2025-02-22T02:59:17.440Z,1740193157.440 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-22T02:59:17.440Z,1740193157.440 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-22T02:59:17.441Z,1740193157.441 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-22T02:59:17.441Z,1740193157.441 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-22T02:59:17.441Z,1740193157.441 [keepstation:BackseatDriver] Stopped
2025-02-22T02:59:17.441Z,1740193157.441 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-22T02:59:17.441Z,1740193157.441 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-22T02:59:17.441Z,1740193157.441 [keepstation:PowerOnly] Stopped
2025-02-22T02:59:17.441Z,1740193157.441 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-22T02:59:17.441Z,1740193157.441 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-22T02:59:17.441Z,1740193157.441 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-22T02:59:17.441Z,1740193157.441 [keepstation:H.Pitch] Stopped
2025-02-22T02:59:17.441Z,1740193157.441 [keepstation:KeepStation] Stopped
2025-02-22T02:59:17.442Z,1740193157.442 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-02-22T02:59:17.442Z,1740193157.442 [keepstation:KeepStation:A] Stopped
2025-02-22T02:59:17.442Z,1740193157.442 [keepstation:KeepStation:B.Pitch] Stopped
2025-02-22T02:59:17.442Z,1740193157.442 [keepstation:KeepStation:C.KeepStation] Stopped
2025-02-22T02:59:17.442Z,1740193157.442 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-22T02:59:17.442Z,1740193157.442 [keepstation:KeepStation:D.Wait] Stopped
2025-02-22T02:59:17.442Z,1740193157.442 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-22T02:59:17.517Z,1740193157.517 [CommandExec](IMPORTANT): got command restart logs
2025-02-22T02:59:17.863Z,1740193157.863 [MissionManager](IMPORTANT): Started mission Default
2025-02-22T02:59:17.864Z,1740193157.864 [Default] Running Loop=1
2025-02-22T02:59:17.864Z,1740193157.864 [Default](DEBUG): Aggregate::initialize Default
2025-02-22T02:59:17.864Z,1740193157.864 [Default:B.GoToSurface] Running Loop=1
2025-02-22T02:59:17.864Z,1740193157.864 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-22T02:59:17.864Z,1740193157.864 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-22T02:59:17.864Z,1740193157.864 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-22T02:59:17.865Z,1740193157.865 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-22T02:59:17.865Z,1740193157.865 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-22T02:59:17.865Z,1740193157.865 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-22T02:59:17.866Z,1740193157.866 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-22T02:59:17.866Z,1740193157.866 [Default:A.Wait] Running Loop=1
2025-02-22T02:59:17.866Z,1740193157.866 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-22T02:59:18.084Z,1740193158.084 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-22T02:59:18.085Z,1740193158.085 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-22T02:59:18.427Z,1740193158.427 [Radio_Surface](INFO): Powering up
2025-02-22T02:59:24.395Z,1740193164.395 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-22T02:59:31.032Z,1740193171.032 [Default:A.Wait](INFO): Done Waiting.
2025-02-22T02:59:31.032Z,1740193171.032 [Default:A.Wait] Stopped
2025-02-22T02:59:31.032Z,1740193171.032 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-22T02:59:32.105Z,1740193172.105 [CommandExec](IMPORTANT): got command configSet VerticalControl.kpDepthBuoy 35 ratio persist
2025-02-22T02:59:32.162Z,1740193172.162 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-22T02:59:32.167Z,1740193172.167 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-22T02:59:32.168Z,1740193172.168 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-22T02:59:32.169Z,1740193172.169 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-22T02:59:33.683Z,1740193173.683 [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>

2025-02-22T02:59:33.700Z,1740193173.700 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-22T02:59:33.702Z,1740193173.702 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-22T02:59:33.709Z,1740193173.709 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-22T02:59:33.715Z,1740193173.715 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-22T02:59:33.717Z,1740193173.717 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-22T02:59:33.724Z,1740193173.724 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-22T02:59:33.726Z,1740193173.726 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-22T02:59:33.728Z,1740193173.728 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-22T02:59:33.731Z,1740193173.731 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-22T02:59:33.741Z,1740193173.741 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-22T02:59:33.747Z,1740193173.747 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-22T02:59:33.748Z,1740193173.748 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-22T02:59:33.748Z,1740193173.748 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-22T02:59:33.749Z,1740193173.749 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-22T02:59:34.280Z,1740193174.280 [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>

2025-02-22T02:59:34.290Z,1740193174.290 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-22T02:59:34.305Z,1740193174.305 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-22T02:59:34.311Z,1740193174.311 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-22T02:59:34.325Z,1740193174.325 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-22T02:59:34.331Z,1740193174.331 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-22T02:59:34.334Z,1740193174.334 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-22T02:59:34.340Z,1740193174.340 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-22T02:59:34.342Z,1740193174.342 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-22T02:59:34.365Z,1740193174.365 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-22T02:59:34.412Z,1740193174.412 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-22T02:59:34.412Z,1740193174.412 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-22T02:59:34.413Z,1740193174.413 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-22T02:59:34.668Z,1740193174.668 [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>

2025-02-22T02:59:34.684Z,1740193174.684 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-22T02:59:34.691Z,1740193174.691 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-22T02:59:34.694Z,1740193174.694 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-22T02:59:34.701Z,1740193174.701 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-22T02:59:34.702Z,1740193174.702 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-22T02:59:34.739Z,1740193174.739 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-22T02:59:34.746Z,1740193174.746 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-22T02:59:34.770Z,1740193174.770 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-22T02:59:34.770Z,1740193174.770 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-22T02:59:34.772Z,1740193174.772 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-22T02:59:34.798Z,1740193174.798 [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>

2025-02-22T02:59:34.802Z,1740193174.802 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-22T02:59:34.804Z,1740193174.804 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-22T02:59:34.806Z,1740193174.806 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-22T02:59:34.807Z,1740193174.807 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-22T02:59:34.808Z,1740193174.808 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-22T02:59:34.950Z,1740193174.950 [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>

2025-02-22T02:59:34.954Z,1740193174.954 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-22T02:59:34.956Z,1740193174.956 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-22T02:59:34.958Z,1740193174.958 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-22T02:59:34.960Z,1740193174.960 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-22T02:59:34.963Z,1740193174.963 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-22T02:59:34.969Z,1740193174.969 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-22T02:59:34.971Z,1740193174.971 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-22T02:59:34.978Z,1740193174.978 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-22T02:59:34.980Z,1740193174.980 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-22T02:59:34.985Z,1740193174.985 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-22T02:59:34.987Z,1740193174.987 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-22T02:59:35.060Z,1740193175.060 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-22T02:59:35.065Z,1740193175.065 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-22T02:59:35.081Z,1740193175.081 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-22T02:59:35.110Z,1740193175.110 [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
    }
  }
}


