-02-21T18:25:33.948Z,1740162333.948 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-21T18:25:40.556Z,1740162340.556 [Default:A.Wait](INFO): Done Waiting.
2025-02-21T18:25:40.556Z,1740162340.556 [Default:A.Wait] Stopped
2025-02-21T18:25:40.556Z,1740162340.556 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T18:25:45.991Z,1740162345.991 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-21T18:25:45.992Z,1740162345.992 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-21T18:25:45.992Z,1740162345.992 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-21T18:26:36.464Z,1740162396.464 [Default:CheckIn] Running Loop=1
2025-02-21T18:26:36.464Z,1740162396.464 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-21T18:26:36.464Z,1740162396.464 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-21T18:27:19.249Z,1740162439.249 [NAL9602](INFO): SBD MO Status=0, MOMSN=13047, MT Status=0, MTMSN=0
2025-02-21T18:27:19.249Z,1740162439.249 [NAL9602](INFO): No messages in MT queue
2025-02-21T18:27:20.462Z,1740162440.462 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182719.00,A,3647.81321,N,12150.66266,W,0.428,112.02,210225,,,A*7A
2025-02-21T18:27:20.464Z,1740162440.464 [NAL9602](INFO): GPS fix at 20250221T182719: (36.796887, -121.844378)
2025-02-21T18:27:20.476Z,1740162440.476 [Default:CheckIn:Read_GPS] Stopped
2025-02-21T18:27:20.477Z,1740162440.477 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-21T18:27:34.486Z,1740162454.486 [NAL9602](INFO): SBD MO Status=2, MOMSN=13048, MT Status=2, MTMSN=0
2025-02-21T18:27:34.486Z,1740162454.486 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T18:27:41.476Z,1740162461.476 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003085
2025-02-21T18:27:47.738Z,1740162467.738 [NAL9602](INFO): SBD MO Status=1, MOMSN=13048, MT Status=0, MTMSN=0
2025-02-21T18:27:47.787Z,1740162467.787 [NAL9602](INFO): Sent 85 bytes from file Logs/20250221T163145/Courier0027.lzma
2025-02-21T18:27:47.788Z,1740162467.788 [NAL9602](INFO): Packets left to send: 0
2025-02-21T18:27:48.914Z,1740162468.914 [DataOverHttps](INFO): Sending 222 bytes from file Logs/20250221T163145/Express0028.lzma
2025-02-21T18:27:49.402Z,1740162469.402 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Express0028.lzma.bak
2025-02-21T18:27:49.402Z,1740162469.402 [DataOverHttps](INFO): SBD MOMSN=23971127
2025-02-21T18:27:50.984Z,1740162470.984 [Default:CheckIn:Read_Iridium] Stopped
2025-02-21T18:27:50.985Z,1740162470.985 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-21T18:27:50.985Z,1740162470.985 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-21T18:28:18.452Z,1740162498.452 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T18:32:51.722Z,1740162771.722 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-21T18:32:51.723Z,1740162771.723 [Default:CheckIn:C.Wait] Stopped
2025-02-21T18:32:51.723Z,1740162771.723 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T18:32:51.723Z,1740162771.723 [Default:CheckIn:D] Running Loop=1
2025-02-21T18:32:52.131Z,1740162772.131 [Default:CheckIn:D] Stopped
2025-02-21T18:32:52.131Z,1740162772.131 [Default:CheckIn:E] Running Loop=1
2025-02-21T18:32:52.546Z,1740162772.546 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  7.410569 min 
2025-02-21T18:32:52.546Z,1740162772.546 [Default:CheckIn:E] Stopped
2025-02-21T18:32:52.546Z,1740162772.546 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-21T18:32:52.546Z,1740162772.546 [Default:CheckIn] Stopped
2025-02-21T18:32:52.546Z,1740162772.546 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-21T18:32:52.546Z,1740162772.546 [Default:CheckIn](INFO): Running loop #2
2025-02-21T18:32:52.546Z,1740162772.546 [Default:CheckIn] Running Loop=2
2025-02-21T18:32:52.547Z,1740162772.547 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-21T18:32:52.547Z,1740162772.547 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-21T18:32:54.546Z,1740162774.546 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183253.00,A,3647.82008,N,12150.66892,W,0.447,317.89,210225,,,D*72
2025-02-21T18:32:54.548Z,1740162774.548 [NAL9602](INFO): GPS fix at 20250221T183253: (36.797001, -121.844482)
2025-02-21T18:32:54.560Z,1740162774.560 [Default:CheckIn:Read_GPS] Stopped
2025-02-21T18:32:54.560Z,1740162774.560 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-21T18:33:02.468Z,1740162782.468 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250221T163145/Courier0030.lzma
2025-02-21T18:33:03.489Z,1740162783.489 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Courier0030.lzma.bak
2025-02-21T18:33:03.489Z,1740162783.489 [DataOverHttps](INFO): SBD MOMSN=23971133
2025-02-21T18:33:22.617Z,1740162802.617 [DataOverHttps](INFO): Sending 140 bytes from file Logs/20250221T163145/Express0031.lzma
2025-02-21T18:33:23.618Z,1740162803.618 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Express0031.lzma.bak
