2025-02-22T01:26:55.126Z,1740187615.126 [CommandExec](IMPORTANT): Running 
2025-02-22T01:26:55.148Z,1740187615.148 [CommandExec](IMPORTANT): got command restart logs
2025-02-22T01:26:55.158Z,1740187615.158 [Default] Stopped
2025-02-22T01:26:55.158Z,1740187615.158 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-22T01:26:55.158Z,1740187615.158 [Default:B.GoToSurface] Stopped
2025-02-22T01:26:55.158Z,1740187615.158 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-22T01:26:55.158Z,1740187615.158 [Default:CheckIn] Stopped
2025-02-22T01:26:55.158Z,1740187615.158 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-22T01:26:55.158Z,1740187615.158 [Default:CheckIn:Read_Iridium] Stopped
2025-02-22T01:26:55.159Z,1740187615.159 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-22T01:26:55.179Z,1740187615.179 [keepstation] Running Loop=1
2025-02-22T01:26:55.179Z,1740187615.179 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-22T01:26:55.180Z,1740187615.180 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-22T01:26:55.180Z,1740187615.180 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-22T01:26:55.180Z,1740187615.180 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-22T01:26:55.180Z,1740187615.180 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-22T01:26:55.180Z,1740187615.180 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-22T01:26:55.180Z,1740187615.180 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-22T01:26:55.180Z,1740187615.180 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-22T01:26:55.180Z,1740187615.180 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-22T01:26:55.180Z,1740187615.180 [keepstation:BackseatDriver] Running Loop=1
2025-02-22T01:26:55.181Z,1740187615.181 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-22T01:26:55.181Z,1740187615.181 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-22T01:26:55.181Z,1740187615.181 [keepstation:PowerOnly] Running Loop=1
2025-02-22T01:26:55.181Z,1740187615.181 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-22T01:26:55.181Z,1740187615.181 [keepstation:PowerOnly:A] Running Loop=1
2025-02-22T01:26:55.181Z,1740187615.181 [keepstation:PowerOnly:B] Running Loop=1
2025-02-22T01:26:55.181Z,1740187615.181 [keepstation:PowerOnly:C] Running Loop=1
2025-02-22T01:26:55.181Z,1740187615.181 [keepstation:PowerOnly:D] Running Loop=1
2025-02-22T01:26:55.181Z,1740187615.181 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-22T01:26:55.181Z,1740187615.181 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-22T01:26:55.181Z,1740187615.181 [keepstation:H.Pitch] Running Loop=1
2025-02-22T01:26:55.181Z,1740187615.181 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-22T01:26:55.182Z,1740187615.182 [keepstation:B] Running Loop=1
2025-02-22T01:26:55.182Z,1740187615.182 [keepstation:H.Pitch] Running Loop=1
2025-02-22T01:26:55.183Z,1740187615.183 [keepstation:PowerOnly] Running Loop=1
2025-02-22T01:26:55.187Z,1740187615.187 [keepstation:PowerOnly:D] Stopped
2025-02-22T01:26:55.187Z,1740187615.187 [keepstation:PowerOnly:C] Stopped
2025-02-22T01:26:55.187Z,1740187615.187 [keepstation:PowerOnly:B] Stopped
2025-02-22T01:26:55.187Z,1740187615.187 [keepstation:PowerOnly:A] Stopped
2025-02-22T01:26:55.187Z,1740187615.187 [keepstation:BackseatDriver] Running Loop=1
2025-02-22T01:26:55.188Z,1740187615.188 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-22T01:26:55.238Z,1740187615.238 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-22T01:26:55.238Z,1740187615.238 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-22T01:26:55.238Z,1740187615.238 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-22T01:26:55.238Z,1740187615.238 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-22T01:26:55.239Z,1740187615.239 [keepstation:B] Stopped
2025-02-22T01:26:55.251Z,1740187615.251 [keepstation:D] Running Loop=1
2025-02-22T01:26:55.307Z,1740187615.307 [BackseatComponent](INFO): Powering up
2025-02-22T01:26:55.308Z,1740187615.308 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-22T01:26:55.505Z,1740187615.505 [keepstation:D] Stopped
2025-02-22T01:26:55.505Z,1740187615.505 [keepstation:E] Running Loop=1
2025-02-22T01:26:55.901Z,1740187615.901 [keepstation:E] Stopped
2025-02-22T01:26:55.901Z,1740187615.901 [keepstation:StartingMission] Running Loop=1
2025-02-22T01:26:55.902Z,1740187615.902 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-22T01:26:55.916Z,1740187615.916 [DataOverHttps](INFO): Received command: sched "restart logs"
2025-02-22T01:26:56.308Z,1740187616.308 [keepstation:NeedComms] Running Loop=1
2025-02-22T01:26:56.308Z,1740187616.308 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-22T01:26:56.308Z,1740187616.308 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-22T01:26:56.308Z,1740187616.308 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-22T01:26:56.309Z,1740187616.309 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-22T01:26:56.309Z,1740187616.309 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-22T01:26:56.309Z,1740187616.309 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-22T01:26:56.310Z,1740187616.310 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-22T01:26:56.310Z,1740187616.310 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-22T01:26:56.310Z,1740187616.310 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-22T01:26:56.311Z,1740187616.311 [keepstation:NeedComms:A] Running Loop=1
