2025-02-21T20:30:03.804Z,1740169803.804 [CommandExec](IMPORTANT): got command restart logs
2025-02-21T20:31:11.771Z,1740169871.771 [MassServo](ERROR): getPosition uart error serial timeout
2025-02-21T20:31:11.772Z,1740169871.772 [MassServo](FAULT): Invalid EZ Servo response:"\377"
2025-02-21T20:31:11.772Z,1740169871.772 [MassServo] Communications Fault, FailCount= 1
2025-02-21T20:31:11.772Z,1740169871.772 [MassServo](ERROR): Communications Fault
2025-02-21T20:31:11.778Z,1740169871.778 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-21T20:31:12.066Z,1740169872.066 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-21T20:31:12.066Z,1740169872.066 [MassServo](INFO): Powering down
2025-02-21T20:31:12.830Z,1740169872.830 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-21T20:31:12.962Z,1740169872.962 [MassServo](DEBUG): Initializing MassServo.
2025-02-21T20:31:12.974Z,1740169872.974 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-21T20:31:12.974Z,1740169872.974 [MassServo] No Fault, FailCount= 1
2025-02-21T20:33:40.806Z,1740170020.806 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T203339
2025-02-21T20:33:48.452Z,1740170028.452 [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;set keepstation.DepthDeadband 20 m" 23nrt 1 2
2025-02-21T20:33:48.566Z,1740170028.566 [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;set keepstation.DepthDeadband 20 m" 23nrt 1 2.000000
2025-02-21T20:33:48.567Z,1740170028.567 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=23nrt
2025-02-21T20:33:48.568Z,1740170028.568 [CommandExec](IMPORTANT): Scheduled #43 (#1 of 2 with id='23nrt'): "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;set keepstation.DepthDeadband 20 m", ASAP
2025-02-21T20:33:49.453Z,1740170029.453 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T203348
2025-02-21T20:33:57.463Z,1740170037.463 [DataOverHttps](INFO): Received command: sched asap "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 23nrt 2 2
2025-02-21T20:33:57.530Z,1740170037.530 [CommandExec](IMPORTANT): got command schedule asap "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 23nrt 2 2.000000
2025-02-21T20:33:57.531Z,1740170037.531 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=23nrt
2025-02-21T20:33:57.532Z,1740170037.532 [CommandExec](IMPORTANT): Scheduled #44 (#2 of 2 with id='23nrt'): "set keepstation:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2025-02-21T20:33:57.655Z,1740170037.655 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-21T20:33:57.661Z,1740170037.661 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-21T20:33:57.662Z,1740170037.662 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-21T20:33:57.667Z,1740170037.667 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-21T20:33:58.413Z,1740170038.413 [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>

2025-02-21T20:33:58.418Z,1740170038.418 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-21T20:33:58.421Z,1740170038.421 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-21T20:33:58.423Z,1740170038.423 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-21T20:33:58.425Z,1740170038.425 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-21T20:33:58.427Z,1740170038.427 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-21T20:33:58.429Z,1740170038.429 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-21T20:33:58.431Z,1740170038.431 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-21T20:33:58.433Z,1740170038.433 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-21T20:33:58.436Z,1740170038.436 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-21T20:33:58.438Z,1740170038.438 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-21T20:33:58.440Z,1740170038.440 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-21T20:33:58.440Z,1740170038.440 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-21T20:33:58.441Z,1740170038.441 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-21T20:33:58.443Z,1740170038.443 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-21T20:33:58.791Z,1740170038.791 [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>

2025-02-21T20:33:58.796Z,1740170038.796 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-21T20:33:58.798Z,1740170038.798 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-21T20:33:58.802Z,1740170038.802 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-21T20:33:58.804Z,1740170038.804 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-21T20:33:58.807Z,1740170038.807 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-21T20:33:58.809Z,1740170038.809 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-21T20:33:58.812Z,1740170038.812 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-21T20:33:58.814Z,1740170038.814 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-21T20:33:58.846Z,1740170038.846 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-21T20:33:58.920Z,1740170038.920 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-21T20:33:58.920Z,1740170038.920 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-21T20:33:59.388Z,1740170039.388 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-21T20:33:59.486Z,1740170039.486 [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>

2025-02-21T20:33:59.490Z,1740170039.490 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-21T20:33:59.494Z,1740170039.494 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-21T20:33:59.497Z,1740170039.497 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-21T20:33:59.499Z,1740170039.499 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-21T20:33:59.500Z,1740170039.500 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-21T20:33:59.506Z,1740170039.506 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-21T20:33:59.513Z,1740170039.513 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-21T20:33:59.520Z,1740170039.520 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-21T20:33:59.520Z,1740170039.520 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-21T20:33:59.548Z,1740170039.548 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-21T20:33:59.576Z,1740170039.576 [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>

2025-02-21T20:33:59.579Z,1740170039.579 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-21T20:33:59.581Z,1740170039.581 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-21T20:33:59.584Z,1740170039.584 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-21T20:33:59.584Z,1740170039.584 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-21T20:33:59.585Z,1740170039.585 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-21T20:33:59.770Z,1740170039.770 [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>

2025-02-21T20:33:59.774Z,1740170039.774 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-21T20:33:59.776Z,1740170039.776 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-21T20:33:59.778Z,1740170039.778 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-21T20:33:59.780Z,1740170039.780 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-21T20:33:59.782Z,1740170039.782 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-21T20:33:59.817Z,1740170039.817 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-21T20:33:59.819Z,1740170039.819 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-21T20:33:59.826Z,1740170039.826 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-21T20:33:59.829Z,1740170039.829 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-21T20:33:59.833Z,1740170039.833 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-21T20:33:59.849Z,1740170039.849 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-21T20:33:59.860Z,1740170039.860 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-21T20:33:59.865Z,1740170039.865 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-21T20:33:59.877Z,1740170039.877 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-21T20:33:59.908Z,1740170039.908 [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
    }
  }
}


2025-02-21T20:33:59.908Z,1740170039.908 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-21T20:34:01.328Z,1740170041.328 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-21T20:34:01.328Z,1740170041.328 [Default:CheckIn:C.Wait] Stopped
2025-02-21T20:34:01.328Z,1740170041.328 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T20:34:01.329Z,1740170041.329 [Default:CheckIn:D] Running Loop=1
2025-02-21T20:34:01.837Z,1740170041.837 [Default:CheckIn:D] Stopped
2025-02-21T20:34:01.837Z,1740170041.837 [Default:CheckIn:E] Running Loop=1
2025-02-21T20:34:02.200Z,1740170042.200 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  7.424100 min 
2025-02-21T20:34:02.201Z,1740170042.201 [Default:CheckIn:E] Stopped
2025-02-21T20:34:02.201Z,1740170042.201 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-21T20:34:02.201Z,1740170042.201 [Default:CheckIn] Stopped
2025-02-21T20:34:02.201Z,1740170042.201 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-21T20:34:02.201Z,1740170042.201 [Default:CheckIn](INFO): Running loop #2
2025-02-21T20:34:02.201Z,1740170042.201 [Default:CheckIn] Running Loop=2
2025-02-21T20:34:02.201Z,1740170042.201 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-21T20:34:02.201Z,1740170042.201 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-21T20:34:04.174Z,1740170044.174 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,203403.00,A,3647.73686,N,12150.75193,W,1.458,48.43,210225,,,D*4E
2025-02-21T20:34:04.180Z,1740170044.180 [NAL9602](INFO): GPS fix at 20250221T203403: (36.795614, -121.845866)
2025-02-21T20:34:04.203Z,1740170044.203 [Default:CheckIn:Read_GPS] Stopped
2025-02-21T20:34:04.203Z,1740170044.203 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-21T20:34:16.187Z,1740170056.187 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250221T194051/Courier0018.lzma
2025-02-21T20:34:17.189Z,1740170057.189 [DataOverHttps](INFO): Moved sent file to Logs/20250221T194051/Courier0018.lzma.bak
2025-02-21T20:34:17.190Z,1740170057.190 [DataOverHttps](INFO): SBD MOMSN=23971265
2025-02-21T20:34:22.174Z,1740170062.174 [NAL9602](INFO): SBD MO Status=0, MOMSN=13066, MT Status=0, MTMSN=0
2025-02-21T20:34:22.174Z,1740170062.174 [NAL9602](INFO): No messages in MT queue
2025-02-21T20:34:29.010Z,1740170069.010 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-21T20:34:34.721Z,1740170074.721 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-21T20:34:34.721Z,1740170074.721 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-21T20:34:34.732Z,1740170074.732 [BPC1](INFO): Received data from all battery sticks.