2025-02-22T02:59:35.110Z,1740193175.110 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-22T02:59:36.239Z,1740193176.239 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-22T02:59:36.240Z,1740193176.240 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-22T02:59:36.240Z,1740193176.240 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-22T02:59:51.931Z,1740193191.931 [Default:CheckIn] Running Loop=1
2025-02-22T02:59:51.935Z,1740193191.935 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-22T02:59:51.935Z,1740193191.935 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-22T02:59:54.524Z,1740193194.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T02:59:57.452Z,1740193197.452 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 45 minute
2025-02-22T02:59:57.453Z,1740193197.453 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-02-22T02:59:57.454Z,1740193197.454 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-02-22T02:59:57.454Z,1740193197.454 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-02-22T03:00:06.848Z,1740193206.848 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-02-22T03:00:06.849Z,1740193206.849 [CommandExec](IMPORTANT): got command run
2025-02-22T03:00:06.851Z,1740193206.851 [CommandExec](IMPORTANT): Running 
2025-02-22T03:00:06.964Z,1740193206.964 [Default] Stopped
2025-02-22T03:00:06.965Z,1740193206.965 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-22T03:00:06.965Z,1740193206.965 [Default:B.GoToSurface] Stopped
2025-02-22T03:00:06.965Z,1740193206.965 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-22T03:00:06.965Z,1740193206.965 [Default:CheckIn] Stopped
2025-02-22T03:00:06.965Z,1740193206.965 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-22T03:00:06.965Z,1740193206.965 [Default:CheckIn:Read_GPS] Stopped
2025-02-22T03:00:06.965Z,1740193206.965 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-22T03:00:06.965Z,1740193206.965 [keepstation] Running Loop=1
2025-02-22T03:00:06.966Z,1740193206.966 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-22T03:00:06.966Z,1740193206.966 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-22T03:00:06.966Z,1740193206.966 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-22T03:00:06.966Z,1740193206.966 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-22T03:00:06.966Z,1740193206.966 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-22T03:00:06.966Z,1740193206.966 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-22T03:00:06.966Z,1740193206.966 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-22T03:00:06.966Z,1740193206.966 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-22T03:00:06.966Z,1740193206.966 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-22T03:00:06.966Z,1740193206.966 [keepstation:BackseatDriver] Running Loop=1
2025-02-22T03:00:06.967Z,1740193206.967 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-22T03:00:06.967Z,1740193206.967 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-22T03:00:06.967Z,1740193206.967 [keepstation:PowerOnly] Running Loop=1
2025-02-22T03:00:06.967Z,1740193206.967 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-22T03:00:06.967Z,1740193206.967 [keepstation:PowerOnly:A] Running Loop=1
2025-02-22T03:00:06.967Z,1740193206.967 [keepstation:PowerOnly:B] Running Loop=1
2025-02-22T03:00:06.967Z,1740193206.967 [keepstation:PowerOnly:C] Running Loop=1
2025-02-22T03:00:06.967Z,1740193206.967 [keepstation:PowerOnly:D] Running Loop=1
2025-02-22T03:00:06.968Z,1740193206.968 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-22T03:00:06.968Z,1740193206.968 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-22T03:00:06.968Z,1740193206.968 [keepstation:H.Pitch] Running Loop=1
2025-02-22T03:00:06.968Z,1740193206.968 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-22T03:00:06.968Z,1740193206.968 [keepstation:B] Running Loop=1
2025-02-22T03:00:06.969Z,1740193206.969 [keepstation:H.Pitch] Running Loop=1
2025-02-22T03:00:06.969Z,1740193206.969 [keepstation:PowerOnly] Running Loop=1
2025-02-22T03:00:06.969Z,1740193206.969 [keepstation:PowerOnly:D] Stopped
2025-02-22T03:00:06.969Z,1740193206.969 [keepstation:PowerOnly:C] Stopped
2025-02-22T03:00:06.969Z,1740193206.969 [keepstation:PowerOnly:B] Stopped
2025-02-22T03:00:06.969Z,1740193206.969 [keepstation:PowerOnly:A] Stopped
2025-02-22T03:00:06.969Z,1740193206.969 [keepstation:BackseatDriver] Running Loop=1
2025-02-22T03:00:06.970Z,1740193206.970 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-22T03:00:07.009Z,1740193207.009 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-22T03:00:07.009Z,1740193207.009 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-22T03:00:07.009Z,1740193207.009 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-22T03:00:07.010Z,1740193207.010 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-22T03:00:07.010Z,1740193207.010 [keepstation:B] Stopped
2025-02-22T03:00:07.011Z,1740193207.011 [keepstation:D] Running Loop=1
2025-02-22T03:00:07.055Z,1740193207.055 [BackseatComponent](INFO): Powering up
2025-02-22T03:00:07.056Z,1740193207.056 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-22T03:00:07.377Z,1740193207.377 [keepstation:D] Stopped
2025-02-22T03:00:07.377Z,1740193207.377 [keepstation:E] Running Loop=1
2025-02-22T03:00:07.783Z,1740193207.783 [keepstation:E] Stopped
2025-02-22T03:00:07.784Z,1740193207.784 [keepstation:StartingMission] Running Loop=1
2025-02-22T03:00:07.784Z,1740193207.784 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-22T03:00:08.170Z,1740193208.170 [NAL9602](INFO): SBD MO Status=2, MOMSN=13120, MT Status=2, MTMSN=0
2025-02-22T03:00:08.170Z,1740193208.170 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-22T03:00:08.204Z,1740193208.204 [keepstation:NeedComms] Running Loop=1
2025-02-22T03:00:08.204Z,1740193208.204 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-22T03:00:08.204Z,1740193208.204 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-22T03:00:08.204Z,1740193208.204 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-22T03:00:08.205Z,1740193208.205 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-22T03:00:08.205Z,1740193208.205 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-22T03:00:08.205Z,1740193208.205 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-22T03:00:08.206Z,1740193208.206 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-22T03:00:08.206Z,1740193208.206 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-22T03:00:08.206Z,1740193208.206 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-22T03:00:08.207Z,1740193208.207 [keepstation:NeedComms:A] Running Loop=1
2025-02-22T03:00:08.209Z,1740193208.209 [keepstation:NeedComms:A](INFO): last time_fix was:  1740190989.000000 second since 1970/01/01T00:00:00Z 
2025-02-22T03:00:08.209Z,1740193208.209 [keepstation:NeedComms:A] Stopped
2025-02-22T03:00:08.612Z,1740193208.612 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-22T03:00:08.613Z,1740193208.613 [keepstation:NeedComms:C] Running Loop=1
2025-02-22T03:00:08.993Z,1740193208.993 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-22T03:00:20.689Z,1740193220.689 [NAL9602](INFO): SBD MO Status=2, MOMSN=13120, MT Status=2, MTMSN=0
2025-02-22T03:00:20.689Z,1740193220.689 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-22T03:00:25.676Z,1740193225.676 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:00:42.106Z,1740193242.106 [NAL9602](INFO): SBD MO Status=0, MOMSN=13120, MT Status=0, MTMSN=0
2025-02-22T03:00:42.106Z,1740193242.106 [NAL9602](INFO): No messages in MT queue
2025-02-22T03:00:43.313Z,1740193243.313 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,030042.00,A,3647.42764,N,12150.80417,W,0.486,134.11,220225,,,A*78
2025-02-22T03:00:43.318Z,1740193243.318 [NAL9602](INFO): GPS fix at 20250222T030042: (36.790461, -121.846736)
2025-02-22T03:00:43.336Z,1740193243.336 [keepstation:NeedComms:C] Stopped
2025-02-22T03:00:43.336Z,1740193243.336 [keepstation:NeedComms:D] Running Loop=1
2025-02-22T03:00:43.785Z,1740193243.785 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-22T03:00:56.799Z,1740193256.799 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:00:59.859Z,1740193259.859 [NAL9602](INFO): SBD MO Status=1, MOMSN=13121, MT Status=0, MTMSN=0
2025-02-22T03:00:59.914Z,1740193259.914 [NAL9602](INFO): Sent 74 bytes from file Logs/20250222T012831/Courier0033.lzma
2025-02-22T03:00:59.914Z,1740193259.914 [NAL9602](INFO): Packets left to send: 0
2025-02-22T03:01:03.032Z,1740193263.032 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250222T030101
2025-02-22T03:01:09.806Z,1740193269.806 [NAL9602](INFO): SBD MO Status=1, MOMSN=13122, MT Status=0, MTMSN=0
2025-02-22T03:01:09.856Z,1740193269.856 [NAL9602](INFO): Sent 268 bytes from file Logs/20250222T025917/Courier0000.lzma
2025-02-22T03:01:09.856Z,1740193269.856 [NAL9602](INFO): Packets left to send: 0
2025-02-22T03:01:17.114Z,1740193277.114 [NAL9602](INFO): SBD MO Status=1, MOMSN=13123, MT Status=0, MTMSN=0
2025-02-22T03:01:17.164Z,1740193277.164 [NAL9602](INFO): Sent 89 bytes from file Logs/20250222T012831/Express0034.lzma
2025-02-22T03:01:17.164Z,1740193277.164 [NAL9602](INFO): Packets left to send: 0
2025-02-22T03:01:27.927Z,1740193287.927 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:01:28.438Z,1740193288.438 [NAL9602](INFO): SBD MO Status=1, MOMSN=13124, MT Status=0, MTMSN=0
2025-02-22T03:01:28.489Z,1740193288.489 [NAL9602](INFO): Sent 332 bytes from file Logs/20250222T025917/Express0001.lzma
2025-02-22T03:01:28.489Z,1740193288.489 [NAL9602](INFO): Packets left to send: 1
2025-02-22T03:01:36.596Z,1740193296.596 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003521
2025-02-22T03:01:38.298Z,1740193298.298 [NAL9602](INFO): SBD MO Status=1, MOMSN=13125, MT Status=0, MTMSN=0
2025-02-22T03:01:38.347Z,1740193298.347 [NAL9602](INFO): Sent 277 bytes from file Logs/20250222T025917/Express0001.lzma
2025-02-22T03:01:38.348Z,1740193298.348 [NAL9602](INFO): Packets left to send: 0
2025-02-22T03:01:39.124Z,1740193299.124 [keepstation:NeedComms:D] Stopped
2025-02-22T03:01:39.124Z,1740193299.124 [keepstation:NeedComms:E] Running Loop=1
2025-02-22T03:01:39.537Z,1740193299.537 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-22T03:01:41.122Z,1740193301.122 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,030140.00,A,3647.42080,N,12150.80210,W,0.389,142.76,220225,,,A*7F
2025-02-22T03:01:41.124Z,1740193301.124 [NAL9602](INFO): GPS fix at 20250222T030140: (36.790347, -121.846702)
2025-02-22T03:01:41.180Z,1740193301.180 [keepstation:NeedComms:E] Stopped
2025-02-22T03:01:41.181Z,1740193301.181 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-22T03:01:41.181Z,1740193301.181 [keepstation:NeedComms] Stopped
2025-02-22T03:01:41.181Z,1740193301.181 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-22T03:01:41.181Z,1740193301.181 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-22T03:01:41.181Z,1740193301.181 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-22T03:01:41.576Z,1740193301.576 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-22T03:01:41.576Z,1740193301.576 [keepstation:StartingMission] Stopped
2025-02-22T03:01:41.576Z,1740193301.576 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-22T03:01:41.576Z,1740193301.576 [keepstation:TransitToStation] Running Loop=1
2025-02-22T03:01:41.576Z,1740193301.576 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-22T03:01:41.576Z,1740193301.576 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-22T03:01:41.576Z,1740193301.576 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-22T03:01:41.577Z,1740193301.577 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-22T03:01:41.577Z,1740193301.577 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-22T03:01:41.577Z,1740193301.577 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-22T03:01:41.577Z,1740193301.577 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-22T03:01:41.577Z,1740193301.577 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-22T03:01:41.577Z,1740193301.577 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-22T03:01:41.578Z,1740193301.578 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-22T03:01:41.973Z,1740193301.973 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-22T03:01:41.973Z,1740193301.973 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-22T03:01:41.974Z,1740193301.974 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-22T03:01:41.974Z,1740193301.974 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-22T03:02:03.269Z,1740193323.269 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 1975
2025-02-22T03:02:13.528Z,1740193333.528 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-22T03:03:00.093Z,1740193380.093 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-22T03:03:00.093Z,1740193380.093 [ThrusterHE](INFO): Powering down
2025-02-22T03:03:00.860Z,1740193380.860 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-22T03:03:00.980Z,1740193380.980 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-22T03:03:06.452Z,1740193386.452 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-02-22T03:03:19.811Z,1740193399.811 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:03:32.691Z,1740193412.691 [Radio_Surface](INFO): Powering down
2025-02-22T03:03:50.939Z,1740193430.939 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:03:51.944Z,1740193431.944 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-22T03:04:57.204Z,1740193497.204 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.979263
2025-02-22T03:06:03.552Z,1740193563.552 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 1976
2025-02-22T03:13:27.279Z,1740194007.279 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T03:13:39.826Z,1740194019.826 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T03:13:53.202Z,1740194033.202 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T03:14:06.119Z,1740194046.119 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T03:14:19.194Z,1740194059.194 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T03:14:32.142Z,1740194072.142 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T03:14:45.066Z,1740194085.066 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T03:19:46.578Z,1740194386.578 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T03:19:52.647Z,1740194392.647 [BPC1](ERROR): Battery stick #3 (s/n: 00CF) reported OVER_TEMP_ALARM. Status code: 0x1717.
2025-02-22T03:19:52.648Z,1740194392.648 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-22T03:19:52.648Z,1740194392.648 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 6.
2025-02-22T03:19:52.651Z,1740194392.651 [BPC1](INFO): Received data from all battery sticks.
2025-02-22T03:20:02.813Z,1740194402.813 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-02-22T03:20:02.813Z,1740194402.813 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-22T03:20:02.813Z,1740194402.813 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-22T03:20:02.814Z,1740194402.814 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-02-22T03:20:02.815Z,1740194402.815 [keepstation:TransitToStation] Stopped
2025-02-22T03:20:02.815Z,1740194402.815 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-22T03:20:02.815Z,1740194402.815 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-22T03:20:02.815Z,1740194402.815 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-22T03:20:02.815Z,1740194402.815 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-22T03:20:02.815Z,1740194402.815 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-22T03:20:02.815Z,1740194402.815 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-22T03:20:02.815Z,1740194402.815 [keepstation:OnStation] Running Loop=1
2025-02-22T03:20:02.815Z,1740194402.815 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-02-22T03:20:03.224Z,1740194403.224 [keepstation:NeedComms] Running Loop=1
2025-02-22T03:20:03.224Z,1740194403.224 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-22T03:20:03.224Z,1740194403.224 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-22T03:20:03.224Z,1740194403.224 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-22T03:20:03.225Z,1740194403.225 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-22T03:20:03.225Z,1740194403.225 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-22T03:20:03.225Z,1740194403.225 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-22T03:20:03.226Z,1740194403.226 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-22T03:20:03.226Z,1740194403.226 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-22T03:20:03.226Z,1740194403.226 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-22T03:20:03.226Z,1740194403.226 [keepstation:NeedComms:A] Running Loop=1
2025-02-22T03:20:03.228Z,1740194403.228 [keepstation:NeedComms:A](INFO): last time_fix was:  1740193300.000000 second since 1970/01/01T00:00:00Z 
2025-02-22T03:20:03.228Z,1740194403.228 [keepstation:NeedComms:A] Stopped
2025-02-22T03:20:56.657Z,1740194456.657 [keepstation:NeedComms:C] Running Loop=1
2025-02-22T03:20:57.407Z,1740194457.407 [Radio_Surface](INFO): Powering up
2025-02-22T03:21:03.116Z,1740194463.116 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-22T03:21:33.235Z,1740194493.235 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:22:02.486Z,1740194522.486 [NAL9602](INFO): SBD MO Status=0, MOMSN=13126, MT Status=0, MTMSN=0
2025-02-22T03:22:02.486Z,1740194522.486 [NAL9602](INFO): No messages in MT queue
2025-02-22T03:22:03.697Z,1740194523.697 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,032202.00,A,3647.71571,N,12150.81110,W,1.186,151.16,220225,,,A*79
2025-02-22T03:22:03.699Z,1740194523.699 [NAL9602](INFO): GPS fix at 20250222T032202: (36.795262, -121.846852)
2025-02-22T03:22:03.712Z,1740194523.712 [UniversalFixResidualReporter](INFO): Fix residual: 28.0 %DT, over the last 854.9 m. Residual distance 239.6 m at bearing -0.0 degrees. Fix at (36.7953, -121.8469) with 546.7 m made good.
2025-02-22T03:22:03.716Z,1740194523.716 [keepstation:NeedComms:C] Stopped
2025-02-22T03:22:03.717Z,1740194523.717 [keepstation:NeedComms:D] Running Loop=1
2025-02-22T03:22:04.360Z,1740194524.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:22:28.761Z,1740194548.761 [NAL9602](INFO): SBD MO Status=1, MOMSN=13127, MT Status=0, MTMSN=0
2025-02-22T03:22:28.811Z,1740194548.811 [NAL9602](INFO): Sent 266 bytes from file Logs/20250222T025917/Courier0003.lzma
2025-02-22T03:22:28.812Z,1740194548.812 [NAL9602](INFO): Packets left to send: 0
2025-02-22T03:22:35.503Z,1740194555.503 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:22:40.914Z,1740194560.914 [NAL9602](INFO): SBD MO Status=1, MOMSN=13128, MT Status=0, MTMSN=0
2025-02-22T03:22:40.975Z,1740194560.975 [NAL9602](INFO): Sent 330 bytes from file Logs/20250222T025917/Express0004.lzma
2025-02-22T03:22:40.976Z,1740194560.976 [NAL9602](INFO): Packets left to send: 0
2025-02-22T03:22:52.430Z,1740194572.430 [NAL9602](INFO): SBD MO Status=0, MOMSN=13129, MT Status=0, MTMSN=0
2025-02-22T03:22:52.516Z,1740194572.516 [keepstation:NeedComms:D] Stopped
2025-02-22T03:22:52.516Z,1740194572.516 [keepstation:NeedComms:E] Running Loop=1
2025-02-22T03:22:54.850Z,1740194574.850 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,032254.00,A,3647.71019,N,12150.80840,W,0.330,139.98,220225,,,A*7A
2025-02-22T03:22:54.852Z,1740194574.852 [NAL9602](INFO): GPS fix at 20250222T032254: (36.795170, -121.846807)
2025-02-22T03:22:54.868Z,1740194574.868 [keepstation:NeedComms:E] Stopped
2025-02-22T03:22:54.869Z,1740194574.869 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-22T03:22:54.869Z,1740194574.869 [keepstation:NeedComms] Stopped
2025-02-22T03:22:54.869Z,1740194574.869 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-22T03:22:54.869Z,1740194574.869 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-22T03:22:54.869Z,1740194574.869 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-22T03:22:55.292Z,1740194575.292 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-02-22T03:22:55.292Z,1740194575.292 [keepstation:OnStation] Stopped
2025-02-22T03:22:55.292Z,1740194575.292 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-02-22T03:22:55.292Z,1740194575.292 [keepstation:KeepStation] Running Loop=1
2025-02-22T03:22:55.292Z,1740194575.292 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-02-22T03:22:55.292Z,1740194575.292 [keepstation:KeepStation:A] Running Loop=1
2025-02-22T03:22:55.292Z,1740194575.292 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-22T03:22:55.292Z,1740194575.292 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-02-22T03:22:55.292Z,1740194575.292 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-22T03:22:55.293Z,1740194575.293 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-22T03:22:55.293Z,1740194575.293 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-02-22T03:22:55.293Z,1740194575.293 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-02-22T03:22:55.662Z,1740194575.662 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm.
2025-02-22T03:22:55.682Z,1740194575.682 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-22T03:22:55.682Z,1740194575.682 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-02-22T03:22:55.683Z,1740194575.683 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-22T03:22:55.684Z,1740194575.684 [keepstation:KeepStation:A] Running Loop=1
2025-02-22T03:23:06.644Z,1740194586.644 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:23:19.434Z,1740194599.434 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003854
2025-02-22T03:23:27.579Z,1740194607.579 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-22T03:24:08.631Z,1740194648.631 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:24:39.756Z,1740194679.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:25:10.879Z,1740194710.879 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:25:18.160Z,1740194718.160 [Radio_Surface](INFO): Powering down
2025-02-22T03:25:42.019Z,1740194742.019 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:25:43.023Z,1740194743.023 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-22T03:26:20.172Z,1740194780.172 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.741821
2025-02-22T03:31:51.550Z,1740195111.550 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-02-22T03:45:07.023Z,1740195907.023 [keepstation](INFO): Timed out from 2025-02-22T03:00:06.0Z
2025-02-22T03:45:07.023Z,1740195907.023 [MissionManager](INFO): keepstation is completed.
2025-02-22T03:45:07.023Z,1740195907.023 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-22T03:45:07.023Z,1740195907.023 [keepstation] Stopped
2025-02-22T03:45:07.024Z,1740195907.024 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-22T03:45:07.024Z,1740195907.024 [keepstation:StandardEnvelopes] Stopped
2025-02-22T03:45:07.024Z,1740195907.024 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-22T03:45:07.024Z,1740195907.024 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-22T03:45:07.024Z,1740195907.024 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-22T03:45:07.024Z,1740195907.024 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-22T03:45:07.024Z,1740195907.024 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-22T03:45:07.024Z,1740195907.024 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-22T03:45:07.024Z,1740195907.024 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-22T03:45:07.024Z,1740195907.024 [keepstation:BackseatDriver] Stopped
2025-02-22T03:45:07.024Z,1740195907.024 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-22T03:45:07.024Z,1740195907.024 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-22T03:45:07.025Z,1740195907.025 [keepstation:PowerOnly] Stopped
2025-02-22T03:45:07.025Z,1740195907.025 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-22T03:45:07.025Z,1740195907.025 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-22T03:45:07.025Z,1740195907.025 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-22T03:45:07.025Z,1740195907.025 [keepstation:H.Pitch] Stopped
2025-02-22T03:45:07.025Z,1740195907.025 [keepstation:KeepStation] Stopped
2025-02-22T03:45:07.025Z,1740195907.025 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-02-22T03:45:07.025Z,1740195907.025 [keepstation:KeepStation:A] Stopped
2025-02-22T03:45:07.025Z,1740195907.025 [keepstation:KeepStation:B.Pitch] Stopped
2025-02-22T03:45:07.025Z,1740195907.025 [keepstation:KeepStation:C.KeepStation] Stopped
2025-02-22T03:45:07.025Z,1740195907.025 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-22T03:45:07.025Z,1740195907.025 [keepstation:KeepStation:D.Wait] Stopped
2025-02-22T03:45:07.025Z,1740195907.025 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-22T03:45:07.117Z,1740195907.117 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-22T03:45:07.118Z,1740195907.118 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-22T03:45:07.118Z,1740195907.118 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-22T03:45:07.123Z,1740195907.123 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-22T03:45:08.014Z,1740195908.014 [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>