2025-02-22T01:26:56.312Z,1740187616.312 [keepstation:NeedComms:A](INFO): last time_fix was:  1740187385.000000 second since 1970/01/01T00:00:00Z 
2025-02-22T01:26:56.312Z,1740187616.312 [keepstation:NeedComms:A] Stopped
2025-02-22T01:26:56.712Z,1740187616.712 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-22T01:26:56.713Z,1740187616.713 [keepstation:NeedComms:C] Running Loop=1
2025-02-22T01:26:57.121Z,1740187617.121 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-22T01:26:58.702Z,1740187618.702 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,012657.00,A,3647.56461,N,12150.89757,W,0.253,135.26,220225,,,A*7C
2025-02-22T01:26:58.724Z,1740187618.724 [NAL9602](INFO): GPS fix at 20250222T012657: (36.792744, -121.848293)
2025-02-22T01:26:58.777Z,1740187618.777 [keepstation:NeedComms:C] Stopped
2025-02-22T01:26:58.777Z,1740187618.777 [keepstation:NeedComms:D] Running Loop=1
2025-02-22T01:26:59.149Z,1740187619.149 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-22T01:27:14.555Z,1740187634.555 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250222T012407/Courier0015.lzma
2025-02-22T01:27:15.565Z,1740187635.565 [DataOverHttps](INFO): Moved sent file to Logs/20250222T012407/Courier0015.lzma.bak
2025-02-22T01:27:15.565Z,1740187635.565 [DataOverHttps](INFO): SBD MOMSN=23971708
2025-02-22T01:27:29.204Z,1740187649.204 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-22T01:27:29.204Z,1740187649.204 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-22T01:27:29.204Z,1740187649.204 [keepstation] Stopped
2025-02-22T01:27:29.205Z,1740187649.205 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-22T01:27:29.205Z,1740187649.205 [keepstation:NeedComms] Stopped
2025-02-22T01:27:29.205Z,1740187649.205 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-22T01:27:29.205Z,1740187649.205 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-22T01:27:29.205Z,1740187649.205 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-22T01:27:29.205Z,1740187649.205 [keepstation:NeedComms:D] Stopped
2025-02-22T01:27:29.205Z,1740187649.205 [keepstation:StandardEnvelopes] Stopped
2025-02-22T01:27:29.205Z,1740187649.205 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-22T01:27:29.205Z,1740187649.205 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-22T01:27:29.205Z,1740187649.205 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-22T01:27:29.205Z,1740187649.205 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-22T01:27:29.205Z,1740187649.205 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-22T01:27:29.206Z,1740187649.206 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-22T01:27:29.206Z,1740187649.206 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-22T01:27:29.206Z,1740187649.206 [keepstation:BackseatDriver] Stopped
2025-02-22T01:27:29.206Z,1740187649.206 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-22T01:27:29.206Z,1740187649.206 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-22T01:27:29.206Z,1740187649.206 [keepstation:PowerOnly] Stopped
2025-02-22T01:27:29.206Z,1740187649.206 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-22T01:27:29.206Z,1740187649.206 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-22T01:27:29.206Z,1740187649.206 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-22T01:27:29.206Z,1740187649.206 [keepstation:H.Pitch] Stopped
2025-02-22T01:27:29.206Z,1740187649.206 [keepstation:StartingMission] Stopped
2025-02-22T01:27:29.207Z,1740187649.207 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-22T01:27:29.287Z,1740187649.287 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-22T01:27:29.287Z,1740187649.287 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-22T01:27:29.290Z,1740187649.290 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-22T01:27:30.839Z,1740187650.839 [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>

2025-02-22T01:27:30.857Z,1740187650.857 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-22T01:27:30.864Z,1740187650.864 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-22T01:27:30.872Z,1740187650.872 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-22T01:27:30.874Z,1740187650.874 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-22T01:27:30.880Z,1740187650.880 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-22T01:27:30.882Z,1740187650.882 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-22T01:27:30.890Z,1740187650.890 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-22T01:27:30.897Z,1740187650.897 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-22T01:27:30.903Z,1740187650.903 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-22T01:27:30.905Z,1740187650.905 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-22T01:27:30.912Z,1740187650.912 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-22T01:27:30.912Z,1740187650.912 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-22T01:27:30.912Z,1740187650.912 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-22T01:27:30.914Z,1740187650.914 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-22T01:27:31.012Z,1740187651.012 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-22T01:27:31.013Z,1740187651.013 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-22T01:27:31.366Z,1740187651.366 [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>