2025-02-21T20:34:37.630Z,1740170077.630 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 60 minute
2025-02-21T20:34:37.630Z,1740170077.630 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-02-21T20:34:37.635Z,1740170077.635 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-02-21T20:34:37.636Z,1740170077.636 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-02-21T20:34:37.637Z,1740170077.637 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 20 meter
2025-02-21T20:34:41.959Z,1740170081.959 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20250221T203003/Courier0000.lzma
2025-02-21T20:34:42.961Z,1740170082.961 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Courier0000.lzma.bak
2025-02-21T20:34:42.961Z,1740170082.961 [DataOverHttps](INFO): SBD MOMSN=23971267
2025-02-21T20:34:51.036Z,1740170091.036 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-02-21T20:34:51.036Z,1740170091.036 [CommandExec](IMPORTANT): got command run
2025-02-21T20:34:51.038Z,1740170091.038 [CommandExec](IMPORTANT): Running 
2025-02-21T20:34:51.316Z,1740170091.316 [Default] Stopped
2025-02-21T20:34:51.316Z,1740170091.316 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-21T20:34:51.316Z,1740170091.316 [Default:B.GoToSurface] Stopped
2025-02-21T20:34:51.316Z,1740170091.316 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-21T20:34:51.316Z,1740170091.316 [Default:CheckIn] Stopped
2025-02-21T20:34:51.316Z,1740170091.316 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-21T20:34:51.316Z,1740170091.316 [Default:CheckIn:Read_Iridium] Stopped
2025-02-21T20:34:51.317Z,1740170091.317 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-21T20:34:51.317Z,1740170091.317 [keepstation] Running Loop=1
2025-02-21T20:34:51.317Z,1740170091.317 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-21T20:34:51.317Z,1740170091.317 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-21T20:34:51.317Z,1740170091.317 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-21T20:34:51.317Z,1740170091.317 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-21T20:34:51.317Z,1740170091.317 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-21T20:34:51.318Z,1740170091.318 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-21T20:34:51.318Z,1740170091.318 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-21T20:34:51.318Z,1740170091.318 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-21T20:34:51.318Z,1740170091.318 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-21T20:34:51.318Z,1740170091.318 [keepstation:BackseatDriver] Running Loop=1
2025-02-21T20:34:51.318Z,1740170091.318 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-21T20:34:51.318Z,1740170091.318 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-21T20:34:51.318Z,1740170091.318 [keepstation:PowerOnly] Running Loop=1
2025-02-21T20:34:51.318Z,1740170091.318 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-21T20:34:51.318Z,1740170091.318 [keepstation:PowerOnly:A] Running Loop=1
2025-02-21T20:34:51.319Z,1740170091.319 [keepstation:PowerOnly:B] Running Loop=1
2025-02-21T20:34:51.319Z,1740170091.319 [keepstation:PowerOnly:C] Running Loop=1
2025-02-21T20:34:51.319Z,1740170091.319 [keepstation:PowerOnly:D] Running Loop=1
2025-02-21T20:34:51.323Z,1740170091.323 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-21T20:34:51.323Z,1740170091.323 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-21T20:34:51.324Z,1740170091.324 [keepstation:H.Pitch] Running Loop=1
2025-02-21T20:34:51.324Z,1740170091.324 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-21T20:34:51.324Z,1740170091.324 [keepstation:B] Running Loop=1
2025-02-21T20:34:51.324Z,1740170091.324 [keepstation:H.Pitch] Running Loop=1
2025-02-21T20:34:51.325Z,1740170091.325 [keepstation:PowerOnly] Running Loop=1
2025-02-21T20:34:51.325Z,1740170091.325 [keepstation:PowerOnly:D] Stopped
2025-02-21T20:34:51.325Z,1740170091.325 [keepstation:PowerOnly:C] Stopped
2025-02-21T20:34:51.325Z,1740170091.325 [keepstation:PowerOnly:B] Stopped
2025-02-21T20:34:51.325Z,1740170091.325 [keepstation:PowerOnly:A] Stopped
2025-02-21T20:34:51.325Z,1740170091.325 [keepstation:BackseatDriver] Running Loop=1
2025-02-21T20:34:51.326Z,1740170091.326 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-21T20:34:51.409Z,1740170091.409 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-21T20:34:51.409Z,1740170091.409 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-21T20:34:51.409Z,1740170091.409 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-21T20:34:51.410Z,1740170091.410 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-21T20:34:51.410Z,1740170091.410 [keepstation:B] Stopped
2025-02-21T20:34:51.410Z,1740170091.410 [keepstation:D] Running Loop=1
2025-02-21T20:34:51.463Z,1740170091.463 [BackseatComponent](INFO): Powering up
2025-02-21T20:34:51.464Z,1740170091.464 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-21T20:34:51.687Z,1740170091.687 [keepstation:D] Stopped
2025-02-21T20:34:51.688Z,1740170091.688 [keepstation:E] Running Loop=1
2025-02-21T20:34:52.103Z,1740170092.103 [keepstation:E] Stopped
2025-02-21T20:34:52.103Z,1740170092.103 [keepstation:StartingMission] Running Loop=1
2025-02-21T20:34:52.104Z,1740170092.104 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-21T20:34:52.484Z,1740170092.484 [keepstation:NeedComms] Running Loop=1
2025-02-21T20:34:52.484Z,1740170092.484 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-21T20:34:52.484Z,1740170092.484 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-21T20:34:52.484Z,1740170092.484 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T20:34:52.485Z,1740170092.485 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-21T20:34:52.485Z,1740170092.485 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-21T20:34:52.485Z,1740170092.485 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-21T20:34:52.486Z,1740170092.486 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-21T20:34:52.486Z,1740170092.486 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T20:34:52.486Z,1740170092.486 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T20:34:52.487Z,1740170092.487 [keepstation:NeedComms:A] Running Loop=1
2025-02-21T20:34:52.520Z,1740170092.520 [keepstation:NeedComms:A](INFO): last time_fix was:  1740170043.000000 second since 1970/01/01T00:00:00Z 
2025-02-21T20:34:52.520Z,1740170092.520 [keepstation:NeedComms:A] Stopped
2025-02-21T20:34:52.855Z,1740170092.855 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T20:34:52.896Z,1740170092.896 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-21T20:34:52.897Z,1740170092.897 [keepstation:NeedComms:C] Running Loop=1
2025-02-21T20:34:53.277Z,1740170093.277 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-21T20:34:54.877Z,1740170094.877 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,203454.00,A,3647.73314,N,12150.74868,W,0.408,201.01,210225,,,D*73
2025-02-21T20:34:54.880Z,1740170094.880 [NAL9602](INFO): GPS fix at 20250221T203454: (36.795552, -121.845811)
2025-02-21T20:34:54.908Z,1740170094.908 [keepstation:NeedComms:C] Stopped
2025-02-21T20:34:54.908Z,1740170094.908 [keepstation:NeedComms:D] Running Loop=1
2025-02-21T20:34:55.324Z,1740170095.324 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-21T20:35:02.539Z,1740170102.539 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250221T203003/Courier0003.lzma
2025-02-21T20:35:03.541Z,1740170103.541 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Courier0003.lzma.bak
2025-02-21T20:35:03.541Z,1740170103.541 [DataOverHttps](INFO): SBD MOMSN=23971272
2025-02-21T20:35:07.462Z,1740170107.462 [NAL9602](INFO): SBD MO Status=0, MOMSN=13067, MT Status=0, MTMSN=0
2025-02-21T20:35:07.462Z,1740170107.462 [NAL9602](INFO): No messages in MT queue
2025-02-21T20:35:23.461Z,1740170123.461 [DataOverHttps](INFO): Sending 202 bytes from file Logs/20250221T203003/Courier0006.lzma
2025-02-21T20:35:24.461Z,1740170124.461 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Courier0006.lzma.bak
2025-02-21T20:35:24.461Z,1740170124.461 [DataOverHttps](INFO): SBD MOMSN=23971274
2025-02-21T20:35:38.200Z,1740170138.200 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T20:35:40.928Z,1740170140.928 [DataOverHttps](INFO): Sending 115 bytes from file Logs/20250221T194051/Express0019.lzma
2025-02-21T20:35:41.929Z,1740170141.929 [DataOverHttps](INFO): Moved sent file to Logs/20250221T194051/Express0019.lzma.bak
2025-02-21T20:35:41.929Z,1740170141.929 [DataOverHttps](INFO): SBD MOMSN=23971278
2025-02-21T20:35:58.697Z,1740170158.697 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250221T203602
2025-02-21T20:35:59.653Z,1740170159.653 [DataOverHttps](INFO): Sending 762 bytes from file Logs/20250221T203003/Express0001.lzma
2025-02-21T20:36:00.654Z,1740170160.654 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Express0001.lzma.bak
2025-02-21T20:36:00.655Z,1740170160.655 [DataOverHttps](INFO): SBD MOMSN=23971281
2025-02-21T20:36:17.275Z,1740170177.275 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250221T203003/Express0004.lzma
2025-02-21T20:36:18.277Z,1740170178.277 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Express0004.lzma.bak
2025-02-21T20:36:18.277Z,1740170178.277 [DataOverHttps](INFO): SBD MOMSN=23971296
2025-02-21T20:36:36.548Z,1740170196.548 [DataOverHttps](INFO): Sending 309 bytes from file Logs/20250221T203003/Express0007.lzma
2025-02-21T20:36:37.549Z,1740170197.549 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Express0007.lzma.bak
2025-02-21T20:36:37.549Z,1740170197.549 [DataOverHttps](INFO): SBD MOMSN=23971298
2025-02-21T20:36:39.240Z,1740170199.240 [keepstation:NeedComms:D] Stopped
2025-02-21T20:36:39.240Z,1740170199.240 [keepstation:NeedComms:E] Running Loop=1