2025-02-21T18:33:23.618Z,1740162803.618 [DataOverHttps](INFO): SBD MOMSN=23971136
2025-02-21T18:33:25.307Z,1740162805.307 [Default:CheckIn:Read_Iridium] Stopped
2025-02-21T18:33:25.307Z,1740162805.307 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-21T18:33:25.307Z,1740162805.307 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-21T18:33:32.821Z,1740162812.821 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T183331
2025-02-21T18:33:40.516Z,1740162820.516 [DataOverHttps](INFO): Received command: configset verticalcontrol.kpdepthbuoy 40 ratio persist
2025-02-21T18:33:40.944Z,1740162820.944 [CommandExec](IMPORTANT): got command configSet VerticalControl.kpDepthBuoy 40 ratio persist
2025-02-21T18:34:10.542Z,1740162850.542 [NAL9602](INFO): SBD MO Status=2, MOMSN=13049, MT Status=2, MTMSN=0
2025-02-21T18:34:10.542Z,1740162850.542 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T18:34:12.401Z,1740162852.401 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T183411
2025-02-21T18:34:20.007Z,1740162860.007 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 60 min;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree" 23i85 1 2
2025-02-21T18:34:20.032Z,1740162860.032 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 60 min;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree" 23i85 1 2.000000
2025-02-21T18:34:20.033Z,1740162860.033 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=23i85
2025-02-21T18:34:20.034Z,1740162860.034 [CommandExec](IMPORTANT): Scheduled #39 (#1 of 2 with id='23i85'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 60 min;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree", ASAP
2025-02-21T18:34:21.011Z,1740162861.011 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T183420
2025-02-21T18:34:27.910Z,1740162867.910 [NAL9602](INFO): SBD MO Status=2, MOMSN=13049, MT Status=2, MTMSN=0
2025-02-21T18:34:27.910Z,1740162867.910 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T18:34:28.603Z,1740162868.603 [DataOverHttps](INFO): Received command: sched asap "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 23i85 2 2
2025-02-21T18:34:28.619Z,1740162868.619 [CommandExec](IMPORTANT): got command schedule asap "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 23i85 2 2.000000
2025-02-21T18:34:28.619Z,1740162868.619 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=23i85
2025-02-21T18:34:28.620Z,1740162868.620 [CommandExec](IMPORTANT): Scheduled #40 (#2 of 2 with id='23i85'): "set keepstation:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2025-02-21T18:34:28.749Z,1740162868.749 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-21T18:34:28.749Z,1740162868.749 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-21T18:34:28.749Z,1740162868.749 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-21T18:34:28.751Z,1740162868.751 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-21T18:34:29.562Z,1740162869.562 [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>

2025-02-21T18:34:29.572Z,1740162869.572 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-21T18:34:29.574Z,1740162869.574 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-21T18:34:29.577Z,1740162869.577 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-21T18:34:29.579Z,1740162869.579 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-21T18:34:29.582Z,1740162869.582 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-21T18:34:29.619Z,1740162869.619 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-21T18:34:29.625Z,1740162869.625 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-21T18:34:29.632Z,1740162869.632 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-21T18:34:29.634Z,1740162869.634 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-21T18:34:29.640Z,1740162869.640 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-21T18:34:29.643Z,1740162869.643 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-21T18:34:29.656Z,1740162869.656 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-21T18:34:29.656Z,1740162869.656 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-21T18:34:29.657Z,1740162869.657 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-21T18:34:29.902Z,1740162869.902 [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>

2025-02-21T18:34:29.906Z,1740162869.906 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-21T18:34:29.909Z,1740162869.909 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-21T18:34:29.936Z,1740162869.936 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-21T18:34:29.938Z,1740162869.938 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-21T18:34:29.944Z,1740162869.944 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-21T18:34:29.947Z,1740162869.947 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-21T18:34:30.012Z,1740162870.012 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-21T18:34:30.021Z,1740162870.021 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-21T18:34:30.029Z,1740162870.029 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-21T18:34:30.065Z,1740162870.065 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-21T18:34:30.065Z,1740162870.065 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-21T18:34:30.067Z,1740162870.067 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-21T18:34:30.196Z,1740162870.196 [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>