2025-02-22T01:27:31.388Z,1740187651.388 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-22T01:27:31.391Z,1740187651.391 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-22T01:27:31.405Z,1740187651.405 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-22T01:27:31.411Z,1740187651.411 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-22T01:27:31.418Z,1740187651.418 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-22T01:27:31.431Z,1740187651.431 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-22T01:27:31.433Z,1740187651.433 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-22T01:27:31.452Z,1740187651.452 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-22T01:27:31.462Z,1740187651.462 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-22T01:27:31.495Z,1740187651.495 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-22T01:27:31.495Z,1740187651.495 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-22T01:27:31.500Z,1740187651.500 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-22T01:27:31.664Z,1740187651.664 [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>

2025-02-22T01:27:31.676Z,1740187651.676 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-22T01:27:31.679Z,1740187651.679 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-22T01:27:31.689Z,1740187651.689 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-22T01:27:31.695Z,1740187651.695 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-22T01:27:31.696Z,1740187651.696 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-22T01:27:31.703Z,1740187651.703 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-22T01:27:31.720Z,1740187651.720 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-22T01:27:31.736Z,1740187651.736 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-22T01:27:31.736Z,1740187651.736 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-22T01:27:31.737Z,1740187651.737 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-22T01:27:31.774Z,1740187651.774 [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>

2025-02-22T01:27:31.786Z,1740187651.786 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-22T01:27:31.792Z,1740187651.792 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-22T01:27:31.794Z,1740187651.794 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-22T01:27:31.794Z,1740187651.794 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-22T01:27:31.800Z,1740187651.800 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-22T01:27:32.109Z,1740187652.109 [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>

2025-02-22T01:27:32.117Z,1740187652.117 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-22T01:27:32.124Z,1740187652.124 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-22T01:27:32.126Z,1740187652.126 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-22T01:27:32.129Z,1740187652.129 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-22T01:27:32.140Z,1740187652.140 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-22T01:27:32.157Z,1740187652.157 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-22T01:27:32.163Z,1740187652.163 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-22T01:27:32.182Z,1740187652.182 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-22T01:27:32.196Z,1740187652.196 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-22T01:27:32.205Z,1740187652.205 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-22T01:27:32.212Z,1740187652.212 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-22T01:27:32.228Z,1740187652.228 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-22T01:27:32.233Z,1740187652.233 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-22T01:27:32.251Z,1740187652.251 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-22T01:27:32.281Z,1740187652.281 [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
    }
  }
}


2025-02-22T01:27:32.281Z,1740187652.281 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-22T01:27:32.459Z,1740187652.459 [MissionManager](IMPORTANT): Started mission Default
2025-02-22T01:27:32.459Z,1740187652.459 [Default] Running Loop=1
2025-02-22T01:27:32.459Z,1740187652.459 [Default](DEBUG): Aggregate::initialize Default
2025-02-22T01:27:32.460Z,1740187652.460 [Default:B.GoToSurface] Running Loop=1
2025-02-22T01:27:32.460Z,1740187652.460 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-22T01:27:32.460Z,1740187652.460 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-22T01:27:32.460Z,1740187652.460 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-22T01:27:32.460Z,1740187652.460 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-22T01:27:32.461Z,1740187652.461 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-22T01:27:32.461Z,1740187652.461 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-22T01:27:32.461Z,1740187652.461 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-22T01:27:32.462Z,1740187652.462 [Default:A.Wait] Running Loop=1
2025-02-22T01:27:32.462Z,1740187652.462 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-22T01:27:35.662Z,1740187655.662 [NAL9602](INFO): SBD MO Status=0, MOMSN=13107, MT Status=0, MTMSN=0
2025-02-22T01:27:35.662Z,1740187655.662 [NAL9602](INFO): No messages in MT queue
2025-02-22T01:27:44.047Z,1740187664.047 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250222T012407/Courier0018.lzma
2025-02-22T01:27:45.050Z,1740187665.050 [DataOverHttps](INFO): Moved sent file to Logs/20250222T012407/Courier0018.lzma.bak
2025-02-22T01:27:45.050Z,1740187665.050 [DataOverHttps](IMPORTANT): SBD MOMSN=23971711, MTMSN=20250222T012744
2025-02-22T01:27:45.781Z,1740187665.781 [Default:A.Wait](INFO): Done Waiting.