2025-02-22T03:45:08.019Z,1740195908.019 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-22T03:45:08.021Z,1740195908.021 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-22T03:45:08.024Z,1740195908.024 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-22T03:45:08.026Z,1740195908.026 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-22T03:45:08.028Z,1740195908.028 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-22T03:45:08.030Z,1740195908.030 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-22T03:45:08.033Z,1740195908.033 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-22T03:45:08.035Z,1740195908.035 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-22T03:45:08.037Z,1740195908.037 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-22T03:45:08.040Z,1740195908.040 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-22T03:45:08.042Z,1740195908.042 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-22T03:45:08.042Z,1740195908.042 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-22T03:45:08.043Z,1740195908.043 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-22T03:45:08.044Z,1740195908.044 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-22T03:45:08.413Z,1740195908.413 [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>

2025-02-22T03:45:08.422Z,1740195908.422 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-22T03:45:08.424Z,1740195908.424 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-22T03:45:08.427Z,1740195908.427 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-22T03:45:08.429Z,1740195908.429 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-22T03:45:08.431Z,1740195908.431 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-22T03:45:08.433Z,1740195908.433 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-22T03:45:08.436Z,1740195908.436 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-22T03:45:08.438Z,1740195908.438 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-22T03:45:08.444Z,1740195908.444 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-22T03:45:08.460Z,1740195908.460 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-22T03:45:08.460Z,1740195908.460 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-22T03:45:08.461Z,1740195908.461 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-22T03:45:08.589Z,1740195908.589 [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>

2025-02-22T03:45:08.593Z,1740195908.593 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-22T03:45:08.595Z,1740195908.595 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-22T03:45:08.597Z,1740195908.597 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-22T03:45:08.600Z,1740195908.600 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-22T03:45:08.601Z,1740195908.601 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-22T03:45:08.646Z,1740195908.646 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-22T03:45:08.665Z,1740195908.665 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-22T03:45:08.682Z,1740195908.682 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-22T03:45:08.682Z,1740195908.682 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-22T03:45:08.700Z,1740195908.700 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-22T03:45:08.736Z,1740195908.736 [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>