2025-02-21T18:34:30.200Z,1740162870.200 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-21T18:34:30.202Z,1740162870.202 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-21T18:34:30.204Z,1740162870.204 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-21T18:34:30.206Z,1740162870.206 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-21T18:34:30.208Z,1740162870.208 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-21T18:34:30.214Z,1740162870.214 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-21T18:34:30.256Z,1740162870.256 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-21T18:34:30.263Z,1740162870.263 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-21T18:34:30.264Z,1740162870.264 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-21T18:34:30.265Z,1740162870.265 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-21T18:34:30.304Z,1740162870.304 [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>

2025-02-21T18:34:30.307Z,1740162870.307 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-21T18:34:30.309Z,1740162870.309 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-21T18:34:30.312Z,1740162870.312 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-21T18:34:30.312Z,1740162870.312 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-21T18:34:30.313Z,1740162870.313 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-21T18:34:30.573Z,1740162870.573 [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>

2025-02-21T18:34:30.578Z,1740162870.578 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-21T18:34:30.581Z,1740162870.581 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-21T18:34:30.599Z,1740162870.599 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-21T18:34:30.601Z,1740162870.601 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-21T18:34:30.604Z,1740162870.604 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-21T18:34:30.611Z,1740162870.611 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-21T18:34:30.613Z,1740162870.613 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-21T18:34:30.621Z,1740162870.621 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-21T18:34:30.624Z,1740162870.624 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-21T18:34:30.629Z,1740162870.629 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-21T18:34:30.632Z,1740162870.632 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-21T18:34:30.691Z,1740162870.691 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-21T18:34:30.700Z,1740162870.700 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-21T18:34:30.715Z,1740162870.715 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-21T18:34:30.768Z,1740162870.768 [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
    }
  }
}


2025-02-21T18:34:30.768Z,1740162870.768 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-21T18:34:54.568Z,1740162894.568 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 60 minute
2025-02-21T18:34:54.568Z,1740162894.568 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-02-21T18:34:54.569Z,1740162894.569 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-02-21T18:34:54.570Z,1740162894.570 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-02-21T18:34:59.950Z,1740162899.950 [NAL9602](INFO): SBD MO Status=0, MOMSN=13049, MT Status=0, MTMSN=0
2025-02-21T18:34:59.950Z,1740162899.950 [NAL9602](INFO): No messages in MT queue
2025-02-21T18:35:13.681Z,1740162913.681 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-02-21T18:35:13.682Z,1740162913.682 [CommandExec](IMPORTANT): got command run
2025-02-21T18:35:13.705Z,1740162913.705 [CommandExec](IMPORTANT): Running 
2025-02-21T18:35:13.782Z,1740162913.782 [Default] Stopped
2025-02-21T18:35:13.782Z,1740162913.782 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-21T18:35:13.783Z,1740162913.783 [Default:B.GoToSurface] Stopped
2025-02-21T18:35:13.783Z,1740162913.783 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-21T18:35:13.783Z,1740162913.783 [Default:CheckIn] Stopped
2025-02-21T18:35:13.823Z,1740162913.823 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-21T18:35:13.823Z,1740162913.823 [Default:CheckIn:C.Wait] Stopped