2025-02-21T20:36:39.641Z,1740170199.641 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-21T20:36:41.246Z,1740170201.246 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,203640.00,A,3647.72432,N,12150.74187,W,0.039,172.23,210225,,,D*7F
2025-02-21T20:36:41.249Z,1740170201.249 [NAL9602](INFO): GPS fix at 20250221T203640: (36.795405, -121.845698)
2025-02-21T20:36:41.300Z,1740170201.300 [keepstation:NeedComms:E] Stopped
2025-02-21T20:36:41.301Z,1740170201.301 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-21T20:36:41.301Z,1740170201.301 [keepstation:NeedComms] Stopped
2025-02-21T20:36:41.301Z,1740170201.301 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-21T20:36:41.301Z,1740170201.301 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-21T20:36:41.301Z,1740170201.301 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-21T20:36:41.690Z,1740170201.690 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-21T20:36:41.690Z,1740170201.690 [keepstation:StartingMission] Stopped
2025-02-21T20:36:41.690Z,1740170201.690 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-21T20:36:41.691Z,1740170201.691 [keepstation:TransitToStation] Running Loop=1
2025-02-21T20:36:41.691Z,1740170201.691 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-21T20:36:41.691Z,1740170201.691 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-21T20:36:41.715Z,1740170201.715 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-21T20:36:41.715Z,1740170201.715 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-21T20:36:41.715Z,1740170201.715 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-21T20:36:41.716Z,1740170201.716 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-21T20:36:41.716Z,1740170201.716 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-21T20:36:41.716Z,1740170201.716 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-21T20:36:41.716Z,1740170201.716 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-21T20:36:41.717Z,1740170201.717 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-21T20:36:42.082Z,1740170202.082 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-21T20:36:42.087Z,1740170202.087 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-21T20:36:42.088Z,1740170202.088 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-21T20:36:42.088Z,1740170202.088 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-21T20:36:56.381Z,1740170216.381 [NAL9602](INFO): SBD MO Status=0, MOMSN=13068, MT Status=0, MTMSN=0
2025-02-21T20:36:56.381Z,1740170216.381 [NAL9602](INFO): No messages in MT queue
2025-02-21T20:36:58.952Z,1740170218.952 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 1975
2025-02-21T20:37:26.907Z,1740170246.907 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T20:38:40.892Z,1740170320.892 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T20:38:54.231Z,1740170334.231 [Radio_Surface](INFO): Powering down
2025-02-21T20:39:12.015Z,1740170352.015 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T20:39:13.020Z,1740170353.020 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-21T20:40:49.424Z,1740170449.424 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.751221
2025-02-21T20:41:04.564Z,1740170464.564 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 1976
2025-02-21T20:42:49.493Z,1740170569.493 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-02-21T20:42:49.493Z,1740170569.493 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-21T20:42:49.493Z,1740170569.493 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-21T20:42:49.495Z,1740170569.495 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-02-21T20:42:49.495Z,1740170569.495 [keepstation:TransitToStation] Stopped
2025-02-21T20:42:49.495Z,1740170569.495 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-21T20:42:49.495Z,1740170569.495 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-21T20:42:49.495Z,1740170569.495 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-21T20:42:49.495Z,1740170569.495 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-21T20:42:49.495Z,1740170569.495 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-21T20:42:49.495Z,1740170569.495 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-21T20:42:49.495Z,1740170569.495 [keepstation:OnStation] Running Loop=1
2025-02-21T20:42:49.496Z,1740170569.496 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-02-21T20:42:49.908Z,1740170569.908 [keepstation:NeedComms] Running Loop=1
2025-02-21T20:42:49.908Z,1740170569.908 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-21T20:42:49.908Z,1740170569.908 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-21T20:42:49.908Z,1740170569.908 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T20:42:49.909Z,1740170569.909 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-21T20:42:49.909Z,1740170569.909 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-21T20:42:49.909Z,1740170569.909 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-21T20:42:49.910Z,1740170569.910 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-21T20:42:49.910Z,1740170569.910 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T20:42:49.910Z,1740170569.910 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T20:42:49.911Z,1740170569.911 [keepstation:NeedComms:A] Running Loop=1
2025-02-21T20:42:49.912Z,1740170569.912 [keepstation:NeedComms:A](INFO): last time_fix was:  1740170200.000000 second since 1970/01/01T00:00:00Z 
2025-02-21T20:42:49.913Z,1740170569.913 [keepstation:NeedComms:A] Stopped
2025-02-21T20:43:47.261Z,1740170627.261 [keepstation:NeedComms:C] Running Loop=1
2025-02-21T20:43:47.691Z,1740170627.691 [Radio_Surface](INFO): Powering up
2025-02-21T20:43:53.189Z,1740170633.189 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-21T20:44:23.315Z,1740170663.315 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T20:44:53.225Z,1740170693.225 [NAL9602](INFO): SBD MO Status=0, MOMSN=13069, MT Status=0, MTMSN=0
2025-02-21T20:44:53.225Z,1740170693.225 [NAL9602](INFO): No messages in MT queue
2025-02-21T20:44:54.437Z,1740170694.437 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,204453.00,A,3647.82111,N,12150.81284,W,0.661,10.21,210225,,,D*45
2025-02-21T20:44:54.440Z,1740170694.440 [NAL9602](INFO): GPS fix at 20250221T204453: (36.797019, -121.846881)
2025-02-21T20:44:54.448Z,1740170694.448 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T20:44:54.472Z,1740170694.472 [keepstation:NeedComms:C] Stopped
2025-02-21T20:44:54.472Z,1740170694.472 [keepstation:NeedComms:D] Running Loop=1
2025-02-21T20:45:16.893Z,1740170716.893 [NAL9602](INFO): SBD MO Status=2, MOMSN=13070, MT Status=2, MTMSN=0
2025-02-21T20:45:16.893Z,1740170716.893 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T20:45:25.571Z,1740170725.571 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T20:45:47.042Z,1740170747.042 [NAL9602](INFO): SBD MO Status=1, MOMSN=13070, MT Status=0, MTMSN=0
2025-02-21T20:45:47.091Z,1740170747.091 [NAL9602](INFO): Sent 73 bytes from file Logs/20250221T203003/Courier0009.lzma
2025-02-21T20:45:47.092Z,1740170747.092 [NAL9602](INFO): Packets left to send: 0
2025-02-21T20:45:56.695Z,1740170756.695 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T20:45:58.645Z,1740170758.645 [NAL9602](INFO): SBD MO Status=1, MOMSN=13071, MT Status=0, MTMSN=0
2025-02-21T20:45:58.699Z,1740170758.699 [NAL9602](INFO): Sent 324 bytes from file Logs/20250221T203003/Express0010.lzma
2025-02-21T20:45:58.700Z,1740170758.700 [NAL9602](INFO): Packets left to send: 0
2025-02-21T20:46:05.366Z,1740170765.366 [NAL9602](INFO): SBD MO Status=0, MOMSN=13072, MT Status=0, MTMSN=0
2025-02-21T20:46:05.448Z,1740170765.448 [keepstation:NeedComms:D] Stopped
2025-02-21T20:46:05.448Z,1740170765.448 [keepstation:NeedComms:E] Running Loop=1
2025-02-21T20:46:07.100Z,1740170767.100 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003705
2025-02-21T20:46:07.789Z,1740170767.789 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,204607.00,A,3647.82374,N,12150.80980,W,0.350,14.84,210225,,,A*40
2025-02-21T20:46:07.792Z,1740170767.792 [NAL9602](INFO): GPS fix at 20250221T204607: (36.797062, -121.846830)
2025-02-21T20:46:07.808Z,1740170767.808 [keepstation:NeedComms:E] Stopped
2025-02-21T20:46:07.809Z,1740170767.809 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-21T20:46:07.809Z,1740170767.809 [keepstation:NeedComms] Stopped
2025-02-21T20:46:07.809Z,1740170767.809 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-21T20:46:07.809Z,1740170767.809 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-21T20:46:07.809Z,1740170767.809 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-21T20:46:08.228Z,1740170768.228 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-02-21T20:46:08.229Z,1740170768.229 [keepstation:OnStation] Stopped
2025-02-21T20:46:08.229Z,1740170768.229 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-02-21T20:46:08.229Z,1740170768.229 [keepstation:KeepStation] Running Loop=1
2025-02-21T20:46:08.229Z,1740170768.229 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-02-21T20:46:08.229Z,1740170768.229 [keepstation:KeepStation:A] Running Loop=1
2025-02-21T20:46:08.229Z,1740170768.229 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-21T20:46:08.229Z,1740170768.229 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-02-21T20:46:08.229Z,1740170768.229 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-21T20:46:08.229Z,1740170768.229 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-21T20:46:08.230Z,1740170768.230 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-02-21T20:46:08.230Z,1740170768.230 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-02-21T20:46:08.602Z,1740170768.602 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.80 m/s, pitch 20.00 deg, mass-position 11.65 mm.