2025-02-22T03:45:08.742Z,1740195908.742 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-22T03:45:08.744Z,1740195908.744 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-22T03:45:08.746Z,1740195908.746 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-22T03:45:08.747Z,1740195908.747 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-22T03:45:08.748Z,1740195908.748 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-22T03:45:08.876Z,1740195908.876 [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>

2025-02-22T03:45:08.880Z,1740195908.880 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-22T03:45:08.882Z,1740195908.882 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-22T03:45:08.888Z,1740195908.888 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-22T03:45:08.890Z,1740195908.890 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-22T03:45:08.893Z,1740195908.893 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-22T03:45:08.926Z,1740195908.926 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-22T03:45:08.928Z,1740195908.928 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-22T03:45:08.934Z,1740195908.934 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-22T03:45:08.952Z,1740195908.952 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-22T03:45:08.953Z,1740195908.953 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-22T03:45:08.964Z,1740195908.964 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-22T03:45:08.968Z,1740195908.968 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-22T03:45:08.970Z,1740195908.970 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-22T03:45:08.978Z,1740195908.978 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-22T03:45:08.982Z,1740195908.982 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-22T03:45:08.986Z,1740195908.986 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-22T03:45:08.998Z,1740195908.998 [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
    }
  }
}


2025-02-22T03:45:08.999Z,1740195908.999 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-22T03:45:09.043Z,1740195909.043 [MissionManager](IMPORTANT): Started mission Default
2025-02-22T03:45:09.044Z,1740195909.044 [Default] Running Loop=1
2025-02-22T03:45:09.044Z,1740195909.044 [Default](DEBUG): Aggregate::initialize Default
2025-02-22T03:45:09.044Z,1740195909.044 [Default:B.GoToSurface] Running Loop=1
2025-02-22T03:45:09.044Z,1740195909.044 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-22T03:45:09.044Z,1740195909.044 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-22T03:45:09.044Z,1740195909.044 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-22T03:45:09.045Z,1740195909.045 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-22T03:45:09.045Z,1740195909.045 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-22T03:45:09.045Z,1740195909.045 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-22T03:45:09.046Z,1740195909.046 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-22T03:45:09.046Z,1740195909.046 [Default:A.Wait] Running Loop=1
2025-02-22T03:45:09.046Z,1740195909.046 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-22T03:45:09.448Z,1740195909.448 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (3 active estimators).
2025-02-22T03:45:09.727Z,1740195909.727 [Radio_Surface](INFO): Powering up
2025-02-22T03:45:15.944Z,1740195915.944 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-22T03:45:22.313Z,1740195922.313 [Default:A.Wait](INFO): Done Waiting.
2025-02-22T03:45:22.313Z,1740195922.313 [Default:A.Wait] Stopped
2025-02-22T03:45:22.313Z,1740195922.313 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-22T03:45:27.124Z,1740195927.124 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-22T03:45:27.124Z,1740195927.124 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-22T03:45:27.125Z,1740195927.125 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-22T03:45:38.062Z,1740195938.062 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 45 minute
2025-02-22T03:45:38.063Z,1740195938.063 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-02-22T03:45:38.064Z,1740195938.064 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-02-22T03:45:38.064Z,1740195938.064 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-02-22T03:45:38.065Z,1740195938.065 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 10 meter
2025-02-22T03:45:46.091Z,1740195946.091 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:45:48.005Z,1740195948.005 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-02-22T03:45:48.006Z,1740195948.006 [CommandExec](IMPORTANT): got command run
2025-02-22T03:45:48.008Z,1740195948.008 [CommandExec](IMPORTANT): Running 
2025-02-22T03:45:48.239Z,1740195948.239 [Default] Stopped
2025-02-22T03:45:48.239Z,1740195948.239 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-22T03:45:48.239Z,1740195948.239 [Default:B.GoToSurface] Stopped
2025-02-22T03:45:48.239Z,1740195948.239 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-22T03:45:48.239Z,1740195948.239 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-22T03:45:48.240Z,1740195948.240 [keepstation] Running Loop=1
2025-02-22T03:45:48.240Z,1740195948.240 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-22T03:45:48.240Z,1740195948.240 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-22T03:45:48.240Z,1740195948.240 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-22T03:45:48.240Z,1740195948.240 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-22T03:45:48.240Z,1740195948.240 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-22T03:45:48.240Z,1740195948.240 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-22T03:45:48.240Z,1740195948.240 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-22T03:45:48.241Z,1740195948.241 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-22T03:45:48.241Z,1740195948.241 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-22T03:45:48.241Z,1740195948.241 [keepstation:BackseatDriver] Running Loop=1
2025-02-22T03:45:48.241Z,1740195948.241 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-22T03:45:48.241Z,1740195948.241 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-22T03:45:48.241Z,1740195948.241 [keepstation:PowerOnly] Running Loop=1
2025-02-22T03:45:48.241Z,1740195948.241 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-22T03:45:48.241Z,1740195948.241 [keepstation:PowerOnly:A] Running Loop=1
2025-02-22T03:45:48.241Z,1740195948.241 [keepstation:PowerOnly:B] Running Loop=1
2025-02-22T03:45:48.241Z,1740195948.241 [keepstation:PowerOnly:C] Running Loop=1
2025-02-22T03:45:48.241Z,1740195948.241 [keepstation:PowerOnly:D] Running Loop=1
2025-02-22T03:45:48.241Z,1740195948.241 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-22T03:45:48.242Z,1740195948.242 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-22T03:45:48.242Z,1740195948.242 [keepstation:H.Pitch] Running Loop=1
2025-02-22T03:45:48.242Z,1740195948.242 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-22T03:45:48.242Z,1740195948.242 [keepstation:B] Running Loop=1
2025-02-22T03:45:48.242Z,1740195948.242 [keepstation:H.Pitch] Running Loop=1
2025-02-22T03:45:48.243Z,1740195948.243 [keepstation:PowerOnly] Running Loop=1
2025-02-22T03:45:48.243Z,1740195948.243 [keepstation:PowerOnly:D] Stopped
2025-02-22T03:45:48.243Z,1740195948.243 [keepstation:PowerOnly:C] Stopped
2025-02-22T03:45:48.243Z,1740195948.243 [keepstation:PowerOnly:B] Stopped
2025-02-22T03:45:48.244Z,1740195948.244 [keepstation:PowerOnly:A] Stopped
2025-02-22T03:45:48.244Z,1740195948.244 [keepstation:BackseatDriver] Running Loop=1
2025-02-22T03:45:48.244Z,1740195948.244 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-22T03:45:48.261Z,1740195948.261 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-22T03:45:48.261Z,1740195948.261 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-22T03:45:48.261Z,1740195948.261 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-22T03:45:48.262Z,1740195948.262 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-22T03:45:48.262Z,1740195948.262 [keepstation:B] Stopped
2025-02-22T03:45:48.262Z,1740195948.262 [keepstation:D] Running Loop=1
2025-02-22T03:45:48.339Z,1740195948.339 [BackseatComponent](INFO): Powering up
2025-02-22T03:45:48.340Z,1740195948.340 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-22T03:45:48.679Z,1740195948.679 [keepstation:D] Stopped
2025-02-22T03:45:48.679Z,1740195948.679 [keepstation:E] Running Loop=1
2025-02-22T03:45:49.083Z,1740195949.083 [keepstation:E] Stopped
2025-02-22T03:45:49.083Z,1740195949.083 [keepstation:StartingMission] Running Loop=1
2025-02-22T03:45:49.084Z,1740195949.084 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-22T03:45:49.500Z,1740195949.500 [keepstation:NeedComms] Running Loop=1
2025-02-22T03:45:49.500Z,1740195949.500 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-22T03:45:49.500Z,1740195949.500 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-22T03:45:49.500Z,1740195949.500 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-22T03:45:49.501Z,1740195949.501 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-22T03:45:49.501Z,1740195949.501 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-22T03:45:49.501Z,1740195949.501 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-22T03:45:49.502Z,1740195949.502 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-22T03:45:49.502Z,1740195949.502 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-22T03:45:49.502Z,1740195949.502 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-22T03:45:49.503Z,1740195949.503 [keepstation:NeedComms:A] Running Loop=1
2025-02-22T03:45:49.504Z,1740195949.504 [keepstation:NeedComms:A](INFO): last time_fix was:  1740194574.000000 second since 1970/01/01T00:00:00Z 
2025-02-22T03:45:49.504Z,1740195949.504 [keepstation:NeedComms:A] Stopped
2025-02-22T03:45:49.892Z,1740195949.892 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-22T03:46:17.233Z,1740195977.233 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:46:34.465Z,1740195994.465 [keepstation:NeedComms:C] Running Loop=1
2025-02-22T03:46:34.872Z,1740195994.872 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-22T03:46:45.646Z,1740196005.646 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250222T034643
2025-02-22T03:46:48.368Z,1740196008.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:47:19.492Z,1740196039.492 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:47:38.769Z,1740196058.769 [NAL9602](INFO): SBD MO Status=0, MOMSN=13130, MT Status=0, MTMSN=0
2025-02-22T03:47:38.769Z,1740196058.769 [NAL9602](INFO): No messages in MT queue
2025-02-22T03:47:39.984Z,1740196059.984 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,034739.00,A,3647.82654,N,12150.75838,W,0.875,175.26,220225,,,A*73
2025-02-22T03:47:39.986Z,1740196059.986 [NAL9602](INFO): GPS fix at 20250222T034739: (36.797109, -121.845973)
2025-02-22T03:47:40.000Z,1740196060.000 [keepstation:NeedComms:C] Stopped
2025-02-22T03:47:40.001Z,1740196060.001 [keepstation:NeedComms:D] Running Loop=1
2025-02-22T03:47:40.409Z,1740196060.409 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-22T03:47:42.850Z,1740196062.850 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 1975
2025-02-22T03:47:50.616Z,1740196070.616 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:47:58.549Z,1740196078.549 [NAL9602](INFO): SBD MO Status=1, MOMSN=13131, MT Status=0, MTMSN=0
2025-02-22T03:47:58.596Z,1740196078.596 [NAL9602](INFO): Sent 73 bytes from file Logs/20250222T025917/Courier0006.lzma
2025-02-22T03:47:58.597Z,1740196078.597 [NAL9602](INFO): Packets left to send: 0
2025-02-22T03:48:10.914Z,1740196090.914 [NAL9602](INFO): SBD MO Status=2, MOMSN=13132, MT Status=2, MTMSN=0
2025-02-22T03:48:10.914Z,1740196090.914 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-22T03:48:11.408Z,1740196091.408 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003372
2025-02-22T03:48:19.169Z,1740196099.169 [DataOverHttps](INFO): Sending 482 bytes from file Logs/20250222T025917/Express0007.lzma
2025-02-22T03:48:20.169Z,1740196100.169 [DataOverHttps](INFO): Moved sent file to Logs/20250222T025917/Express0007.lzma.bak
2025-02-22T03:48:20.169Z,1740196100.169 [DataOverHttps](INFO): SBD MOMSN=23971981
2025-02-22T03:48:21.840Z,1740196101.840 [keepstation:NeedComms:D] Stopped
2025-02-22T03:48:21.841Z,1740196101.841 [keepstation:NeedComms:E] Running Loop=1
2025-02-22T03:48:22.240Z,1740196102.240 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-22T03:48:23.842Z,1740196103.842 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,034823.00,A,3647.81942,N,12150.75788,W,0.233,199.23,220225,,,A*77
2025-02-22T03:48:23.845Z,1740196103.845 [NAL9602](INFO): GPS fix at 20250222T034823: (36.796990, -121.845965)
2025-02-22T03:48:23.904Z,1740196103.904 [keepstation:NeedComms:E] Stopped
2025-02-22T03:48:23.905Z,1740196103.905 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-22T03:48:23.905Z,1740196103.905 [keepstation:NeedComms] Stopped
2025-02-22T03:48:23.905Z,1740196103.905 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-22T03:48:23.905Z,1740196103.905 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-22T03:48:23.905Z,1740196103.905 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-22T03:48:24.284Z,1740196104.284 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-22T03:48:24.284Z,1740196104.284 [keepstation:StartingMission] Stopped
2025-02-22T03:48:24.284Z,1740196104.284 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-22T03:48:24.284Z,1740196104.284 [keepstation:TransitToStation] Running Loop=1
2025-02-22T03:48:24.284Z,1740196104.284 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-22T03:48:24.284Z,1740196104.284 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-22T03:48:24.285Z,1740196104.285 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-22T03:48:24.285Z,1740196104.285 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-22T03:48:24.285Z,1740196104.285 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-22T03:48:24.285Z,1740196104.285 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-22T03:48:24.285Z,1740196104.285 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-22T03:48:24.285Z,1740196104.285 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-22T03:48:24.285Z,1740196104.285 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-22T03:48:24.286Z,1740196104.286 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-22T03:48:24.674Z,1740196104.674 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.75 m/s, pitch 30.00 deg, mass-position 11.65 mm.