2025-02-21T18:35:13.823Z,1740162913.823 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T18:35:13.823Z,1740162913.823 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-21T18:35:13.824Z,1740162913.824 [keepstation] Running Loop=1
2025-02-21T18:35:13.824Z,1740162913.824 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-21T18:35:13.824Z,1740162913.824 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-21T18:35:13.824Z,1740162913.824 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-21T18:35:13.824Z,1740162913.824 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-21T18:35:13.824Z,1740162913.824 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-21T18:35:13.824Z,1740162913.824 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-21T18:35:13.824Z,1740162913.824 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-21T18:35:13.825Z,1740162913.825 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-21T18:35:13.825Z,1740162913.825 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-21T18:35:13.825Z,1740162913.825 [keepstation:BackseatDriver] Running Loop=1
2025-02-21T18:35:13.825Z,1740162913.825 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-21T18:35:13.825Z,1740162913.825 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-21T18:35:13.825Z,1740162913.825 [keepstation:PowerOnly] Running Loop=1
2025-02-21T18:35:13.825Z,1740162913.825 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-21T18:35:13.825Z,1740162913.825 [keepstation:PowerOnly:A] Running Loop=1
2025-02-21T18:35:13.825Z,1740162913.825 [keepstation:PowerOnly:B] Running Loop=1
2025-02-21T18:35:13.825Z,1740162913.825 [keepstation:PowerOnly:C] Running Loop=1
2025-02-21T18:35:13.825Z,1740162913.825 [keepstation:PowerOnly:D] Running Loop=1
2025-02-21T18:35:13.826Z,1740162913.826 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-21T18:35:13.826Z,1740162913.826 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-21T18:35:13.826Z,1740162913.826 [keepstation:H.Pitch] Running Loop=1
2025-02-21T18:35:13.826Z,1740162913.826 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-21T18:35:13.826Z,1740162913.826 [keepstation:B] Running Loop=1
2025-02-21T18:35:13.827Z,1740162913.827 [keepstation:H.Pitch] Running Loop=1
2025-02-21T18:35:13.831Z,1740162913.831 [keepstation:PowerOnly] Running Loop=1
2025-02-21T18:35:13.832Z,1740162913.832 [keepstation:PowerOnly:D] Stopped
2025-02-21T18:35:13.832Z,1740162913.832 [keepstation:PowerOnly:C] Stopped
2025-02-21T18:35:13.832Z,1740162913.832 [keepstation:PowerOnly:B] Stopped
2025-02-21T18:35:13.832Z,1740162913.832 [keepstation:PowerOnly:A] Stopped
2025-02-21T18:35:13.832Z,1740162913.832 [keepstation:BackseatDriver] Running Loop=1
2025-02-21T18:35:13.832Z,1740162913.832 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-21T18:35:13.897Z,1740162913.897 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-21T18:35:13.897Z,1740162913.897 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-21T18:35:13.897Z,1740162913.897 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-21T18:35:13.898Z,1740162913.898 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-21T18:35:13.898Z,1740162913.898 [keepstation:B] Stopped
2025-02-21T18:35:13.898Z,1740162913.898 [keepstation:D] Running Loop=1
2025-02-21T18:35:13.899Z,1740162913.899 [BackseatComponent](INFO): Powering up
2025-02-21T18:35:13.900Z,1740162913.900 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-21T18:35:14.271Z,1740162914.271 [keepstation:D] Stopped
2025-02-21T18:35:14.272Z,1740162914.272 [keepstation:E] Running Loop=1
2025-02-21T18:35:14.643Z,1740162914.643 [keepstation:E] Stopped
2025-02-21T18:35:14.644Z,1740162914.644 [keepstation:StartingMission] Running Loop=1
2025-02-21T18:35:14.644Z,1740162914.644 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-21T18:35:15.060Z,1740162915.060 [keepstation:NeedComms] Running Loop=1
2025-02-21T18:35:15.060Z,1740162915.060 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-21T18:35:15.060Z,1740162915.060 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-21T18:35:15.060Z,1740162915.060 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T18:35:15.061Z,1740162915.061 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-21T18:35:15.061Z,1740162915.061 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-21T18:35:15.061Z,1740162915.061 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-21T18:35:15.062Z,1740162915.062 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-21T18:35:15.062Z,1740162915.062 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T18:35:15.062Z,1740162915.062 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T18:35:15.063Z,1740162915.063 [keepstation:NeedComms:A] Running Loop=1
2025-02-21T18:35:15.064Z,1740162915.064 [keepstation:NeedComms:A](INFO): last time_fix was:  1740162773.000000 second since 1970/01/01T00:00:00Z 
2025-02-21T18:35:15.064Z,1740162915.064 [keepstation:NeedComms:A] Stopped