2025-02-21T20:46:08.622Z,1740170768.622 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-21T20:46:08.622Z,1740170768.622 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-21T20:46:08.623Z,1740170768.623 [keepstation:KeepStation:A] Running Loop=1
2025-02-21T20:46:40.530Z,1740170800.530 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T20:48:30.124Z,1740170910.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T20:48:51.455Z,1740170931.455 [Radio_Surface](INFO): Powering down
2025-02-21T20:49:01.248Z,1740170941.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T20:49:02.251Z,1740170942.251 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-21T20:50:14.552Z,1740171014.552 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.026031
2025-02-21T21:34:51.613Z,1740173691.613 [keepstation](INFO): Timed out from 2025-02-21T20:34:51.3Z
2025-02-21T21:34:51.613Z,1740173691.613 [MissionManager](INFO): keepstation is completed.
2025-02-21T21:34:51.614Z,1740173691.614 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-21T21:34:51.614Z,1740173691.614 [keepstation] Stopped
2025-02-21T21:34:51.614Z,1740173691.614 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-21T21:34:51.614Z,1740173691.614 [keepstation:StandardEnvelopes] Stopped
2025-02-21T21:34:51.614Z,1740173691.614 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-21T21:34:51.614Z,1740173691.614 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-21T21:34:51.614Z,1740173691.614 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-21T21:34:51.614Z,1740173691.614 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-21T21:34:51.614Z,1740173691.614 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-21T21:34:51.614Z,1740173691.614 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-21T21:34:51.614Z,1740173691.614 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-21T21:34:51.615Z,1740173691.615 [keepstation:BackseatDriver] Stopped
2025-02-21T21:34:51.615Z,1740173691.615 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-21T21:34:51.615Z,1740173691.615 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-21T21:34:51.616Z,1740173691.616 [keepstation:PowerOnly] Stopped
2025-02-21T21:34:51.616Z,1740173691.616 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-21T21:34:51.616Z,1740173691.616 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-21T21:34:51.616Z,1740173691.616 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T21:34:51.616Z,1740173691.616 [keepstation:H.Pitch] Stopped
2025-02-21T21:34:51.616Z,1740173691.616 [keepstation:KeepStation] Stopped
2025-02-21T21:34:51.616Z,1740173691.616 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-02-21T21:34:51.616Z,1740173691.616 [keepstation:KeepStation:A] Stopped
2025-02-21T21:34:51.616Z,1740173691.616 [keepstation:KeepStation:B.Pitch] Stopped
2025-02-21T21:34:51.616Z,1740173691.616 [keepstation:KeepStation:C.KeepStation] Stopped
2025-02-21T21:34:51.616Z,1740173691.616 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-21T21:34:51.616Z,1740173691.616 [keepstation:KeepStation:D.Wait] Stopped
2025-02-21T21:34:51.616Z,1740173691.616 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T21:34:51.932Z,1740173691.932 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-21T21:34:51.933Z,1740173691.933 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-21T21:34:52.014Z,1740173692.014 [MissionManager](IMPORTANT): Started mission Default
2025-02-21T21:34:52.015Z,1740173692.015 [Default] Running Loop=1
2025-02-21T21:34:52.015Z,1740173692.015 [Default](DEBUG): Aggregate::initialize Default
2025-02-21T21:34:52.031Z,1740173692.031 [Default:B.GoToSurface] Running Loop=1
2025-02-21T21:34:52.031Z,1740173692.031 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T21:34:52.031Z,1740173692.031 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-21T21:34:52.032Z,1740173692.032 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-21T21:34:52.032Z,1740173692.032 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-21T21:34:52.032Z,1740173692.032 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-21T21:34:52.033Z,1740173692.033 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T21:34:52.033Z,1740173692.033 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T21:34:52.033Z,1740173692.033 [Default:A.Wait] Running Loop=1
2025-02-21T21:34:52.034Z,1740173692.034 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-21T21:34:52.803Z,1740173692.803 [Radio_Surface](INFO): Powering up
2025-02-21T21:34:58.664Z,1740173698.664 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-21T21:35:05.131Z,1740173705.131 [Default:A.Wait](INFO): Done Waiting.
2025-02-21T21:35:05.131Z,1740173705.131 [Default:A.Wait] Stopped
2025-02-21T21:35:05.131Z,1740173705.131 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T21:35:10.105Z,1740173710.105 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-21T21:35:10.107Z,1740173710.107 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-21T21:35:10.107Z,1740173710.107 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-21T21:35:28.795Z,1740173728.795 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:35:41.982Z,1740173741.982 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T21:35:54.586Z,1740173754.586 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T21:35:59.919Z,1740173759.919 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:36:07.598Z,1740173767.598 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T21:36:07.647Z,1740173767.647 [Default:CheckIn] Running Loop=1
2025-02-21T21:36:07.647Z,1740173767.647 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-21T21:36:07.647Z,1740173767.647 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-21T21:36:20.526Z,1740173780.526 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T21:36:31.048Z,1740173791.048 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:36:33.050Z,1740173793.050 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T21:36:42.352Z,1740173802.352 [NAL9602](INFO): SBD MO Status=0, MOMSN=13073, MT Status=0, MTMSN=0
2025-02-21T21:36:42.352Z,1740173802.352 [NAL9602](INFO): No messages in MT queue
2025-02-21T21:36:43.563Z,1740173803.563 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213642.00,A,3647.77874,N,12150.93398,W,0.816,165.86,210225,,,A*7B
2025-02-21T21:36:43.566Z,1740173803.566 [NAL9602](INFO): GPS fix at 20250221T213642: (36.796312, -121.848900)
2025-02-21T21:36:43.577Z,1740173803.577 [Default:CheckIn:Read_GPS] Stopped
2025-02-21T21:36:43.577Z,1740173803.577 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-21T21:36:46.383Z,1740173806.383 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T21:37:02.192Z,1740173822.192 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:37:03.089Z,1740173823.089 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-21T21:37:16.364Z,1740173836.364 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003069
2025-02-21T21:37:16.407Z,1740173836.407 [NAL9602](INFO): SBD MO Status=2, MOMSN=13074, MT Status=2, MTMSN=0
2025-02-21T21:37:16.415Z,1740173836.415 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T21:37:29.775Z,1740173849.775 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250221T203003/Courier0012.lzma
2025-02-21T21:37:30.777Z,1740173850.777 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Courier0012.lzma.bak
2025-02-21T21:37:30.777Z,1740173850.777 [DataOverHttps](INFO): SBD MOMSN=23971321
2025-02-21T21:37:47.117Z,1740173867.117 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T21:38:01.719Z,1740173881.719 [DataOverHttps](INFO): Sending 181 bytes from file Logs/20250221T203003/Express0013.lzma
2025-02-21T21:38:02.721Z,1740173882.721 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Express0013.lzma.bak
2025-02-21T21:38:02.721Z,1740173882.721 [DataOverHttps](INFO): SBD MOMSN=23971324
2025-02-21T21:38:04.987Z,1740173884.987 [Default:CheckIn:Read_Iridium] Stopped
2025-02-21T21:38:04.988Z,1740173884.988 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-21T21:38:04.988Z,1740173884.988 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-21T21:39:50.227Z,1740173990.227 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:42:03.127Z,1740174123.127 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-21T21:42:06.777Z,1740174126.777 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-21T21:42:06.777Z,1740174126.777 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-21T21:42:06.780Z,1740174126.780 [BPC1](INFO): Received data from all battery sticks.