2025-02-22T03:48:24.688Z,1740196104.688 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-22T03:48:24.689Z,1740196104.689 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-22T03:48:24.689Z,1740196104.689 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-22T03:48:24.690Z,1740196104.690 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-22T03:48:56.624Z,1740196136.624 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-22T03:49:52.799Z,1740196192.799 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:50:18.595Z,1740196218.595 [Radio_Surface](INFO): Powering down
2025-02-22T03:50:23.924Z,1740196223.924 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:50:24.928Z,1740196224.928 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-22T03:51:15.759Z,1740196275.759 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-02-22T03:51:15.759Z,1740196275.759 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-22T03:51:15.759Z,1740196275.759 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-22T03:51:15.761Z,1740196275.761 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-02-22T03:51:15.761Z,1740196275.761 [keepstation:TransitToStation] Stopped
2025-02-22T03:51:15.761Z,1740196275.761 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-22T03:51:15.761Z,1740196275.761 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-22T03:51:15.761Z,1740196275.761 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-22T03:51:15.761Z,1740196275.761 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-22T03:51:15.761Z,1740196275.761 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-22T03:51:15.761Z,1740196275.761 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-22T03:51:15.761Z,1740196275.761 [keepstation:OnStation] Running Loop=1
2025-02-22T03:51:15.761Z,1740196275.761 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-02-22T03:51:16.168Z,1740196276.168 [keepstation:NeedComms] Running Loop=1
2025-02-22T03:51:16.168Z,1740196276.168 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-22T03:51:16.168Z,1740196276.168 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-22T03:51:16.168Z,1740196276.168 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-22T03:51:16.169Z,1740196276.169 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-22T03:51:16.169Z,1740196276.169 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-22T03:51:16.169Z,1740196276.169 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-22T03:51:16.170Z,1740196276.170 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-22T03:51:16.170Z,1740196276.170 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-22T03:51:16.170Z,1740196276.170 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-22T03:51:16.170Z,1740196276.170 [keepstation:NeedComms:A] Running Loop=1
2025-02-22T03:51:16.172Z,1740196276.172 [keepstation:NeedComms:A](INFO): last time_fix was:  1740196103.000000 second since 1970/01/01T00:00:00Z 
2025-02-22T03:51:16.172Z,1740196276.172 [keepstation:NeedComms:A] Stopped
2025-02-22T03:51:46.772Z,1740196306.772 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 1976
2025-02-22T03:52:01.336Z,1740196321.336 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.759430
2025-02-22T03:52:07.813Z,1740196327.813 [keepstation:NeedComms:C] Running Loop=1
2025-02-22T03:52:08.228Z,1740196328.228 [Radio_Surface](INFO): Powering up
2025-02-22T03:52:14.387Z,1740196334.387 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-22T03:52:44.514Z,1740196364.514 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:53:15.652Z,1740196395.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:53:40.898Z,1740196420.898 [NAL9602](INFO): SBD MO Status=2, MOMSN=13132, MT Status=2, MTMSN=0
2025-02-22T03:53:40.898Z,1740196420.898 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-22T03:53:46.783Z,1740196426.783 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:54:03.921Z,1740196443.921 [NAL9602](INFO): SBD MO Status=2, MOMSN=13132, MT Status=2, MTMSN=0
2025-02-22T03:54:03.921Z,1740196443.921 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-22T03:54:17.907Z,1740196457.907 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:54:21.702Z,1740196461.702 [NAL9602](INFO): SBD MO Status=2, MOMSN=13132, MT Status=2, MTMSN=0
2025-02-22T03:54:21.702Z,1740196461.702 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-22T03:54:26.867Z,1740196466.867 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002966
2025-02-22T03:54:46.744Z,1740196486.744 [NAL9602](INFO): SBD MO Status=1, MOMSN=13132, MT Status=0, MTMSN=0
2025-02-22T03:54:46.745Z,1740196486.745 [NAL9602](INFO): No messages in MT queue
2025-02-22T03:54:47.959Z,1740196487.959 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,035447.00,A,3647.80100,N,12150.85170,W,0.836,174.23,220225,,,A*75
2025-02-22T03:54:47.968Z,1740196487.968 [NAL9602](INFO): GPS fix at 20250222T035447: (36.796683, -121.847528)
2025-02-22T03:54:47.984Z,1740196487.984 [keepstation:NeedComms:C] Stopped
2025-02-22T03:54:47.985Z,1740196487.985 [keepstation:NeedComms:D] Running Loop=1
2025-02-22T03:54:58.375Z,1740196498.375 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250222T025917/Courier0009.lzma
2025-02-22T03:54:59.381Z,1740196499.381 [DataOverHttps](INFO): Moved sent file to Logs/20250222T025917/Courier0009.lzma.bak
2025-02-22T03:54:59.381Z,1740196499.381 [DataOverHttps](INFO): SBD MOMSN=23971999
2025-02-22T03:55:20.416Z,1740196520.416 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-22T03:55:25.339Z,1740196525.339 [DataOverHttps](INFO): Sending 165 bytes from file Logs/20250222T025917/Express0010.lzma
2025-02-22T03:55:26.341Z,1740196526.341 [DataOverHttps](INFO): Moved sent file to Logs/20250222T025917/Express0010.lzma.bak
2025-02-22T03:55:26.341Z,1740196526.341 [DataOverHttps](INFO): SBD MOMSN=23972003
2025-02-22T03:55:28.128Z,1740196528.128 [keepstation:NeedComms:D] Stopped
2025-02-22T03:55:28.129Z,1740196528.129 [keepstation:NeedComms:E] Running Loop=1
2025-02-22T03:55:30.118Z,1740196530.118 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,035529.00,A,3647.79720,N,12150.85167,W,0.447,160.09,220225,,,A*7F
2025-02-22T03:55:30.125Z,1740196530.125 [NAL9602](INFO): GPS fix at 20250222T035529: (36.796620, -121.847528)
2025-02-22T03:55:30.184Z,1740196530.184 [keepstation:NeedComms:E] Stopped
2025-02-22T03:55:30.185Z,1740196530.185 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-22T03:55:30.185Z,1740196530.185 [keepstation:NeedComms] Stopped
2025-02-22T03:55:30.185Z,1740196530.185 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-22T03:55:30.185Z,1740196530.185 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-22T03:55:30.186Z,1740196530.186 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-22T03:55:30.582Z,1740196530.582 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-02-22T03:55:30.583Z,1740196530.583 [keepstation:OnStation] Stopped
2025-02-22T03:55:30.583Z,1740196530.583 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-02-22T03:55:30.583Z,1740196530.583 [keepstation:KeepStation] Running Loop=1
2025-02-22T03:55:30.595Z,1740196530.595 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-02-22T03:55:30.595Z,1740196530.595 [keepstation:KeepStation:A] Running Loop=1
2025-02-22T03:55:30.595Z,1740196530.595 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-22T03:55:30.595Z,1740196530.595 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-02-22T03:55:30.596Z,1740196530.596 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-22T03:55:30.596Z,1740196530.596 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-22T03:55:30.596Z,1740196530.596 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-02-22T03:55:30.596Z,1740196530.596 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-02-22T03:55:30.977Z,1740196530.977 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-22T03:55:30.978Z,1740196530.978 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-22T03:55:30.978Z,1740196530.978 [keepstation:KeepStation:A] Running Loop=1
2025-02-22T03:56:00.730Z,1740196560.730 [NAL9602](INFO): SBD MO Status=2, MOMSN=13133, MT Status=2, MTMSN=0
2025-02-22T03:56:00.730Z,1740196560.730 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-22T03:56:28.879Z,1740196588.879 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:56:52.846Z,1740196612.846 [NAL9602](INFO): SBD MO Status=1, MOMSN=13133, MT Status=0, MTMSN=0
2025-02-22T03:56:52.846Z,1740196612.846 [NAL9602](INFO): No messages in MT queue
2025-02-22T03:57:23.547Z,1740196643.547 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-22T03:58:32.123Z,1740196712.123 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:58:53.095Z,1740196733.095 [Radio_Surface](INFO): Powering down
2025-02-22T03:59:03.248Z,1740196743.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T03:59:04.251Z,1740196744.251 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-22T04:00:43.672Z,1740196843.672 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.751129
2025-02-22T04:21:00.014Z,1740198060.014 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:21:13.346Z,1740198073.346 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:21:26.274Z,1740198086.274 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:21:39.202Z,1740198099.202 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:21:52.130Z,1740198112.130 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:22:05.464Z,1740198125.464 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:22:18.794Z,1740198138.794 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:27:17.759Z,1740198437.759 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:27:30.282Z,1740198450.282 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:27:42.805Z,1740198462.805 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:27:55.331Z,1740198475.331 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:28:07.854Z,1740198487.854 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:28:20.781Z,1740198500.781 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:28:33.711Z,1740198513.711 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:28:46.233Z,1740198526.233 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:28:59.565Z,1740198539.565 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:29:12.494Z,1740198552.494 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:29:25.826Z,1740198565.826 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:29:38.350Z,1740198578.350 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:29:56.538Z,1740198596.538 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:30:11.898Z,1740198611.898 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:30:27.242Z,1740198627.242 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:30:42.594Z,1740198642.594 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:30:48.262Z,1740198648.262 [keepstation](INFO): Timed out from 2025-02-22T03:45:48.2Z
2025-02-22T04:30:48.262Z,1740198648.262 [MissionManager](INFO): keepstation is completed.
2025-02-22T04:30:48.263Z,1740198648.263 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-22T04:30:48.263Z,1740198648.263 [keepstation] Stopped
2025-02-22T04:30:48.263Z,1740198648.263 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-22T04:30:48.263Z,1740198648.263 [keepstation:StandardEnvelopes] Stopped
2025-02-22T04:30:48.286Z,1740198648.286 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-22T04:30:48.295Z,1740198648.295 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-22T04:30:48.295Z,1740198648.295 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-22T04:30:48.295Z,1740198648.295 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-22T04:30:48.295Z,1740198648.295 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-22T04:30:48.295Z,1740198648.295 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-22T04:30:48.296Z,1740198648.296 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-22T04:30:48.296Z,1740198648.296 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-22T04:30:48.297Z,1740198648.297 [keepstation:BackseatDriver] Stopped
2025-02-22T04:30:48.297Z,1740198648.297 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-22T04:30:48.297Z,1740198648.297 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-22T04:30:48.298Z,1740198648.298 [keepstation:PowerOnly] Stopped
2025-02-22T04:30:48.298Z,1740198648.298 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-22T04:30:48.299Z,1740198648.299 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-22T04:30:48.304Z,1740198648.304 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-22T04:30:48.304Z,1740198648.304 [keepstation:H.Pitch] Stopped
2025-02-22T04:30:48.304Z,1740198648.304 [keepstation:KeepStation] Stopped
2025-02-22T04:30:48.305Z,1740198648.305 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-02-22T04:30:48.305Z,1740198648.305 [keepstation:KeepStation:A] Stopped
2025-02-22T04:30:48.305Z,1740198648.305 [keepstation:KeepStation:B.Pitch] Stopped
2025-02-22T04:30:48.305Z,1740198648.305 [keepstation:KeepStation:C.KeepStation] Stopped
2025-02-22T04:30:48.305Z,1740198648.305 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-22T04:30:48.305Z,1740198648.305 [keepstation:KeepStation:D.Wait] Stopped
2025-02-22T04:30:48.305Z,1740198648.305 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-22T04:30:48.368Z,1740198648.368 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-22T04:30:48.368Z,1740198648.368 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-22T04:30:48.371Z,1740198648.371 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-22T04:30:49.265Z,1740198649.265 [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>