2025-02-21T18:35:15.448Z,1740162915.448 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-21T18:35:15.449Z,1740162915.449 [keepstation:NeedComms:C] Running Loop=1
2025-02-21T18:35:15.845Z,1740162915.845 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-21T18:35:17.442Z,1740162917.442 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183516.00,A,3647.82540,N,12150.67283,W,0.447,307.93,210225,,,D*7C
2025-02-21T18:35:17.445Z,1740162917.445 [NAL9602](INFO): GPS fix at 20250221T183516: (36.797090, -121.844547)
2025-02-21T18:35:17.492Z,1740162917.492 [keepstation:NeedComms:C] Stopped
2025-02-21T18:35:17.492Z,1740162917.492 [keepstation:NeedComms:D] Running Loop=1
2025-02-21T18:35:17.897Z,1740162917.897 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-21T18:35:27.119Z,1740162927.119 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250221T163145/Courier0033.lzma
2025-02-21T18:35:28.121Z,1740162928.121 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Courier0033.lzma.bak
2025-02-21T18:35:28.121Z,1740162928.121 [DataOverHttps](INFO): SBD MOMSN=23971145
2025-02-21T18:35:45.036Z,1740162945.036 [DataOverHttps](INFO): Sending 569 bytes from file Logs/20250221T163145/Express0034.lzma
2025-02-21T18:35:46.037Z,1740162946.037 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Express0034.lzma.bak
2025-02-21T18:35:46.037Z,1740162946.037 [DataOverHttps](INFO): SBD MOMSN=23971148
2025-02-21T18:35:49.580Z,1740162949.580 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T18:36:04.481Z,1740162964.481 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20250221T163145/Express0037.lzma
2025-02-21T18:36:05.489Z,1740162965.489 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Express0037.lzma.bak
2025-02-21T18:36:05.489Z,1740162965.489 [DataOverHttps](INFO): SBD MOMSN=23971170
2025-02-21T18:36:07.060Z,1740162967.060 [keepstation:NeedComms:D] Stopped
2025-02-21T18:36:07.061Z,1740162967.061 [keepstation:NeedComms:E] Running Loop=1
2025-02-21T18:36:07.473Z,1740162967.473 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-21T18:36:09.070Z,1740162969.070 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183608.00,A,3647.82758,N,12150.67430,W,0.428,318.37,210225,,,D*7C
2025-02-21T18:36:09.081Z,1740162969.081 [NAL9602](INFO): GPS fix at 20250221T183608: (36.797126, -121.844572)
2025-02-21T18:36:09.104Z,1740162969.104 [keepstation:NeedComms:E] Stopped
2025-02-21T18:36:09.105Z,1740162969.105 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-21T18:36:09.105Z,1740162969.105 [keepstation:NeedComms] Stopped
2025-02-21T18:36:09.105Z,1740162969.105 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-21T18:36:09.105Z,1740162969.105 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-21T18:36:09.105Z,1740162969.105 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-21T18:36:09.519Z,1740162969.519 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-21T18:36:09.523Z,1740162969.523 [keepstation:StartingMission] Stopped
2025-02-21T18:36:09.523Z,1740162969.523 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-21T18:36:09.523Z,1740162969.523 [keepstation:TransitToStation] Running Loop=1
2025-02-21T18:36:09.523Z,1740162969.523 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-21T18:36:09.524Z,1740162969.524 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-21T18:36:09.524Z,1740162969.524 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-21T18:36:09.524Z,1740162969.524 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-21T18:36:09.524Z,1740162969.524 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-21T18:36:09.524Z,1740162969.524 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-21T18:36:09.524Z,1740162969.524 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-21T18:36:09.524Z,1740162969.524 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-21T18:36:09.524Z,1740162969.524 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-21T18:36:09.525Z,1740162969.525 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-21T18:36:09.900Z,1740162969.900 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-21T18:36:09.901Z,1740162969.901 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-21T18:36:09.901Z,1740162969.901 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-21T18:36:09.902Z,1740162969.902 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-21T18:36:18.844Z,1740162978.844 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250221T183622
2025-02-21T18:36:23.562Z,1740162983.562 [NAL9602](INFO): SBD MO Status=0, MOMSN=13050, MT Status=0, MTMSN=0
2025-02-21T18:36:23.562Z,1740162983.562 [NAL9602](INFO): No messages in MT queue
2025-02-21T18:36:54.196Z,1740163014.196 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T18:36:54.610Z,1740163014.610 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.75 m/s, pitch 30.00 deg, mass-position 11.65 mm (3 active estimators).
