2025-02-22T01:24:07.082Z,1740187447.082 [CommandExec](IMPORTANT): got command schedule resume
2025-02-22T01:24:07.082Z,1740187447.082 [CommandExec](IMPORTANT): got command restart logs
2025-02-22T01:24:08.726Z,1740187448.726 [DataOverHttps](INFO): Moved sent file to Logs/20250222T002409/Express0025.lzma.bak
2025-02-22T01:24:08.727Z,1740187448.727 [DataOverHttps](IMPORTANT): SBD MOMSN=23971684, MTMSN=20250222T012407
2025-02-22T01:24:15.070Z,1740187455.070 [NAL9602](INFO): SBD MO Status=1, MOMSN=13106, MT Status=0, MTMSN=0
2025-02-22T01:24:15.119Z,1740187455.119 [NAL9602](INFO): Sent 153 bytes from file Logs/20250222T002409/Express0025.lzma
2025-02-22T01:24:15.120Z,1740187455.120 [NAL9602](INFO): Packets left to send: 0
2025-02-22T01:24:20.166Z,1740187460.166 [DataOverHttps](INFO): Received command: sched "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" 2414a 1 2
2025-02-22T01:24:22.018Z,1740187462.018 [DataOverHttps](IMPORTANT): SBD MTMSN=20250222T012420
2025-02-22T01:24:31.765Z,1740187471.765 [CommandExec](IMPORTANT): got command schedule "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" 2414a 1 2.000000
2025-02-22T01:24:31.765Z,1740187471.765 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2414a
2025-02-22T01:24:31.766Z,1740187471.766 [CommandExec](IMPORTANT): Scheduled #53 (#1 of 2 with id='2414a'): "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", AFTER MISSION
2025-02-22T01:24:33.195Z,1740187473.195 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250222T002409/Courier0027.lzma
2025-02-22T01:24:33.197Z,1740187473.197 [DataOverHttps](INFO): Received command: sched "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 2414a 2 2
2025-02-22T01:24:33.245Z,1740187473.245 [CommandExec](IMPORTANT): got command schedule "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 2414a 2 2.000000
2025-02-22T01:24:33.245Z,1740187473.245 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2414a
2025-02-22T01:24:33.246Z,1740187473.246 [CommandExec](IMPORTANT): Scheduled #54 (#2 of 2 with id='2414a'): "set keepstation:BackseatDriver.EnableBackseat 1 bool;run", AFTER MISSION
2025-02-22T01:24:33.424Z,1740187473.424 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-22T01:24:33.425Z,1740187473.425 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-22T01:24:33.425Z,1740187473.425 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-22T01:24:33.426Z,1740187473.426 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-22T01:24:35.245Z,1740187475.245 [DataOverHttps](INFO): Moved sent file to Logs/20250222T002409/Courier0027.lzma.bak
2025-02-22T01:24:35.245Z,1740187475.245 [DataOverHttps](IMPORTANT): SBD MOMSN=23971689, MTMSN=20250222T012433
2025-02-22T01:24:36.964Z,1740187476.964 [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>

2025-02-22T01:24:36.977Z,1740187476.977 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-22T01:24:36.987Z,1740187476.987 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-22T01:24:36.989Z,1740187476.989 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-22T01:24:36.000Z,1740187477.000 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-22T01:24:37.002Z,1740187477.002 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-22T01:24:37.021Z,1740187477.021 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-22T01:24:37.044Z,1740187477.044 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-22T01:24:37.046Z,1740187477.046 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-22T01:24:37.057Z,1740187477.057 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-22T01:24:37.059Z,1740187477.059 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-22T01:24:37.061Z,1740187477.061 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-22T01:24:37.062Z,1740187477.062 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-22T01:24:37.062Z,1740187477.062 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-22T01:24:37.083Z,1740187477.083 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-22T01:24:37.807Z,1740187477.807 [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>