2025-02-22T04:30:49.270Z,1740198649.270 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-22T04:30:49.272Z,1740198649.272 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-22T04:30:49.274Z,1740198649.274 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-22T04:30:49.294Z,1740198649.294 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-22T04:30:49.296Z,1740198649.296 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-22T04:30:49.298Z,1740198649.298 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-22T04:30:49.300Z,1740198649.300 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-22T04:30:49.302Z,1740198649.302 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-22T04:30:49.305Z,1740198649.305 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-22T04:30:49.307Z,1740198649.307 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-22T04:30:49.309Z,1740198649.309 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-22T04:30:49.309Z,1740198649.309 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-22T04:30:49.310Z,1740198649.310 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-22T04:30:49.311Z,1740198649.311 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-22T04:30:49.636Z,1740198649.636 [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>

2025-02-22T04:30:49.646Z,1740198649.646 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-22T04:30:49.654Z,1740198649.654 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-22T04:30:49.656Z,1740198649.656 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-22T04:30:49.659Z,1740198649.659 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-22T04:30:49.661Z,1740198649.661 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-22T04:30:49.664Z,1740198649.664 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-22T04:30:49.678Z,1740198649.678 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-22T04:30:49.681Z,1740198649.681 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-22T04:30:49.686Z,1740198649.686 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-22T04:30:49.720Z,1740198649.720 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-22T04:30:49.721Z,1740198649.721 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-22T04:30:49.745Z,1740198649.745 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-22T04:30:49.745Z,1740198649.745 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-22T04:30:49.746Z,1740198649.746 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-22T04:30:49.839Z,1740198649.839 [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>

2025-02-22T04:30:49.843Z,1740198649.843 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-22T04:30:49.846Z,1740198649.846 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-22T04:30:49.873Z,1740198649.873 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-22T04:30:49.888Z,1740198649.888 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-22T04:30:49.889Z,1740198649.889 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-22T04:30:49.918Z,1740198649.918 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-22T04:30:49.944Z,1740198649.944 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-22T04:30:49.961Z,1740198649.961 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-22T04:30:49.961Z,1740198649.961 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-22T04:30:49.962Z,1740198649.962 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-22T04:30:49.981Z,1740198649.981 [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>

2025-02-22T04:30:49.984Z,1740198649.984 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-22T04:30:49.987Z,1740198649.987 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-22T04:30:49.989Z,1740198649.989 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-22T04:30:49.989Z,1740198649.989 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-22T04:30:49.991Z,1740198649.991 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-22T04:30:50.131Z,1740198650.131 [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>

2025-02-22T04:30:50.135Z,1740198650.135 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-22T04:30:50.137Z,1740198650.137 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-22T04:30:50.139Z,1740198650.139 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-22T04:30:50.141Z,1740198650.141 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-22T04:30:50.144Z,1740198650.144 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-22T04:30:50.150Z,1740198650.150 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-22T04:30:50.196Z,1740198650.196 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-22T04:30:50.217Z,1740198650.217 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-22T04:30:50.228Z,1740198650.228 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-22T04:30:50.233Z,1740198650.233 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-22T04:30:50.235Z,1740198650.235 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-22T04:30:50.243Z,1740198650.243 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-22T04:30:50.248Z,1740198650.248 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-22T04:30:50.252Z,1740198650.252 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-22T04:30:50.318Z,1740198650.318 [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
    }
  }
}