2025-02-21T21:43:02.322Z,1740174182.322 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T214301
2025-02-21T21:43:05.437Z,1740174185.437 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-21T21:43:05.437Z,1740174185.437 [Default:CheckIn:C.Wait] Stopped
2025-02-21T21:43:05.437Z,1740174185.437 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T21:43:05.438Z,1740174185.438 [Default:CheckIn:D] Running Loop=1
2025-02-21T21:43:05.807Z,1740174185.807 [Default:CheckIn:D] Stopped
2025-02-21T21:43:05.819Z,1740174185.819 [Default:CheckIn:E] Running Loop=1
2025-02-21T21:43:06.201Z,1740174186.201 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  8.229867 min 
2025-02-21T21:43:06.201Z,1740174186.201 [Default:CheckIn:E] Stopped
2025-02-21T21:43:06.201Z,1740174186.201 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-21T21:43:06.201Z,1740174186.201 [Default:CheckIn] Stopped
2025-02-21T21:43:06.201Z,1740174186.201 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-21T21:43:06.202Z,1740174186.202 [Default:CheckIn](INFO): Running loop #2
2025-02-21T21:43:06.202Z,1740174186.202 [Default:CheckIn] Running Loop=2
2025-02-21T21:43:06.202Z,1740174186.202 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-21T21:43:06.202Z,1740174186.202 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-21T21:43:08.210Z,1740174188.210 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214307.00,A,3647.74019,N,12150.91854,W,0.369,171.22,210225,,,A*79
2025-02-21T21:43:08.213Z,1740174188.213 [NAL9602](INFO): GPS fix at 20250221T214307: (36.795670, -121.848642)
2025-02-21T21:43:08.306Z,1740174188.306 [Default:CheckIn:Read_GPS] Stopped
2025-02-21T21:43:08.306Z,1740174188.306 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-21T21:43:12.837Z,1740174192.837 [DataOverHttps](INFO): Sending 85 bytes from file Logs/20250221T203003/Courier0015.lzma
2025-02-21T21:43:12.857Z,1740174192.857 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 45 min;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.DepthDeadband 10 m" 23qyz 1 2
2025-02-21T21:43:12.896Z,1740174192.896 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 45 min;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.DepthDeadband 10 m" 23qyz 1 2.000000
2025-02-21T21:43:12.897Z,1740174192.897 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=23qyz
2025-02-21T21:43:12.898Z,1740174192.898 [CommandExec](IMPORTANT): Scheduled #45 (#1 of 2 with id='23qyz'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 45 min;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.DepthDeadband 10 m", ASAP
2025-02-21T21:43:13.777Z,1740174193.777 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Courier0015.lzma.bak
2025-02-21T21:43:13.777Z,1740174193.777 [DataOverHttps](IMPORTANT): SBD MOMSN=23971328, MTMSN=20250221T214312
2025-02-21T21:43:21.685Z,1740174201.685 [DataOverHttps](INFO): Received command: sched asap "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 23qyz 2 2
2025-02-21T21:43:21.690Z,1740174201.690 [CommandExec](IMPORTANT): got command schedule asap "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 23qyz 2 2.000000
2025-02-21T21:43:21.691Z,1740174201.691 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=23qyz
2025-02-21T21:43:21.692Z,1740174201.692 [CommandExec](IMPORTANT): Scheduled #46 (#2 of 2 with id='23qyz'): "set keepstation:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2025-02-21T21:43:21.850Z,1740174201.850 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-21T21:43:21.850Z,1740174201.850 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-21T21:43:21.851Z,1740174201.851 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-21T21:43:21.854Z,1740174201.854 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-21T21:43:22.610Z,1740174202.610 [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>

2025-02-21T21:43:22.616Z,1740174202.616 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-21T21:43:22.618Z,1740174202.618 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-21T21:43:22.621Z,1740174202.621 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-21T21:43:22.644Z,1740174202.644 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-21T21:43:22.651Z,1740174202.651 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-21T21:43:22.653Z,1740174202.653 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-21T21:43:22.664Z,1740174202.664 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-21T21:43:22.666Z,1740174202.666 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-21T21:43:22.673Z,1740174202.673 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-21T21:43:22.678Z,1740174202.678 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-21T21:43:22.728Z,1740174202.728 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-21T21:43:22.729Z,1740174202.729 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-21T21:43:22.729Z,1740174202.729 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-21T21:43:22.730Z,1740174202.730 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-21T21:43:23.188Z,1740174203.188 [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>

2025-02-21T21:43:23.192Z,1740174203.192 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-21T21:43:23.195Z,1740174203.195 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-21T21:43:23.197Z,1740174203.197 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-21T21:43:23.199Z,1740174203.199 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-21T21:43:23.201Z,1740174203.201 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-21T21:43:23.204Z,1740174203.204 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-21T21:43:23.206Z,1740174203.206 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-21T21:43:23.229Z,1740174203.229 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-21T21:43:23.268Z,1740174203.268 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-21T21:43:23.317Z,1740174203.317 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-21T21:43:23.317Z,1740174203.317 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-21T21:43:23.318Z,1740174203.318 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-21T21:43:23.418Z,1740174203.418 [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>

2025-02-21T21:43:23.422Z,1740174203.422 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-21T21:43:23.424Z,1740174203.424 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-21T21:43:23.426Z,1740174203.426 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-21T21:43:23.457Z,1740174203.457 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-21T21:43:23.458Z,1740174203.458 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-21T21:43:23.477Z,1740174203.477 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-21T21:43:23.486Z,1740174203.486 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-21T21:43:23.495Z,1740174203.495 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-21T21:43:23.496Z,1740174203.496 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-21T21:43:23.497Z,1740174203.497 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-21T21:43:23.517Z,1740174203.517 [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>

2025-02-21T21:43:23.521Z,1740174203.521 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-21T21:43:23.523Z,1740174203.523 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-21T21:43:23.525Z,1740174203.525 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-21T21:43:23.525Z,1740174203.525 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-21T21:43:23.526Z,1740174203.526 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-21T21:43:23.776Z,1740174203.776 [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>

2025-02-21T21:43:23.780Z,1740174203.780 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-21T21:43:23.782Z,1740174203.782 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-21T21:43:23.784Z,1740174203.784 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-21T21:43:23.786Z,1740174203.786 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-21T21:43:23.789Z,1740174203.789 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-21T21:43:23.795Z,1740174203.795 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-21T21:43:23.797Z,1740174203.797 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-21T21:43:23.846Z,1740174203.846 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-21T21:43:23.851Z,1740174203.851 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-21T21:43:23.882Z,1740174203.882 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-21T21:43:23.897Z,1740174203.897 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-21T21:43:23.909Z,1740174203.909 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-21T21:43:23.914Z,1740174203.914 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-21T21:43:23.923Z,1740174203.923 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-21T21:43:23.936Z,1740174203.936 [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
    }
  }
}


2025-02-21T21:43:23.936Z,1740174203.936 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-21T21:43:34.239Z,1740174214.239 [DataOverHttps](INFO): Sending 172 bytes from file Logs/20250221T203003/Express0016.lzma
2025-02-21T21:43:35.241Z,1740174215.241 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Express0016.lzma.bak
2025-02-21T21:43:35.241Z,1740174215.241 [DataOverHttps](INFO): SBD MOMSN=23971333
2025-02-21T21:43:46.286Z,1740174226.286 [NAL9602](INFO): SBD MO Status=1, MOMSN=13074, MT Status=0, MTMSN=0
2025-02-21T21:43:46.286Z,1740174226.286 [NAL9602](INFO): No messages in MT queue
2025-02-21T21:43:59.384Z,1740174239.384 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250221T203003/Courier0021.lzma
2025-02-21T21:44:00.386Z,1740174240.386 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Courier0021.lzma.bak
2025-02-21T21:44:00.386Z,1740174240.386 [DataOverHttps](INFO): SBD MOMSN=23971337
2025-02-21T21:44:00.720Z,1740174240.720 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 45 minute
2025-02-21T21:44:00.722Z,1740174240.722 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-02-21T21:44:00.723Z,1740174240.723 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-02-21T21:44:00.724Z,1740174240.724 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-02-21T21:44:00.724Z,1740174240.724 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 10 meter