2025-02-21T18:37:18.256Z,1740163038.256 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 1975
2025-02-21T18:37:38.335Z,1740163058.335 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T18:37:55.188Z,1740163075.188 [Radio_Surface](INFO): Powering down
2025-02-21T18:38:09.476Z,1740163089.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T18:38:10.479Z,1740163090.479 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-21T18:39:46.864Z,1740163186.864 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.754990
2025-02-21T18:41:19.751Z,1740163279.751 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 1976
2025-02-21T18:42:23.131Z,1740163343.131 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-02-21T18:42:23.131Z,1740163343.131 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-21T18:42:23.131Z,1740163343.131 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-21T18:42:23.132Z,1740163343.132 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-02-21T18:42:23.132Z,1740163343.132 [keepstation:TransitToStation] Stopped
2025-02-21T18:42:23.132Z,1740163343.132 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-21T18:42:23.132Z,1740163343.132 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-21T18:42:23.132Z,1740163343.132 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-21T18:42:23.133Z,1740163343.133 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-21T18:42:23.133Z,1740163343.133 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-21T18:42:23.133Z,1740163343.133 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-21T18:42:23.133Z,1740163343.133 [keepstation:OnStation] Running Loop=1
2025-02-21T18:42:23.133Z,1740163343.133 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-02-21T18:42:23.548Z,1740163343.548 [keepstation:NeedComms] Running Loop=1
2025-02-21T18:42:23.548Z,1740163343.548 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-21T18:42:23.548Z,1740163343.548 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-21T18:42:23.548Z,1740163343.548 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T18:42:23.549Z,1740163343.549 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-21T18:42:23.549Z,1740163343.549 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-21T18:42:23.549Z,1740163343.549 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-21T18:42:23.550Z,1740163343.550 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-21T18:42:23.550Z,1740163343.550 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T18:42:23.550Z,1740163343.550 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T18:42:23.551Z,1740163343.551 [keepstation:NeedComms:A] Running Loop=1
2025-02-21T18:42:23.552Z,1740163343.552 [keepstation:NeedComms:A](INFO): last time_fix was:  1740162968.000000 second since 1970/01/01T00:00:00Z 
2025-02-21T18:42:23.552Z,1740163343.552 [keepstation:NeedComms:A] Stopped
2025-02-21T18:43:12.121Z,1740163392.121 [keepstation:NeedComms:C] Running Loop=1
2025-02-21T18:43:12.755Z,1740163392.755 [Radio_Surface](INFO): Powering up
2025-02-21T18:43:18.756Z,1740163398.756 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-21T18:43:29.874Z,1740163409.874 [NAL9602](INFO): SBD MO Status=2, MOMSN=13051, MT Status=2, MTMSN=0
2025-02-21T18:43:29.875Z,1740163409.875 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T18:43:48.875Z,1740163428.875 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T18:44:19.999Z,1740163459.999 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T18:44:45.253Z,1740163485.253 [NAL9602](INFO): SBD MO Status=0, MOMSN=13051, MT Status=0, MTMSN=0
2025-02-21T18:44:45.253Z,1740163485.253 [NAL9602](INFO): No messages in MT queue
2025-02-21T18:44:46.470Z,1740163486.470 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184445.00,A,3647.82538,N,12150.84213,W,0.233,258.73,210225,,,D*77
2025-02-21T18:44:46.473Z,1740163486.473 [NAL9602](INFO): GPS fix at 20250221T184445: (36.797090, -121.847369)
2025-02-21T18:44:46.488Z,1740163486.488 [keepstation:NeedComms:C] Stopped
2025-02-21T18:44:46.489Z,1740163486.489 [keepstation:NeedComms:D] Running Loop=1
2025-02-21T18:44:51.123Z,1740163491.123 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T18:45:19.058Z,1740163519.058 [NAL9602](INFO): SBD MO Status=1, MOMSN=13052, MT Status=0, MTMSN=0
2025-02-21T18:45:19.107Z,1740163519.107 [NAL9602](INFO): Sent 73 bytes from file Logs/20250221T163145/Courier0039.lzma
2025-02-21T18:45:19.108Z,1740163519.108 [NAL9602](INFO): Packets left to send: 0
2025-02-21T18:45:20.999Z,1740163520.999 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003045
2025-02-21T18:45:30.027Z,1740163530.027 [DataOverHttps](INFO): Sending 258 bytes from file Logs/20250221T163145/Express0040.lzma
2025-02-21T18:45:31.029Z,1740163531.029 [DataOverHttps](INFO): Moved sent file to Logs/20250221T163145/Express0040.lzma.bak
2025-02-21T18:45:31.029Z,1740163531.029 [DataOverHttps](INFO): SBD MOMSN=23971174
2025-02-21T18:45:32.836Z,1740163532.836 [keepstation:NeedComms:D] Stopped
2025-02-21T18:45:32.836Z,1740163532.836 [keepstation:NeedComms:E] Running Loop=1
2025-02-21T18:45:44.497Z,1740163544.497 [NAL9602](INFO): SBD MO Status=2, MOMSN=13053, MT Status=2, MTMSN=0