2025-02-22T01:24:37.818Z,1740187477.818 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-22T01:24:37.833Z,1740187477.833 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-22T01:24:37.843Z,1740187477.843 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-22T01:24:37.845Z,1740187477.845 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-22T01:24:37.856Z,1740187477.856 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-22T01:24:37.858Z,1740187477.858 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-22T01:24:37.865Z,1740187477.865 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-22T01:24:37.879Z,1740187477.879 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-22T01:24:37.893Z,1740187477.893 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-22T01:24:38.008Z,1740187478.008 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-22T01:24:38.008Z,1740187478.008 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-22T01:24:38.009Z,1740187478.009 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-22T01:24:38.263Z,1740187478.263 [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>

2025-02-22T01:24:38.275Z,1740187478.275 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-22T01:24:38.278Z,1740187478.278 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-22T01:24:38.288Z,1740187478.288 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-22T01:24:38.331Z,1740187478.331 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-22T01:24:38.332Z,1740187478.332 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-22T01:24:38.339Z,1740187478.339 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-22T01:24:38.385Z,1740187478.385 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-22T01:24:38.491Z,1740187478.491 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-22T01:24:38.491Z,1740187478.491 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-22T01:24:38.515Z,1740187478.515 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-22T01:24:38.588Z,1740187478.588 [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>

2025-02-22T01:24:38.694Z,1740187478.694 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-22T01:24:38.708Z,1740187478.708 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-22T01:24:38.710Z,1740187478.710 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-22T01:24:38.711Z,1740187478.711 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-22T01:24:38.752Z,1740187478.752 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-22T01:24:39.321Z,1740187479.321 [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>

2025-02-22T01:24:39.341Z,1740187479.341 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-22T01:24:39.355Z,1740187479.355 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-22T01:24:39.357Z,1740187479.357 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-22T01:24:39.391Z,1740187479.391 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-22T01:24:39.394Z,1740187479.394 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-22T01:24:39.560Z,1740187479.560 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-22T01:24:39.562Z,1740187479.562 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-22T01:24:39.605Z,1740187479.605 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-22T01:24:39.644Z,1740187479.644 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-22T01:24:39.669Z,1740187479.669 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-22T01:24:39.689Z,1740187479.689 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-22T01:24:39.725Z,1740187479.725 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-22T01:24:39.750Z,1740187479.750 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-22T01:24:39.786Z,1740187479.786 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-22T01:24:39.861Z,1740187479.861 [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
    }
  }
}