2025-02-21T21:44:14.254Z,1740174254.254 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-02-21T21:44:14.254Z,1740174254.254 [CommandExec](IMPORTANT): got command run
2025-02-21T21:44:14.256Z,1740174254.256 [CommandExec](IMPORTANT): Running 
2025-02-21T21:44:14.585Z,1740174254.585 [Default] Stopped
2025-02-21T21:44:14.585Z,1740174254.585 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-21T21:44:14.585Z,1740174254.585 [Default:B.GoToSurface] Stopped
2025-02-21T21:44:14.585Z,1740174254.585 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-21T21:44:14.585Z,1740174254.585 [Default:CheckIn] Stopped
2025-02-21T21:44:14.585Z,1740174254.585 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-21T21:44:14.585Z,1740174254.585 [Default:CheckIn:Read_Iridium] Stopped
2025-02-21T21:44:14.586Z,1740174254.586 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-21T21:44:14.586Z,1740174254.586 [keepstation] Running Loop=1
2025-02-21T21:44:14.586Z,1740174254.586 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-21T21:44:14.586Z,1740174254.586 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-21T21:44:14.586Z,1740174254.586 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-21T21:44:14.586Z,1740174254.586 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-21T21:44:14.586Z,1740174254.586 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-21T21:44:14.587Z,1740174254.587 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-21T21:44:14.587Z,1740174254.587 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-21T21:44:14.587Z,1740174254.587 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-21T21:44:14.587Z,1740174254.587 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-21T21:44:14.587Z,1740174254.587 [keepstation:BackseatDriver] Running Loop=1
2025-02-21T21:44:14.587Z,1740174254.587 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-21T21:44:14.587Z,1740174254.587 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-21T21:44:14.587Z,1740174254.587 [keepstation:PowerOnly] Running Loop=1
2025-02-21T21:44:14.588Z,1740174254.588 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-21T21:44:14.588Z,1740174254.588 [keepstation:PowerOnly:A] Running Loop=1
2025-02-21T21:44:14.588Z,1740174254.588 [keepstation:PowerOnly:B] Running Loop=1
2025-02-21T21:44:14.588Z,1740174254.588 [keepstation:PowerOnly:C] Running Loop=1
2025-02-21T21:44:14.588Z,1740174254.588 [keepstation:PowerOnly:D] Running Loop=1
2025-02-21T21:44:14.588Z,1740174254.588 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-21T21:44:14.588Z,1740174254.588 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-21T21:44:14.588Z,1740174254.588 [keepstation:H.Pitch] Running Loop=1
2025-02-21T21:44:14.588Z,1740174254.588 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-21T21:44:14.588Z,1740174254.588 [keepstation:B] Running Loop=1
2025-02-21T21:44:14.589Z,1740174254.589 [keepstation:H.Pitch] Running Loop=1
2025-02-21T21:44:14.589Z,1740174254.589 [keepstation:PowerOnly] Running Loop=1
2025-02-21T21:44:14.590Z,1740174254.590 [keepstation:PowerOnly:D] Stopped
2025-02-21T21:44:14.590Z,1740174254.590 [keepstation:PowerOnly:C] Stopped
2025-02-21T21:44:14.590Z,1740174254.590 [keepstation:PowerOnly:B] Stopped
2025-02-21T21:44:14.590Z,1740174254.590 [keepstation:PowerOnly:A] Stopped
2025-02-21T21:44:14.590Z,1740174254.590 [keepstation:BackseatDriver] Running Loop=1
2025-02-21T21:44:14.590Z,1740174254.590 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-21T21:44:14.608Z,1740174254.608 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-21T21:44:14.608Z,1740174254.608 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-21T21:44:14.609Z,1740174254.609 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-21T21:44:14.609Z,1740174254.609 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-21T21:44:14.609Z,1740174254.609 [keepstation:B] Stopped
2025-02-21T21:44:14.610Z,1740174254.610 [keepstation:D] Running Loop=1
2025-02-21T21:44:14.711Z,1740174254.711 [BackseatComponent](INFO): Powering up
2025-02-21T21:44:14.712Z,1740174254.712 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-21T21:44:14.975Z,1740174254.975 [keepstation:D] Stopped
2025-02-21T21:44:14.975Z,1740174254.975 [keepstation:E] Running Loop=1
2025-02-21T21:44:15.383Z,1740174255.383 [keepstation:E] Stopped
2025-02-21T21:44:15.383Z,1740174255.383 [keepstation:StartingMission] Running Loop=1
2025-02-21T21:44:15.384Z,1740174255.384 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-21T21:44:15.792Z,1740174255.792 [keepstation:NeedComms] Running Loop=1
2025-02-21T21:44:15.792Z,1740174255.792 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-21T21:44:15.792Z,1740174255.792 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-21T21:44:15.792Z,1740174255.792 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T21:44:15.793Z,1740174255.793 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-21T21:44:15.793Z,1740174255.793 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-21T21:44:15.793Z,1740174255.793 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-21T21:44:15.794Z,1740174255.794 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-21T21:44:15.794Z,1740174255.794 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T21:44:15.794Z,1740174255.794 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T21:44:15.795Z,1740174255.795 [keepstation:NeedComms:A] Running Loop=1
2025-02-21T21:44:15.796Z,1740174255.796 [keepstation:NeedComms:A](INFO): last time_fix was:  1740174187.000000 second since 1970/01/01T00:00:00Z 
2025-02-21T21:44:15.796Z,1740174255.796 [keepstation:NeedComms:A] Stopped
2025-02-21T21:44:16.220Z,1740174256.220 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-21T21:44:16.221Z,1740174256.221 [keepstation:NeedComms:C] Running Loop=1
2025-02-21T21:44:16.625Z,1740174256.625 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-21T21:44:18.198Z,1740174258.198 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214417.00,A,3647.73170,N,12150.91360,W,0.972,177.59,210225,,,A*70
2025-02-21T21:44:18.201Z,1740174258.201 [NAL9602](INFO): GPS fix at 20250221T214417: (36.795528, -121.848560)
2025-02-21T21:44:18.268Z,1740174258.268 [keepstation:NeedComms:C] Stopped
2025-02-21T21:44:18.268Z,1740174258.268 [keepstation:NeedComms:D] Running Loop=1
2025-02-21T21:44:18.669Z,1740174258.669 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-21T21:44:20.951Z,1740174260.951 [DataOverHttps](INFO): Sending 289 bytes from file Logs/20250221T203003/Express0019.lzma
2025-02-21T21:44:21.953Z,1740174261.953 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Express0019.lzma.bak
2025-02-21T21:44:21.953Z,1740174261.953 [DataOverHttps](INFO): SBD MOMSN=23971341
2025-02-21T21:44:38.339Z,1740174278.339 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250221T203003/Courier0024.lzma
2025-02-21T21:44:39.341Z,1740174279.341 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Courier0024.lzma.bak
2025-02-21T21:44:39.341Z,1740174279.341 [DataOverHttps](INFO): SBD MOMSN=23971346
2025-02-21T21:44:50.367Z,1740174290.367 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T21:44:55.903Z,1740174295.903 [DataOverHttps](INFO): Sending 290 bytes from file Logs/20250221T203003/Express0022.lzma
2025-02-21T21:44:56.905Z,1740174296.905 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Express0022.lzma.bak
2025-02-21T21:44:56.905Z,1740174296.905 [DataOverHttps](INFO): SBD MOMSN=23971349
2025-02-21T21:45:20.180Z,1740174320.180 [DataOverHttps](INFO): Sending 325 bytes from file Logs/20250221T203003/Express0025.lzma
2025-02-21T21:45:21.181Z,1740174321.181 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Express0025.lzma.bak
2025-02-21T21:45:21.181Z,1740174321.181 [DataOverHttps](INFO): SBD MOMSN=23971356
2025-02-21T21:45:21.879Z,1740174321.879 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250221T214519
2025-02-21T21:45:22.748Z,1740174322.748 [keepstation:NeedComms:D] Stopped
2025-02-21T21:45:22.748Z,1740174322.748 [keepstation:NeedComms:E] Running Loop=1
2025-02-21T21:45:23.140Z,1740174323.140 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-21T21:45:24.750Z,1740174324.750 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214524.00,A,3647.72373,N,12150.91040,W,0.544,120.20,210225,,,A*75
2025-02-21T21:45:24.756Z,1740174324.756 [NAL9602](INFO): GPS fix at 20250221T214524: (36.795395, -121.848507)
2025-02-21T21:45:24.796Z,1740174324.796 [keepstation:NeedComms:E] Stopped
2025-02-21T21:45:24.797Z,1740174324.797 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-21T21:45:24.797Z,1740174324.797 [keepstation:NeedComms] Stopped
2025-02-21T21:45:24.797Z,1740174324.797 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-21T21:45:24.797Z,1740174324.797 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-21T21:45:24.797Z,1740174324.797 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-21T21:45:25.172Z,1740174325.172 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-21T21:45:25.172Z,1740174325.172 [keepstation:StartingMission] Stopped
2025-02-21T21:45:25.172Z,1740174325.172 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-21T21:45:25.172Z,1740174325.172 [keepstation:TransitToStation] Running Loop=1
2025-02-21T21:45:25.172Z,1740174325.172 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-21T21:45:25.173Z,1740174325.173 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-21T21:45:25.173Z,1740174325.173 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-21T21:45:25.173Z,1740174325.173 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-21T21:45:25.173Z,1740174325.173 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-21T21:45:25.173Z,1740174325.173 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-21T21:45:25.173Z,1740174325.173 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-21T21:45:25.173Z,1740174325.173 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-21T21:45:25.173Z,1740174325.173 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-21T21:45:25.174Z,1740174325.174 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-21T21:45:25.576Z,1740174325.576 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-21T21:45:25.577Z,1740174325.577 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-21T21:45:25.577Z,1740174325.577 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-21T21:45:25.578Z,1740174325.578 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-21T21:45:58.452Z,1740174358.452 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-21T21:45:58.452Z,1740174358.452 [ThrusterHE](INFO): Powering down