2025-02-21T18:45:44.497Z,1740163544.497 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T18:45:45.710Z,1740163545.710 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184545.00,A,3647.82587,N,12150.84261,W,0.408,261.79,210225,,,A*7C
2025-02-21T18:45:45.739Z,1740163545.739 [NAL9602](INFO): GPS fix at 20250221T184545: (36.797098, -121.847377)
2025-02-21T18:45:45.776Z,1740163545.776 [keepstation:NeedComms:E] Stopped
2025-02-21T18:45:45.777Z,1740163545.777 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-21T18:45:45.777Z,1740163545.777 [keepstation:NeedComms] Stopped
2025-02-21T18:45:45.777Z,1740163545.777 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-21T18:45:45.777Z,1740163545.777 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-21T18:45:45.778Z,1740163545.778 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-21T18:45:46.174Z,1740163546.174 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-02-21T18:45:46.174Z,1740163546.174 [keepstation:OnStation] Stopped
2025-02-21T18:45:46.175Z,1740163546.175 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-02-21T18:45:46.175Z,1740163546.175 [keepstation:KeepStation] Running Loop=1
2025-02-21T18:45:46.175Z,1740163546.175 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-02-21T18:45:46.175Z,1740163546.175 [keepstation:KeepStation:A] Running Loop=1
2025-02-21T18:45:46.175Z,1740163546.175 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-21T18:45:46.175Z,1740163546.175 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-02-21T18:45:46.175Z,1740163546.175 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-21T18:45:46.176Z,1740163546.176 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-21T18:45:46.176Z,1740163546.176 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-02-21T18:45:46.176Z,1740163546.176 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-02-21T18:45:46.557Z,1740163546.557 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-21T18:45:46.558Z,1740163546.558 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-21T18:45:46.558Z,1740163546.558 [keepstation:KeepStation:A] Running Loop=1
2025-02-21T18:46:18.484Z,1740163578.484 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T18:47:34.439Z,1740163654.439 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T18:48:04.259Z,1740163684.259 [Radio_Surface](INFO): Powering down
2025-02-21T18:48:05.572Z,1740163685.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T18:48:06.575Z,1740163686.575 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-21T18:49:11.841Z,1740163751.841 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.796432
2025-02-21T19:20:35.275Z,1740165635.275 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T19:20:48.202Z,1740165648.202 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T19:21:01.131Z,1740165661.131 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T19:21:14.058Z,1740165674.058 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T19:21:26.582Z,1740165686.582 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T19:21:39.106Z,1740165699.106 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T19:21:52.035Z,1740165712.035 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T19:26:55.845Z,1740166015.845 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-21T19:27:01.509Z,1740166021.509 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-21T19:27:01.509Z,1740166021.509 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-21T19:27:01.512Z,1740166021.512 [BPC1](INFO): Received data from all battery sticks.
2025-02-21T19:35:13.995Z,1740166513.995 [keepstation](INFO): Timed out from 2025-02-21T18:35:13.8Z
2025-02-21T19:35:13.995Z,1740166513.995 [MissionManager](INFO): keepstation is completed.
2025-02-21T19:35:13.996Z,1740166513.996 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-21T19:35:13.996Z,1740166513.996 [keepstation] Stopped
2025-02-21T19:35:13.996Z,1740166513.996 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-21T19:35:13.996Z,1740166513.996 [keepstation:StandardEnvelopes] Stopped
2025-02-21T19:35:13.996Z,1740166513.996 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-21T19:35:13.996Z,1740166513.996 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-21T19:35:13.996Z,1740166513.996 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-21T19:35:13.996Z,1740166513.996 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-21T19:35:13.996Z,1740166513.996 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-21T19:35:13.996Z,1740166513.996 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-21T19:35:13.996Z,1740166513.996 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-21T19:35:13.996Z,1740166513.996 [keepstation:BackseatDriver] Stopped
2025-02-21T19:35:13.997Z,1740166513.997 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-21T19:35:13.997Z,1740166513.997 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-21T19:35:13.997Z,1740166513.997 [keepstation:PowerOnly] Stopped