2025-02-22T04:30:50.319Z,1740198650.319 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-22T04:30:50.717Z,1740198650.717 [MissionManager](IMPORTANT): Started mission Default
2025-02-22T04:30:50.717Z,1740198650.717 [Default] Running Loop=1
2025-02-22T04:30:50.717Z,1740198650.717 [Default](DEBUG): Aggregate::initialize Default
2025-02-22T04:30:50.717Z,1740198650.717 [Default:B.GoToSurface] Running Loop=1
2025-02-22T04:30:50.717Z,1740198650.717 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-22T04:30:50.717Z,1740198650.717 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-22T04:30:50.718Z,1740198650.718 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-22T04:30:50.718Z,1740198650.718 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-22T04:30:50.718Z,1740198650.718 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-22T04:30:50.718Z,1740198650.718 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-22T04:30:50.719Z,1740198650.719 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-22T04:30:50.723Z,1740198650.723 [Default:A.Wait] Running Loop=1
2025-02-22T04:30:50.723Z,1740198650.723 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-22T04:30:51.303Z,1740198651.303 [Radio_Surface](INFO): Powering up
2025-02-22T04:30:57.196Z,1740198657.196 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-22T04:30:57.712Z,1740198657.712 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:31:03.964Z,1740198663.964 [Default:A.Wait](INFO): Done Waiting.
2025-02-22T04:31:03.964Z,1740198663.964 [Default:A.Wait] Stopped
2025-02-22T04:31:03.964Z,1740198663.964 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-22T04:31:07.887Z,1740198667.887 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-22T04:31:07.888Z,1740198667.888 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-22T04:31:07.888Z,1740198667.888 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-22T04:31:13.470Z,1740198673.470 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:31:19.746Z,1740198679.746 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 45 minute
2025-02-22T04:31:19.748Z,1740198679.748 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-02-22T04:31:19.748Z,1740198679.748 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-02-22T04:31:19.749Z,1740198679.749 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-02-22T04:31:19.750Z,1740198679.750 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 1 meter
2025-02-22T04:31:27.316Z,1740198687.316 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:31:29.274Z,1740198689.274 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:31:29.719Z,1740198689.719 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-02-22T04:31:29.720Z,1740198689.720 [CommandExec](IMPORTANT): got command run
2025-02-22T04:31:29.721Z,1740198689.721 [CommandExec](IMPORTANT): Running 
2025-02-22T04:31:29.836Z,1740198689.836 [Default] Stopped
2025-02-22T04:31:29.836Z,1740198689.836 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-22T04:31:29.836Z,1740198689.836 [Default:B.GoToSurface] Stopped
2025-02-22T04:31:29.836Z,1740198689.836 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-22T04:31:29.836Z,1740198689.836 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-22T04:31:29.837Z,1740198689.837 [keepstation] Running Loop=1
2025-02-22T04:31:29.837Z,1740198689.837 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-22T04:31:29.837Z,1740198689.837 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-22T04:31:29.837Z,1740198689.837 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-22T04:31:29.837Z,1740198689.837 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-22T04:31:29.837Z,1740198689.837 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-22T04:31:29.837Z,1740198689.837 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-22T04:31:29.838Z,1740198689.838 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-22T04:31:29.838Z,1740198689.838 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-22T04:31:29.838Z,1740198689.838 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-22T04:31:29.838Z,1740198689.838 [keepstation:BackseatDriver] Running Loop=1
2025-02-22T04:31:29.838Z,1740198689.838 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-22T04:31:29.838Z,1740198689.838 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-22T04:31:29.838Z,1740198689.838 [keepstation:PowerOnly] Running Loop=1
2025-02-22T04:31:29.838Z,1740198689.838 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-22T04:31:29.838Z,1740198689.838 [keepstation:PowerOnly:A] Running Loop=1
2025-02-22T04:31:29.838Z,1740198689.838 [keepstation:PowerOnly:B] Running Loop=1
2025-02-22T04:31:29.838Z,1740198689.838 [keepstation:PowerOnly:C] Running Loop=1
2025-02-22T04:31:29.839Z,1740198689.839 [keepstation:PowerOnly:D] Running Loop=1
2025-02-22T04:31:29.839Z,1740198689.839 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-22T04:31:29.839Z,1740198689.839 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-22T04:31:29.839Z,1740198689.839 [keepstation:H.Pitch] Running Loop=1
2025-02-22T04:31:29.839Z,1740198689.839 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-22T04:31:29.839Z,1740198689.839 [keepstation:B] Running Loop=1
2025-02-22T04:31:29.840Z,1740198689.840 [keepstation:H.Pitch] Running Loop=1
2025-02-22T04:31:29.840Z,1740198689.840 [keepstation:PowerOnly] Running Loop=1
2025-02-22T04:31:29.841Z,1740198689.841 [keepstation:PowerOnly:D] Stopped
2025-02-22T04:31:29.841Z,1740198689.841 [keepstation:PowerOnly:C] Stopped
2025-02-22T04:31:29.841Z,1740198689.841 [keepstation:PowerOnly:B] Stopped
2025-02-22T04:31:29.841Z,1740198689.841 [keepstation:PowerOnly:A] Stopped
2025-02-22T04:31:29.841Z,1740198689.841 [keepstation:BackseatDriver] Running Loop=1
2025-02-22T04:31:29.841Z,1740198689.841 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-22T04:31:29.857Z,1740198689.857 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-22T04:31:29.857Z,1740198689.857 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-22T04:31:29.858Z,1740198689.858 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-22T04:31:29.858Z,1740198689.858 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-22T04:31:29.859Z,1740198689.859 [keepstation:B] Stopped
2025-02-22T04:31:29.859Z,1740198689.859 [keepstation:D] Running Loop=1
2025-02-22T04:31:29.944Z,1740198689.944 [BackseatComponent](INFO): Powering up
2025-02-22T04:31:29.944Z,1740198689.944 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-22T04:31:30.423Z,1740198690.423 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 11.65 mm (3 active estimators).
2025-02-22T04:31:30.431Z,1740198690.431 [keepstation:D] Stopped
2025-02-22T04:31:30.432Z,1740198690.432 [keepstation:E] Running Loop=1
2025-02-22T04:31:30.895Z,1740198690.895 [keepstation:E] Stopped
2025-02-22T04:31:30.895Z,1740198690.895 [keepstation:StartingMission] Running Loop=1
2025-02-22T04:31:30.896Z,1740198690.896 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-22T04:31:31.296Z,1740198691.296 [keepstation:NeedComms] Running Loop=1
2025-02-22T04:31:31.296Z,1740198691.296 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-22T04:31:31.296Z,1740198691.296 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-22T04:31:31.296Z,1740198691.296 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-22T04:31:31.297Z,1740198691.297 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-22T04:31:31.297Z,1740198691.297 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-22T04:31:31.297Z,1740198691.297 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-22T04:31:31.298Z,1740198691.298 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-22T04:31:31.298Z,1740198691.298 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-22T04:31:31.298Z,1740198691.298 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-22T04:31:31.299Z,1740198691.299 [keepstation:NeedComms:A] Running Loop=1
2025-02-22T04:31:31.300Z,1740198691.300 [keepstation:NeedComms:A](INFO): last time_fix was:  1740196529.000000 second since 1970/01/01T00:00:00Z 
2025-02-22T04:31:31.300Z,1740198691.300 [keepstation:NeedComms:A] Stopped
2025-02-22T04:31:31.716Z,1740198691.716 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-22T04:31:44.220Z,1740198704.220 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:31:58.451Z,1740198718.451 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:31:59.708Z,1740198719.708 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:32:14.740Z,1740198734.740 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:32:29.584Z,1740198749.584 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:32:31.551Z,1740198751.551 [Radio_Surface](INFO): Powering down
2025-02-22T04:32:34.213Z,1740198754.213 [keepstation:NeedComms:C] Running Loop=1
2025-02-22T04:32:34.628Z,1740198754.628 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-22T04:32:37.611Z,1740198757.611 [Radio_Surface](INFO): Powering up
2025-02-22T04:33:00.727Z,1740198780.727 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:33:31.851Z,1740198811.851 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:33:35.418Z,1740198815.418 [NAL9602](INFO): SBD MO Status=1, MOMSN=13134, MT Status=0, MTMSN=0
2025-02-22T04:33:35.418Z,1740198815.418 [NAL9602](INFO): No messages in MT queue
2025-02-22T04:33:36.628Z,1740198816.628 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,043335.00,A,3647.69294,N,12150.92525,W,1.827,0.00,220225,,,A*7F
2025-02-22T04:33:36.630Z,1740198816.630 [NAL9602](INFO): GPS fix at 20250222T043335: (36.794882, -121.848754)
2025-02-22T04:33:36.644Z,1740198816.644 [keepstation:NeedComms:C] Stopped
2025-02-22T04:33:36.645Z,1740198816.645 [keepstation:NeedComms:D] Running Loop=1
2025-02-22T04:33:37.076Z,1740198817.076 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-22T04:33:53.022Z,1740198833.022 [NAL9602](INFO): SBD MO Status=1, MOMSN=13135, MT Status=0, MTMSN=0
2025-02-22T04:33:53.071Z,1740198833.071 [NAL9602](INFO): Sent 73 bytes from file Logs/20250222T025917/Courier0012.lzma
2025-02-22T04:33:53.072Z,1740198833.072 [NAL9602](INFO): Packets left to send: 0
2025-02-22T04:34:02.975Z,1740198842.975 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:34:20.077Z,1740198860.077 [NAL9602](INFO): SBD MO Status=2, MOMSN=13136, MT Status=2, MTMSN=0
2025-02-22T04:34:20.077Z,1740198860.077 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-22T04:34:34.100Z,1740198874.100 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:34:45.888Z,1740198885.888 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003343
2025-02-22T04:34:49.823Z,1740198889.823 [NAL9602](INFO): SBD MO Status=2, MOMSN=13136, MT Status=2, MTMSN=0
2025-02-22T04:34:49.843Z,1740198889.843 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-22T04:35:05.115Z,1740198905.115 [DataOverHttps](INFO): Sending 421 bytes from file Logs/20250222T025917/Express0013.lzma
2025-02-22T04:35:06.117Z,1740198906.117 [DataOverHttps](INFO): Moved sent file to Logs/20250222T025917/Express0013.lzma.bak
2025-02-22T04:35:06.117Z,1740198906.117 [DataOverHttps](INFO): SBD MOMSN=23972013
2025-02-22T04:35:09.648Z,1740198909.648 [keepstation:NeedComms:D] Stopped
2025-02-22T04:35:09.649Z,1740198909.649 [keepstation:NeedComms:E] Running Loop=1
2025-02-22T04:35:10.053Z,1740198910.053 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-22T04:35:11.588Z,1740198911.588 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,043510.00,A,3647.68880,N,12150.92977,W,0.719,147.49,220225,,,A*77
2025-02-22T04:35:11.590Z,1740198911.590 [NAL9602](INFO): GPS fix at 20250222T043510: (36.794813, -121.848829)
2025-02-22T04:35:11.672Z,1740198911.672 [keepstation:NeedComms:E] Stopped
2025-02-22T04:35:11.673Z,1740198911.673 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-22T04:35:11.673Z,1740198911.673 [keepstation:NeedComms] Stopped
2025-02-22T04:35:11.673Z,1740198911.673 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-22T04:35:11.673Z,1740198911.673 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-22T04:35:11.673Z,1740198911.673 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-22T04:35:12.092Z,1740198912.092 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-22T04:35:12.092Z,1740198912.092 [keepstation:StartingMission] Stopped
2025-02-22T04:35:12.092Z,1740198912.092 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-22T04:35:12.092Z,1740198912.092 [keepstation:TransitToStation] Running Loop=1
2025-02-22T04:35:12.092Z,1740198912.092 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-22T04:35:12.092Z,1740198912.092 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-22T04:35:12.092Z,1740198912.092 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-22T04:35:12.092Z,1740198912.092 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-22T04:35:12.093Z,1740198912.093 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-22T04:35:12.093Z,1740198912.093 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-22T04:35:12.093Z,1740198912.093 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-22T04:35:12.093Z,1740198912.093 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-22T04:35:12.093Z,1740198912.093 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-22T04:35:12.094Z,1740198912.094 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-22T04:35:12.484Z,1740198912.484 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position 11.65 mm.
2025-02-22T04:35:12.503Z,1740198912.503 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-22T04:35:12.544Z,1740198912.544 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-22T04:35:12.544Z,1740198912.544 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-22T04:35:12.545Z,1740198912.545 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-22T04:35:43.674Z,1740198943.674 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-22T04:36:48.359Z,1740199008.359 [BackseatComponent](FAULT): Failed to receive device response within the specified timeout.
2025-02-22T04:36:48.359Z,1740199008.359 [BackseatComponent] Communications Fault, FailCount= 1
2025-02-22T04:36:48.359Z,1740199008.359 [BackseatComponent](ERROR): Communications Fault
2025-02-22T04:36:48.360Z,1740199008.360 [Power24vConverter] Hardware Fault, FailCount= 1
2025-02-22T04:36:48.360Z,1740199008.360 [Power24vConverter](ERROR): Hardware Fault
2025-02-22T04:36:48.398Z,1740199008.398 [CBIT](ERROR): Communications Fault in component: BackseatComponent
2025-02-22T04:36:48.398Z,1740199008.398 [CBIT](ERROR): Hardware Fault in component: Power24vConverter