2025-02-22T01:24:39.862Z,1740187479.862 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-22T01:24:45.785Z,1740187485.785 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-22T01:24:54.591Z,1740187494.591 [DataOverHttps](INFO): Received command: sched "restart logs"
2025-02-22T01:24:57.738Z,1740187497.738 [DataOverHttps](IMPORTANT): SBD MTMSN=20250222T012454
2025-02-22T01:25:15.704Z,1740187515.704 [MassServo](ERROR): getPosition uart error serial timeout
2025-02-22T01:25:15.704Z,1740187515.704 [MassServo](FAULT): Invalid EZ Servo response:"\377"
2025-02-22T01:25:15.704Z,1740187515.704 [MassServo] Communications Fault, FailCount= 2
2025-02-22T01:25:15.704Z,1740187515.704 [MassServo](ERROR): Communications Fault
2025-02-22T01:25:15.729Z,1740187515.729 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-22T01:25:16.005Z,1740187516.005 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-22T01:25:16.005Z,1740187516.005 [MassServo](INFO): Powering down
2025-02-22T01:25:16.906Z,1740187516.906 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-22T01:25:17.025Z,1740187517.025 [MassServo](DEBUG): Initializing MassServo.
2025-02-22T01:25:17.030Z,1740187517.030 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-22T01:25:17.030Z,1740187517.030 [MassServo] No Fault, FailCount= 2
2025-02-22T01:25:23.108Z,1740187523.108 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250222T012407/Courier0006.lzma
2025-02-22T01:25:23.111Z,1740187523.111 [DataOverHttps](INFO): Received command: sched "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 1 m" 2415c 1 2
2025-02-22T01:25:24.700Z,1740187524.700 [DataOverHttps](INFO): Moved sent file to Logs/20250222T012407/Courier0006.lzma.bak
2025-02-22T01:25:24.701Z,1740187524.701 [DataOverHttps](IMPORTANT): SBD MOMSN=23971695, MTMSN=20250222T012523
2025-02-22T01:25:45.367Z,1740187545.367 [DataOverHttps](INFO): Received command: sched "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 2415c 2 2
2025-02-22T01:25:47.486Z,1740187547.486 [DataOverHttps](IMPORTANT): SBD MTMSN=20250222T012545
2025-02-22T01:26:03.583Z,1740187563.583 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250222T012407/Courier0009.lzma
2025-02-22T01:26:03.593Z,1740187563.593 [DataOverHttps](INFO): Received command: sched "restart logs"
2025-02-22T01:26:05.627Z,1740187565.627 [DataOverHttps](INFO): Moved sent file to Logs/20250222T012407/Courier0009.lzma.bak
2025-02-22T01:26:05.651Z,1740187565.651 [DataOverHttps](IMPORTANT): SBD MOMSN=23971700, MTMSN=20250222T012603
2025-02-22T01:26:22.933Z,1740187582.933 [DataOverHttps](INFO): Received command: sched "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.Depth 5 m" 2417a 1 2
2025-02-22T01:26:24.554Z,1740187584.554 [DataOverHttps](IMPORTANT): SBD MTMSN=20250222T012622
2025-02-22T01:26:26.906Z,1740187586.906 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 45 minute
2025-02-22T01:26:26.911Z,1740187586.911 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-02-22T01:26:26.912Z,1740187586.912 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-02-22T01:26:26.913Z,1740187586.913 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-02-22T01:26:26.914Z,1740187586.914 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 10 meter
2025-02-22T01:26:26.921Z,1740187586.921 [CommandExec](IMPORTANT): got command schedule "restart logs"
2025-02-22T01:26:26.922Z,1740187586.922 [CommandExec](IMPORTANT): Scheduled #55: "restart logs", AFTER MISSION
2025-02-22T01:26:27.022Z,1740187587.022 [CommandExec](IMPORTANT): got command schedule "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 1 m" 2415c 1 2.000000
2025-02-22T01:26:27.022Z,1740187587.022 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2415c
2025-02-22T01:26:27.036Z,1740187587.036 [CommandExec](IMPORTANT): Scheduled #56 (#1 of 2 with id='2415c'): "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 1 m", AFTER MISSION
2025-02-22T01:26:27.058Z,1740187587.058 [CommandExec](IMPORTANT): got command schedule "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 2415c 2 2.000000
2025-02-22T01:26:27.058Z,1740187587.058 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2415c
2025-02-22T01:26:27.071Z,1740187587.071 [CommandExec](IMPORTANT): Scheduled #57 (#2 of 2 with id='2415c'): "set keepstation:BackseatDriver.EnableBackseat 1 bool;run", AFTER MISSION
2025-02-22T01:26:27.074Z,1740187587.074 [CommandExec](IMPORTANT): got command schedule "restart logs"
2025-02-22T01:26:27.074Z,1740187587.074 [CommandExec](IMPORTANT): Scheduled #58: "restart logs", AFTER MISSION
2025-02-22T01:26:27.165Z,1740187587.165 [CommandExec](IMPORTANT): got command schedule "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.Depth 5 m" 2417a 1 2.000000
2025-02-22T01:26:27.166Z,1740187587.166 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2417a
2025-02-22T01:26:27.167Z,1740187587.167 [CommandExec](IMPORTANT): Scheduled #59 (#1 of 2 with id='2417a'): "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.Depth 5 m", AFTER MISSION
2025-02-22T01:26:39.587Z,1740187599.587 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250222T012407/Courier0012.lzma
2025-02-22T01:26:39.589Z,1740187599.589 [DataOverHttps](INFO): Received command: sched "set keepstation.DepthDeadband 1 m;set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 2417a 2 2
2025-02-22T01:26:41.314Z,1740187601.314 [DataOverHttps](INFO): Moved sent file to Logs/20250222T012407/Courier0012.lzma.bak
2025-02-22T01:26:41.315Z,1740187601.315 [DataOverHttps](IMPORTANT): SBD MOMSN=23971704, MTMSN=20250222T012639
2025-02-22T01:26:55.124Z,1740187615.124 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-02-22T01:26:55.125Z,1740187615.125 [CommandExec](IMPORTANT): got command run