2025-02-21T19:35:13.997Z,1740166513.997 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-21T19:35:13.997Z,1740166513.997 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-21T19:35:13.997Z,1740166513.997 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T19:35:13.997Z,1740166513.997 [keepstation:H.Pitch] Stopped
2025-02-21T19:35:13.997Z,1740166513.997 [keepstation:KeepStation] Stopped
2025-02-21T19:35:13.997Z,1740166513.997 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-02-21T19:35:13.997Z,1740166513.997 [keepstation:KeepStation:A] Stopped
2025-02-21T19:35:13.997Z,1740166513.997 [keepstation:KeepStation:B.Pitch] Stopped
2025-02-21T19:35:13.997Z,1740166513.997 [keepstation:KeepStation:C.KeepStation] Stopped
2025-02-21T19:35:13.998Z,1740166513.998 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-21T19:35:13.998Z,1740166513.998 [keepstation:KeepStation:D.Wait] Stopped
2025-02-21T19:35:13.998Z,1740166513.998 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T19:35:14.402Z,1740166514.402 [MissionManager](IMPORTANT): Started mission Default
2025-02-21T19:35:14.403Z,1740166514.403 [Default] Running Loop=1
2025-02-21T19:35:14.403Z,1740166514.403 [Default](DEBUG): Aggregate::initialize Default
2025-02-21T19:35:14.403Z,1740166514.403 [Default:B.GoToSurface] Running Loop=1
2025-02-21T19:35:14.403Z,1740166514.403 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T19:35:14.403Z,1740166514.403 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-21T19:35:14.404Z,1740166514.404 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-21T19:35:14.404Z,1740166514.404 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-21T19:35:14.404Z,1740166514.404 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-21T19:35:14.405Z,1740166514.405 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T19:35:14.405Z,1740166514.405 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T19:35:14.405Z,1740166514.405 [Default:A.Wait] Running Loop=1
2025-02-21T19:35:14.406Z,1740166514.406 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-21T19:35:15.103Z,1740166515.103 [Radio_Surface](INFO): Powering up
2025-02-21T19:35:15.456Z,1740166515.456 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-21T19:35:15.457Z,1740166515.457 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-21T19:35:21.240Z,1740166521.240 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-21T19:35:27.715Z,1740166527.715 [Default:A.Wait](INFO): Done Waiting.
2025-02-21T19:35:27.715Z,1740166527.715 [Default:A.Wait] Stopped
2025-02-21T19:35:27.715Z,1740166527.715 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T19:35:33.673Z,1740166533.673 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-21T19:35:33.673Z,1740166533.673 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-21T19:35:33.674Z,1740166533.674 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-21T19:35:51.372Z,1740166551.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T19:36:22.507Z,1740166582.507 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T19:36:27.316Z,1740166587.316 [Default:CheckIn] Running Loop=1
2025-02-21T19:36:27.316Z,1740166587.316 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-21T19:36:27.316Z,1740166587.316 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-21T19:36:53.640Z,1740166613.640 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T19:37:01.630Z,1740166621.630 [NAL9602](INFO): SBD MO Status=1, MOMSN=13053, MT Status=0, MTMSN=0
2025-02-21T19:37:01.630Z,1740166621.630 [NAL9602](INFO): No messages in MT queue
2025-02-21T19:37:02.846Z,1740166622.846 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,193702.00,A,3647.80635,N,12150.71552,W,0.564,358.68,210225,,,A*7E
2025-02-21T19:37:02.848Z,1740166622.848 [NAL9602](INFO): GPS fix at 20250221T193702: (36.796773, -121.845259)
2025-02-21T19:37:02.860Z,1740166622.860 [Default:CheckIn:Read_GPS] Stopped
2025-02-21T19:37:02.860Z,1740166622.860 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-21T19:37:18.082Z,1740166638.082 [NAL9602](INFO): SBD MO Status=1, MOMSN=13054, MT Status=0, MTMSN=0
2025-02-21T19:37:18.131Z,1740166638.131 [NAL9602](INFO): Sent 85 bytes from file Logs/20250221T163145/Courier0042.lzma
2025-02-21T19:37:18.132Z,1740166638.132 [NAL9602](INFO): Packets left to send: 0
2025-02-21T19:37:22.491Z,1740166642.491 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003092
2025-02-21T19:37:28.178Z,1740166648.178 [NAL9602](INFO): SBD MO Status=1, MOMSN=13055, MT Status=0, MTMSN=0
2025-02-21T19:37:28.240Z,1740166648.240 [NAL9602](INFO): Sent 163 bytes from file Logs/20250221T163145/Express0043.lzma
2025-02-21T19:37:28.240Z,1740166648.240 [NAL9602](INFO): Packets left to send: 0
2025-02-21T19:37:31.463Z,1740166651.463 [Default:CheckIn:Read_Iridium] Stopped
2025-02-21T19:37:31.463Z,1740166651.463 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-21T19:37:31.464Z,1740166651.464 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-21T19:37:58.967Z,1740166678.967 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T19:40:44.064Z,1740166844.064 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T194043
2025-02-21T19:40:51.719Z,1740166851.719 [DataOverHttps](INFO): Received command: restart logs