2025-02-22T04:36:48.446Z,1740199008.446 [Power24vConverter](INFO): Powering down.
2025-02-22T04:36:48.765Z,1740199008.765 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-22T04:36:48.765Z,1740199008.765 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-22T04:36:49.228Z,1740199009.228 [Power24vConverter](INFO): Powering up.
2025-02-22T04:36:49.580Z,1740199009.580 [CBIT](INFO): Clearing failed state for component Power24vConverter
2025-02-22T04:36:49.580Z,1740199009.580 [Power24vConverter] No Fault, FailCount= 1
2025-02-22T04:37:02.386Z,1740199022.386 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-02-22T04:37:06.993Z,1740199026.993 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-22T04:37:06.994Z,1740199026.994 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-22T04:37:06.994Z,1740199026.994 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-22T04:37:08.235Z,1740199028.235 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:37:10.236Z,1740199030.236 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position 11.65 mm (3 active estimators).
2025-02-22T04:37:21.221Z,1740199041.221 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:37:25.625Z,1740199045.625 [BackseatComponent](INFO): Powering up
2025-02-22T04:37:25.625Z,1740199045.625 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-22T04:37:25.851Z,1740199045.851 [CBIT](INFO): Clearing failed state for component BackseatComponent
2025-02-22T04:37:25.851Z,1740199045.851 [BackseatComponent] No Fault, FailCount= 1
2025-02-22T04:37:33.750Z,1740199053.750 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:37:46.565Z,1740199066.565 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:37:59.765Z,1740199079.765 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:38:01.152Z,1740199081.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:38:10.616Z,1740199090.616 [Radio_Surface](INFO): Powering down
2025-02-22T04:38:12.727Z,1740199092.727 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:38:25.654Z,1740199105.654 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:38:26.052Z,1740199106.052 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250222T043824
2025-02-22T04:38:32.288Z,1740199112.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:38:33.292Z,1740199113.292 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-22T04:38:38.040Z,1740199118.040 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:38:51.011Z,1740199131.011 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:39:03.243Z,1740199143.243 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:39:15.818Z,1740199155.818 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:39:25.611Z,1740199165.611 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 1975
2025-02-22T04:39:38.564Z,1740199178.564 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.725815
2025-02-22T04:39:41.007Z,1740199181.007 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:39:54.105Z,1740199194.105 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:40:07.231Z,1740199207.231 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:40:20.161Z,1740199220.161 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:40:33.568Z,1740199233.568 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:40:47.083Z,1740199247.083 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:41:00.268Z,1740199260.268 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:41:13.778Z,1740199273.778 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:41:26.236Z,1740199286.236 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:41:38.757Z,1740199298.757 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:41:51.290Z,1740199311.290 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:43:26.887Z,1740199406.887 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 1976
2025-02-22T04:43:51.717Z,1740199431.717 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-02-22T04:43:51.717Z,1740199431.717 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-22T04:43:51.717Z,1740199431.717 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-22T04:43:51.718Z,1740199431.718 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-02-22T04:43:51.718Z,1740199431.718 [keepstation:TransitToStation] Stopped
2025-02-22T04:43:51.718Z,1740199431.718 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-22T04:43:51.718Z,1740199431.718 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-22T04:43:51.718Z,1740199431.718 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-22T04:43:51.719Z,1740199431.719 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-22T04:43:51.719Z,1740199431.719 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-22T04:43:51.719Z,1740199431.719 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-22T04:43:51.719Z,1740199431.719 [keepstation:OnStation] Running Loop=1
2025-02-22T04:43:51.719Z,1740199431.719 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-02-22T04:43:52.128Z,1740199432.128 [keepstation:NeedComms] Running Loop=1
2025-02-22T04:43:52.128Z,1740199432.128 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-22T04:43:52.128Z,1740199432.128 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-22T04:43:52.128Z,1740199432.128 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-22T04:43:52.129Z,1740199432.129 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-22T04:43:52.129Z,1740199432.129 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-22T04:43:52.129Z,1740199432.129 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-22T04:43:52.130Z,1740199432.130 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-22T04:43:52.130Z,1740199432.130 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-22T04:43:52.130Z,1740199432.130 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-22T04:43:52.131Z,1740199432.131 [keepstation:NeedComms:A] Running Loop=1
2025-02-22T04:43:52.132Z,1740199432.132 [keepstation:NeedComms:A](INFO): last time_fix was:  1740198910.000000 second since 1970/01/01T00:00:00Z 
2025-02-22T04:43:52.132Z,1740199432.132 [keepstation:NeedComms:A] Stopped
2025-02-22T04:44:42.933Z,1740199482.933 [keepstation:NeedComms:C] Running Loop=1
2025-02-22T04:44:43.531Z,1740199483.531 [Radio_Surface](INFO): Powering up
2025-02-22T04:44:48.812Z,1740199488.812 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-22T04:45:03.535Z,1740199503.535 [NAL9602](INFO): SBD MO Status=2, MOMSN=13136, MT Status=2, MTMSN=0
2025-02-22T04:45:03.535Z,1740199503.535 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-22T04:45:18.931Z,1740199518.931 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:45:41.726Z,1740199541.726 [NAL9602](INFO): SBD MO Status=1, MOMSN=13136, MT Status=0, MTMSN=0
2025-02-22T04:45:41.726Z,1740199541.726 [NAL9602](INFO): No messages in MT queue
2025-02-22T04:45:42.943Z,1740199542.943 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,044542.00,A,3647.79072,N,12150.77586,W,1.944,111.35,220225,,,A*74
2025-02-22T04:45:42.945Z,1740199542.945 [NAL9602](INFO): GPS fix at 20250222T044542: (36.796512, -121.846264)
2025-02-22T04:45:42.960Z,1740199542.960 [keepstation:NeedComms:C] Stopped
2025-02-22T04:45:42.961Z,1740199542.961 [keepstation:NeedComms:D] Running Loop=1
2025-02-22T04:45:50.056Z,1740199550.056 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:46:12.768Z,1740199572.768 [NAL9602](INFO): SBD MO Status=2, MOMSN=13137, MT Status=2, MTMSN=0
2025-02-22T04:46:12.768Z,1740199572.768 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-22T04:46:21.207Z,1740199581.207 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:46:32.870Z,1740199592.870 [NAL9602](INFO): SBD MO Status=1, MOMSN=13137, MT Status=0, MTMSN=0
2025-02-22T04:46:32.919Z,1740199592.919 [NAL9602](INFO): Sent 73 bytes from file Logs/20250222T025917/Courier0015.lzma
2025-02-22T04:46:32.920Z,1740199592.920 [NAL9602](INFO): Packets left to send: 0
2025-02-22T04:46:50.076Z,1740199610.076 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:46:52.158Z,1740199612.158 [NAL9602](INFO): SBD MO Status=1, MOMSN=13138, MT Status=0, MTMSN=0
2025-02-22T04:46:52.216Z,1740199612.216 [NAL9602](INFO): Sent 324 bytes from file Logs/20250222T025917/Express0016.lzma
2025-02-22T04:46:52.216Z,1740199612.216 [NAL9602](INFO): Packets left to send: 0
2025-02-22T04:46:52.348Z,1740199612.348 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:47:03.126Z,1740199623.126 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:47:05.837Z,1740199625.837 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004035
2025-02-22T04:47:07.142Z,1740199627.142 [NAL9602](INFO): SBD MO Status=0, MOMSN=13139, MT Status=0, MTMSN=0
2025-02-22T04:47:08.012Z,1740199628.012 [keepstation:NeedComms:D] Stopped
2025-02-22T04:47:08.013Z,1740199628.013 [keepstation:NeedComms:E] Running Loop=1
2025-02-22T04:47:09.978Z,1740199629.978 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,044709.00,A,3647.78255,N,12150.76781,W,0.097,189.04,220225,,,A*7E
2025-02-22T04:47:09.981Z,1740199629.981 [NAL9602](INFO): GPS fix at 20250222T044709: (36.796376, -121.846130)
2025-02-22T04:47:10.052Z,1740199630.052 [keepstation:NeedComms:E] Stopped
2025-02-22T04:47:10.053Z,1740199630.053 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-22T04:47:10.053Z,1740199630.053 [keepstation:NeedComms] Stopped
2025-02-22T04:47:10.053Z,1740199630.053 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-22T04:47:10.053Z,1740199630.053 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-22T04:47:10.054Z,1740199630.054 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-22T04:47:10.694Z,1740199630.694 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-02-22T04:47:10.694Z,1740199630.694 [keepstation:OnStation] Stopped
2025-02-22T04:47:10.694Z,1740199630.694 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-02-22T04:47:10.694Z,1740199630.694 [keepstation:KeepStation] Running Loop=1
2025-02-22T04:47:10.694Z,1740199630.694 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-02-22T04:47:10.694Z,1740199630.694 [keepstation:KeepStation:A] Running Loop=1
2025-02-22T04:47:10.694Z,1740199630.694 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-22T04:47:10.695Z,1740199630.695 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-02-22T04:47:10.695Z,1740199630.695 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-22T04:47:10.716Z,1740199630.716 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-22T04:47:10.716Z,1740199630.716 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-02-22T04:47:10.716Z,1740199630.716 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-02-22T04:47:11.424Z,1740199631.424 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-22T04:47:11.425Z,1740199631.425 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-22T04:47:11.425Z,1740199631.425 [keepstation:KeepStation:A] Running Loop=1
2025-02-22T04:47:15.991Z,1740199635.991 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:47:29.155Z,1740199649.155 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:47:42.072Z,1740199662.072 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:47:42.492Z,1740199662.492 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-22T04:47:54.000Z,1740199675.000 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:48:07.976Z,1740199687.976 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:48:20.885Z,1740199700.885 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:48:33.818Z,1740199713.818 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:48:46.746Z,1740199726.746 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:48:59.270Z,1740199739.270 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T04:49:26.845Z,1740199766.845 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:49:39.292Z,1740199779.292 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:49:52.624Z,1740199792.624 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:50:04.742Z,1740199804.742 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:50:17.268Z,1740199817.268 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:50:30.600Z,1740199830.600 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:50:32.135Z,1740199832.135 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:50:43.526Z,1740199843.526 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T04:50:53.629Z,1740199853.629 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-22T04:50:53.630Z,1740199853.630 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-22T04:50:53.633Z,1740199853.633 [BPC1](FAULT): Failed to receive data from 5 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 25, 26, 36, 37, 62.
2025-02-22T04:51:03.264Z,1740199863.264 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:51:09.319Z,1740199869.319 [Radio_Surface](INFO): Powering down
2025-02-22T04:51:34.403Z,1740199894.403 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-22T04:51:35.408Z,1740199895.408 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-22T04:52:39.665Z,1740199959.665 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.740784
2025-02-22T05:02:01.842Z,1740200521.842 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T05:02:14.769Z,1740200534.769 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T05:02:27.698Z,1740200547.698 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T05:02:40.626Z,1740200560.626 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T05:02:53.553Z,1740200573.553 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T05:03:06.886Z,1740200586.886 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T05:03:19.410Z,1740200599.410 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-22T05:08:19.183Z,1740200899.183 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-02-22T05:08:25.243Z,1740200905.243 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-22T05:08:25.272Z,1740200905.272 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-22T05:08:25.272Z,1740200905.272 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-22T05:08:25.275Z,1740200905.275 [BPC1](INFO): Received data from all battery sticks.
2025-02-22T05:16:30.068Z,1740201390.068 [keepstation](INFO): Timed out from 2025-02-22T04:31:29.8Z
2025-02-22T05:16:30.068Z,1740201390.068 [MissionManager](INFO): keepstation is completed.
2025-02-22T05:16:30.068Z,1740201390.068 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-22T05:16:30.068Z,1740201390.068 [keepstation] Stopped
2025-02-22T05:16:30.068Z,1740201390.068 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-22T05:16:30.069Z,1740201390.069 [keepstation:StandardEnvelopes] Stopped