2025-02-21T21:45:59.272Z,1740174359.272 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-21T21:45:59.392Z,1740174359.392 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-21T21:46:04.725Z,1740174364.725 [NAL9602](INFO): SBD MO Status=2, MOMSN=13075, MT Status=2, MTMSN=0
2025-02-21T21:46:04.725Z,1740174364.725 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T21:46:22.514Z,1740174382.514 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 1975
2025-02-21T21:46:23.600Z,1740174383.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:46:54.724Z,1740174414.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:47:25.864Z,1740174445.864 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:47:27.794Z,1740174447.794 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-21T21:47:56.991Z,1740174476.991 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:48:09.495Z,1740174489.495 [Radio_Surface](INFO): Powering down
2025-02-21T21:48:28.123Z,1740174508.123 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:48:29.128Z,1740174509.128 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-21T21:48:31.136Z,1740174511.136 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.767014
2025-02-21T21:48:32.611Z,1740174512.611 [CBIT](IMPORTANT): Beginning ground fault scan
2025-02-21T21:48:43.947Z,1740174523.947 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.000972
CHAN A1 (24V): -0.000686
CHAN A2 (12V): 0.000528
CHAN A3 (5V): -0.002218
CHAN B0 (3.3V): -0.000925
CHAN B1 (3.15aV): -0.001182
CHAN B2 (3.15bV): -0.001231
CHAN B3 (GND): -0.002439
OPEN: 0.004791
Full Scale: +/- 1 mA
2025-02-21T21:50:22.881Z,1740174622.881 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 1976
2025-02-21T21:50:27.316Z,1740174627.316 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-02-21T21:50:57.740Z,1740174657.740 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T21:51:16.743Z,1740174676.743 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-02-21T21:51:16.743Z,1740174676.743 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-21T21:51:16.743Z,1740174676.743 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-21T21:51:16.760Z,1740174676.760 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-02-21T21:51:16.760Z,1740174676.760 [keepstation:TransitToStation] Stopped
2025-02-21T21:51:16.760Z,1740174676.760 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-21T21:51:16.760Z,1740174676.760 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-21T21:51:16.761Z,1740174676.761 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-21T21:51:16.761Z,1740174676.761 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-21T21:51:16.761Z,1740174676.761 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-21T21:51:16.761Z,1740174676.761 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-21T21:51:16.761Z,1740174676.761 [keepstation:OnStation] Running Loop=1
2025-02-21T21:51:16.761Z,1740174676.761 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-02-21T21:51:17.152Z,1740174677.152 [keepstation:NeedComms] Running Loop=1
2025-02-21T21:51:17.152Z,1740174677.152 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-21T21:51:17.152Z,1740174677.152 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-21T21:51:17.152Z,1740174677.152 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T21:51:17.153Z,1740174677.153 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-21T21:51:17.153Z,1740174677.153 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-21T21:51:17.153Z,1740174677.153 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-21T21:51:17.154Z,1740174677.154 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-21T21:51:17.154Z,1740174677.154 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T21:51:17.154Z,1740174677.154 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T21:51:17.155Z,1740174677.155 [keepstation:NeedComms:A] Running Loop=1
2025-02-21T21:51:17.156Z,1740174677.156 [keepstation:NeedComms:A](INFO): last time_fix was:  1740174324.000000 second since 1970/01/01T00:00:00Z 
2025-02-21T21:51:17.156Z,1740174677.156 [keepstation:NeedComms:A] Stopped
2025-02-21T21:52:14.105Z,1740174734.105 [keepstation:NeedComms:C] Running Loop=1
2025-02-21T21:52:14.871Z,1740174734.871 [Radio_Surface](INFO): Powering up
2025-02-21T21:52:21.084Z,1740174741.084 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-21T21:52:51.207Z,1740174771.207 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:53:22.339Z,1740174802.339 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:53:50.878Z,1740174830.878 [NAL9602](INFO): SBD MO Status=1, MOMSN=13075, MT Status=0, MTMSN=0
2025-02-21T21:53:50.878Z,1740174830.878 [NAL9602](INFO): No messages in MT queue
2025-02-21T21:53:52.087Z,1740174832.087 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215351.00,A,3647.77012,N,12150.77061,W,1.030,141.64,210225,,,A*7A
2025-02-21T21:53:52.089Z,1740174832.089 [NAL9602](INFO): GPS fix at 20250221T215351: (36.796169, -121.846177)
2025-02-21T21:53:52.104Z,1740174832.104 [keepstation:NeedComms:C] Stopped
2025-02-21T21:53:52.104Z,1740174832.104 [keepstation:NeedComms:D] Running Loop=1
2025-02-21T21:53:53.464Z,1740174833.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:54:13.354Z,1740174853.354 [NAL9602](INFO): SBD MO Status=2, MOMSN=13076, MT Status=2, MTMSN=0
2025-02-21T21:54:13.354Z,1740174853.354 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T21:54:24.596Z,1740174864.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:54:34.795Z,1740174874.795 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003071
2025-02-21T21:54:42.439Z,1740174882.439 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250221T203003/Courier0027.lzma
2025-02-21T21:54:43.441Z,1740174883.441 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Courier0027.lzma.bak
2025-02-21T21:54:43.441Z,1740174883.441 [DataOverHttps](INFO): SBD MOMSN=23971371
2025-02-21T21:55:02.713Z,1740174902.713 [DataOverHttps](INFO): Sending 541 bytes from file Logs/20250221T203003/Express0028.lzma
2025-02-21T21:55:03.722Z,1740174903.722 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Express0028.lzma.bak
2025-02-21T21:55:03.723Z,1740174903.723 [DataOverHttps](INFO): SBD MOMSN=23971374
2025-02-21T21:55:05.659Z,1740174905.659 [keepstation:NeedComms:D] Stopped
2025-02-21T21:55:05.660Z,1740174905.660 [keepstation:NeedComms:E] Running Loop=1
2025-02-21T21:55:06.446Z,1740174906.446 [NAL9602](INFO): SBD MO Status=2, MOMSN=13076, MT Status=2, MTMSN=0
2025-02-21T21:55:06.446Z,1740174906.446 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T21:55:07.658Z,1740174907.658 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215506.00,A,3647.76026,N,12150.76105,W,0.972,126.15,210225,,,A*73
2025-02-21T21:55:07.677Z,1740174907.677 [NAL9602](INFO): GPS fix at 20250221T215506: (36.796004, -121.846018)
2025-02-21T21:55:07.776Z,1740174907.776 [keepstation:NeedComms:E] Stopped
2025-02-21T21:55:07.777Z,1740174907.777 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-21T21:55:07.777Z,1740174907.777 [keepstation:NeedComms] Stopped
2025-02-21T21:55:07.777Z,1740174907.777 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-21T21:55:07.777Z,1740174907.777 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-21T21:55:07.777Z,1740174907.777 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-21T21:55:08.169Z,1740174908.169 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-02-21T21:55:08.169Z,1740174908.169 [keepstation:OnStation] Stopped
2025-02-21T21:55:08.170Z,1740174908.170 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-02-21T21:55:08.170Z,1740174908.170 [keepstation:KeepStation] Running Loop=1
2025-02-21T21:55:08.170Z,1740174908.170 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-02-21T21:55:08.170Z,1740174908.170 [keepstation:KeepStation:A] Running Loop=1
2025-02-21T21:55:08.170Z,1740174908.170 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-21T21:55:08.170Z,1740174908.170 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-02-21T21:55:08.170Z,1740174908.170 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-21T21:55:08.170Z,1740174908.170 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-21T21:55:08.171Z,1740174908.171 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-02-21T21:55:08.171Z,1740174908.171 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-02-21T21:55:08.536Z,1740174908.536 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-21T21:55:08.536Z,1740174908.536 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-21T21:55:08.537Z,1740174908.537 [keepstation:KeepStation:A] Running Loop=1
2025-02-21T21:55:40.581Z,1740174940.581 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T21:56:06.335Z,1740174966.335 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-02-21T21:57:27.921Z,1740175047.921 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-21T21:57:39.327Z,1740175059.327 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:58:10.464Z,1740175090.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:58:32.243Z,1740175112.243 [Radio_Surface](INFO): Powering down
2025-02-21T21:58:41.595Z,1740175121.595 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T21:58:42.600Z,1740175122.600 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-21T21:59:46.880Z,1740175186.880 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.763168
2025-02-21T22:07:28.266Z,1740175648.266 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-21T22:17:28.614Z,1740176248.614 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-21T22:27:28.966Z,1740176848.966 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-21T22:29:14.819Z,1740176954.819 [keepstation](INFO): Timed out from 2025-02-21T21:44:14.6Z
2025-02-21T22:29:14.819Z,1740176954.819 [MissionManager](INFO): keepstation is completed.