2025-02-22T01:27:45.781Z,1740187665.781 [Default:A.Wait] Stopped
2025-02-22T01:27:45.781Z,1740187665.781 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-22T01:27:46.188Z,1740187666.188 [Default:CheckIn] Running Loop=1
2025-02-22T01:27:46.188Z,1740187666.188 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-22T01:27:46.188Z,1740187666.188 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-22T01:27:48.190Z,1740187668.190 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,012747.00,A,3647.55559,N,12150.89516,W,1.400,153.73,220225,,,A*73
2025-02-22T01:27:48.193Z,1740187668.193 [NAL9602](INFO): GPS fix at 20250222T012747: (36.792593, -121.848253)
2025-02-22T01:27:48.220Z,1740187668.220 [Default:CheckIn:Read_GPS] Stopped
2025-02-22T01:27:48.220Z,1740187668.220 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-22T01:27:49.180Z,1740187669.180 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-22T01:27:49.180Z,1740187669.180 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-22T01:27:49.181Z,1740187669.181 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-22T01:27:56.220Z,1740187676.220 [DataOverHttps](INFO): Received command: sched "configset verticalcontrol.kpdepthbuoy 35 ratio persist"
2025-02-22T01:27:57.183Z,1740187677.183 [DataOverHttps](IMPORTANT): SBD MTMSN=20250222T012756
2025-02-22T01:28:08.135Z,1740187688.135 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250222T012407/Courier0021.lzma
2025-02-22T01:28:08.137Z,1740187688.137 [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" 241ej 1 2
2025-02-22T01:28:09.603Z,1740187689.603 [DataOverHttps](INFO): Moved sent file to Logs/20250222T012407/Courier0021.lzma.bak
2025-02-22T01:28:09.611Z,1740187689.611 [DataOverHttps](IMPORTANT): SBD MOMSN=23971716, MTMSN=20250222T012808
2025-02-22T01:28:16.037Z,1740187696.037 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 45 minute
2025-02-22T01:28:16.037Z,1740187696.037 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-02-22T01:28:16.038Z,1740187696.038 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-02-22T01:28:16.047Z,1740187696.047 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-02-22T01:28:16.048Z,1740187696.048 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 1 meter
2025-02-22T01:28:16.056Z,1740187696.056 [CommandExec](IMPORTANT): got command schedule "set keepstation.DepthDeadband 1 m;set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 2417a 2 2.000000
2025-02-22T01:28:16.056Z,1740187696.056 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2417a
2025-02-22T01:28:16.057Z,1740187696.057 [CommandExec](IMPORTANT): Scheduled #60 (#2 of 2 with id='2417a'): "set keepstation.DepthDeadband 1 m;set keepstation:BackseatDriver.EnableBackseat 1 bool;run", AFTER MISSION
2025-02-22T01:28:16.128Z,1740187696.128 [CommandExec](IMPORTANT): got command schedule "restart logs"
2025-02-22T01:28:16.128Z,1740187696.128 [CommandExec](IMPORTANT): Scheduled #61: "restart logs", AFTER MISSION
2025-02-22T01:28:16.145Z,1740187696.145 [CommandExec](IMPORTANT): got command schedule "configset verticalcontrol.kpdepthbuoy 35 ratio persist"
2025-02-22T01:28:16.145Z,1740187696.145 [CommandExec](IMPORTANT): Scheduled #62: "configset verticalcontrol.kpdepthbuoy 35 ratio persist", AFTER MISSION
2025-02-22T01:28:16.216Z,1740187696.216 [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" 241ej 1 2.000000
2025-02-22T01:28:16.217Z,1740187696.217 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=241ej
2025-02-22T01:28:16.218Z,1740187696.218 [CommandExec](IMPORTANT): Scheduled #63 (#1 of 2 with id='241ej'): "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", AFTER MISSION
2025-02-22T01:28:20.564Z,1740187700.564 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-22T01:28:21.003Z,1740187701.003 [DataOverHttps](INFO): Received command: sched "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 241ej 2 2