2025-02-21T22:29:14.819Z,1740176954.819 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-21T22:29:14.819Z,1740176954.819 [keepstation] Stopped
2025-02-21T22:29:14.820Z,1740176954.820 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-21T22:29:14.820Z,1740176954.820 [keepstation:StandardEnvelopes] Stopped
2025-02-21T22:29:14.820Z,1740176954.820 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-21T22:29:14.820Z,1740176954.820 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-21T22:29:14.820Z,1740176954.820 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-21T22:29:14.820Z,1740176954.820 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-21T22:29:14.820Z,1740176954.820 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-21T22:29:14.820Z,1740176954.820 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-21T22:29:14.820Z,1740176954.820 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-21T22:29:14.820Z,1740176954.820 [keepstation:BackseatDriver] Stopped
2025-02-21T22:29:14.820Z,1740176954.820 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-21T22:29:14.820Z,1740176954.820 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-21T22:29:14.821Z,1740176954.821 [keepstation:PowerOnly] Stopped
2025-02-21T22:29:14.821Z,1740176954.821 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-21T22:29:14.821Z,1740176954.821 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-21T22:29:14.821Z,1740176954.821 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T22:29:14.821Z,1740176954.821 [keepstation:H.Pitch] Stopped
2025-02-21T22:29:14.821Z,1740176954.821 [keepstation:KeepStation] Stopped
2025-02-21T22:29:14.821Z,1740176954.821 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-02-21T22:29:14.821Z,1740176954.821 [keepstation:KeepStation:A] Stopped
2025-02-21T22:29:14.821Z,1740176954.821 [keepstation:KeepStation:B.Pitch] Stopped
2025-02-21T22:29:14.821Z,1740176954.821 [keepstation:KeepStation:C.KeepStation] Stopped
2025-02-21T22:29:14.821Z,1740176954.821 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-21T22:29:14.821Z,1740176954.821 [keepstation:KeepStation:D.Wait] Stopped
2025-02-21T22:29:14.821Z,1740176954.821 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T22:29:15.227Z,1740176955.227 [MissionManager](IMPORTANT): Started mission Default
2025-02-21T22:29:15.227Z,1740176955.227 [Default] Running Loop=1
2025-02-21T22:29:15.227Z,1740176955.227 [Default](DEBUG): Aggregate::initialize Default
2025-02-21T22:29:15.227Z,1740176955.227 [Default:B.GoToSurface] Running Loop=1
2025-02-21T22:29:15.227Z,1740176955.227 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-21T22:29:15.228Z,1740176955.228 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-21T22:29:15.228Z,1740176955.228 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-21T22:29:15.228Z,1740176955.228 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-21T22:29:15.228Z,1740176955.228 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-21T22:29:15.229Z,1740176955.229 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-21T22:29:15.229Z,1740176955.229 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-21T22:29:15.230Z,1740176955.230 [Default:A.Wait] Running Loop=1
2025-02-21T22:29:15.230Z,1740176955.230 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-21T22:29:15.703Z,1740176955.703 [Radio_Surface](INFO): Powering up
2025-02-21T22:29:17.072Z,1740176957.072 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-21T22:29:17.073Z,1740176957.073 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-21T22:29:21.160Z,1740176961.160 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-21T22:29:28.356Z,1740176968.356 [Default:A.Wait](INFO): Done Waiting.
2025-02-21T22:29:28.356Z,1740176968.356 [Default:A.Wait] Stopped
2025-02-21T22:29:28.356Z,1740176968.356 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-21T22:29:35.252Z,1740176975.252 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-21T22:29:35.252Z,1740176975.252 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-21T22:29:35.253Z,1740176975.253 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-21T22:29:51.291Z,1740176991.291 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T22:30:18.938Z,1740177018.938 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm.
2025-02-21T22:30:18.945Z,1740177018.945 [Default:CheckIn] Running Loop=1
2025-02-21T22:30:18.945Z,1740177018.945 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-21T22:30:18.945Z,1740177018.945 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-21T22:30:22.415Z,1740177022.415 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T22:30:39.138Z,1740177039.138 [NAL9602](INFO): SBD MO Status=2, MOMSN=13076, MT Status=2, MTMSN=0
2025-02-21T22:30:39.138Z,1740177039.138 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T22:30:53.543Z,1740177053.543 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T22:31:00.959Z,1740177060.959 [NAL9602](INFO): SBD MO Status=1, MOMSN=13076, MT Status=0, MTMSN=0
2025-02-21T22:31:00.959Z,1740177060.959 [NAL9602](INFO): No messages in MT queue
2025-02-21T22:31:02.164Z,1740177062.164 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223101.00,A,3647.69914,N,12150.80910,W,0.836,139.69,210225,,,A*72
2025-02-21T22:31:02.166Z,1740177062.166 [NAL9602](INFO): GPS fix at 20250221T223101: (36.794986, -121.846818)
2025-02-21T22:31:02.178Z,1740177062.178 [Default:CheckIn:Read_GPS] Stopped
2025-02-21T22:31:02.178Z,1740177062.178 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-21T22:31:24.695Z,1740177084.695 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-21T22:31:24.745Z,1740177084.745 [NAL9602](INFO): SBD MO Status=2, MOMSN=13077, MT Status=2, MTMSN=0
2025-02-21T22:31:24.746Z,1740177084.746 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-21T22:31:33.648Z,1740177093.648 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003094
2025-02-21T22:31:42.355Z,1740177102.355 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250221T203003/Courier0030.lzma
2025-02-21T22:31:43.357Z,1740177103.357 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Courier0030.lzma.bak
2025-02-21T22:31:43.357Z,1740177103.357 [DataOverHttps](INFO): SBD MOMSN=23971384
2025-02-21T22:31:50.885Z,1740177110.885 [NAL9602](INFO): SBD MO Status=1, MOMSN=13077, MT Status=0, MTMSN=0
2025-02-21T22:31:50.928Z,1740177110.928 [NAL9602](INFO): Sent 73 bytes from file Logs/20250221T203003/Courier0030.lzma
2025-02-21T22:31:50.928Z,1740177110.928 [NAL9602](INFO): Packets left to send: 0
2025-02-21T22:32:10.458Z,1740177130.458 [DataOverHttps](INFO): Sending 180 bytes from file Logs/20250221T203003/Express0031.lzma
2025-02-21T22:32:12.220Z,1740177132.220 [DataOverHttps](INFO): Moved sent file to Logs/20250221T203003/Express0031.lzma.bak
2025-02-21T22:32:12.220Z,1740177132.220 [DataOverHttps](INFO): SBD MOMSN=23971387
2025-02-21T22:32:14.101Z,1740177134.101 [Default:CheckIn:Read_Iridium] Stopped
2025-02-21T22:32:14.102Z,1740177134.102 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-21T22:32:14.102Z,1740177134.102 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-21T22:32:21.732Z,1740177141.732 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-21T22:33:07.193Z,1740177187.193 [DataOverHttps](IMPORTANT): SBD MTMSN=20250221T223306
2025-02-21T22:33:18.167Z,1740177198.167 [DataOverHttps](INFO): Received command: restart logs