2025-02-24T02:00:57.829Z,1740362457.829 [CommandExec](IMPORTANT): got command restart logs
2025-02-24T02:01:20.088Z,1740362480.088 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-24T02:01:20.089Z,1740362480.089 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-24T02:01:20.089Z,1740362480.089 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-24T02:01:20.093Z,1740362480.093 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-24T02:01:21.386Z,1740362481.386 [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>

2025-02-24T02:01:21.403Z,1740362481.403 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-24T02:01:21.405Z,1740362481.405 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-24T02:01:21.415Z,1740362481.415 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-24T02:01:21.428Z,1740362481.428 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-24T02:01:21.430Z,1740362481.430 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-24T02:01:21.432Z,1740362481.432 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-24T02:01:21.434Z,1740362481.434 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-24T02:01:21.436Z,1740362481.436 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-24T02:01:21.438Z,1740362481.438 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-24T02:01:21.440Z,1740362481.440 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-24T02:01:21.442Z,1740362481.442 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-24T02:01:21.443Z,1740362481.443 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-24T02:01:21.471Z,1740362481.471 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-24T02:01:21.472Z,1740362481.472 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-24T02:01:21.838Z,1740362481.838 [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>

2025-02-24T02:01:21.883Z,1740362481.883 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-24T02:01:21.889Z,1740362481.889 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-24T02:01:21.896Z,1740362481.896 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-24T02:01:21.898Z,1740362481.898 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-24T02:01:21.904Z,1740362481.904 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-24T02:01:21.907Z,1740362481.907 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-24T02:01:21.925Z,1740362481.925 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-24T02:01:21.931Z,1740362481.931 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-24T02:01:21.942Z,1740362481.942 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-24T02:01:21.983Z,1740362481.983 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-24T02:01:21.983Z,1740362481.983 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-24T02:01:21.984Z,1740362481.984 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-24T02:01:22.108Z,1740362482.108 [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>

2025-02-24T02:01:22.116Z,1740362482.116 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-24T02:01:22.118Z,1740362482.118 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-24T02:01:22.120Z,1740362482.120 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-24T02:01:22.122Z,1740362482.122 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-24T02:01:22.131Z,1740362482.131 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-24T02:01:22.141Z,1740362482.141 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-24T02:01:22.156Z,1740362482.156 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-24T02:01:22.172Z,1740362482.172 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-24T02:01:22.172Z,1740362482.172 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-24T02:01:22.173Z,1740362482.173 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-24T02:01:22.215Z,1740362482.215 [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>

2025-02-24T02:01:22.222Z,1740362482.222 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-24T02:01:22.228Z,1740362482.228 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-24T02:01:22.231Z,1740362482.231 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-24T02:01:22.231Z,1740362482.231 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-24T02:01:22.236Z,1740362482.236 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-24T02:01:22.490Z,1740362482.490 [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>

2025-02-24T02:01:22.497Z,1740362482.497 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-24T02:01:22.503Z,1740362482.503 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-24T02:01:22.508Z,1740362482.508 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-24T02:01:22.510Z,1740362482.510 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-24T02:01:22.513Z,1740362482.513 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-24T02:01:22.527Z,1740362482.527 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-24T02:01:22.529Z,1740362482.529 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-24T02:01:22.543Z,1740362482.543 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-24T02:01:22.546Z,1740362482.546 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-24T02:01:22.554Z,1740362482.554 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-24T02:01:22.557Z,1740362482.557 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-24T02:01:22.577Z,1740362482.577 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-24T02:01:22.582Z,1740362482.582 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-24T02:01:22.601Z,1740362482.601 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-24T02:01:22.624Z,1740362482.624 [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
    }
  }
}


2025-02-24T02:01:22.625Z,1740362482.625 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-24T02:02:00.789Z,1740362520.789 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 3.5 hour
2025-02-24T02:02:00.789Z,1740362520.789 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 3 hour
2025-02-24T02:02:00.790Z,1740362520.790 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-02-24T02:02:00.795Z,1740362520.795 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-02-24T02:02:00.796Z,1740362520.796 [CommandExec](IMPORTANT): got command set keepstation.Depth 5 meter
2025-02-24T02:02:03.786Z,1740362523.786 [DataOverHttps](IMPORTANT): SBD MTMSN=20250224T020202
2025-02-24T02:02:14.751Z,1740362534.751 [DataOverHttps](INFO): Received command: sched "load Transport/keepstation.tl;set keepstation.MissionTimeout 3.5 h;set keepstation.NeedCommsTime 3 h;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.DepthDeadband 1 m" 27sav 1 2
2025-02-24T02:02:15.753Z,1740362535.753 [DataOverHttps](IMPORTANT): SBD MTMSN=20250224T020214
2025-02-24T02:02:26.819Z,1740362546.819 [DataOverHttps](INFO): Received command: sched "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 27sav 2 2
2025-02-24T02:02:27.330Z,1740362547.330 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 1 meter
2025-02-24T02:02:27.335Z,1740362547.335 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-02-24T02:02:27.336Z,1740362547.336 [CommandExec](IMPORTANT): got command run
2025-02-24T02:02:27.337Z,1740362547.337 [CommandExec](IMPORTANT): Running 
2025-02-24T02:02:27.359Z,1740362547.359 [Default] Stopped
2025-02-24T02:02:27.359Z,1740362547.359 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-24T02:02:27.359Z,1740362547.359 [Default:B.GoToSurface] Stopped
2025-02-24T02:02:27.359Z,1740362547.359 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-24T02:02:27.359Z,1740362547.359 [Default:CheckIn] Stopped
2025-02-24T02:02:27.360Z,1740362547.360 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-24T02:02:27.360Z,1740362547.360 [Default:CheckIn:C.Wait] Stopped
2025-02-24T02:02:27.360Z,1740362547.360 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T02:02:27.360Z,1740362547.360 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-24T02:02:27.360Z,1740362547.360 [keepstation] Running Loop=1
2025-02-24T02:02:27.360Z,1740362547.360 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-24T02:02:27.360Z,1740362547.360 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-24T02:02:27.360Z,1740362547.360 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-24T02:02:27.361Z,1740362547.361 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-24T02:02:27.361Z,1740362547.361 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-24T02:02:27.361Z,1740362547.361 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-24T02:02:27.361Z,1740362547.361 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-24T02:02:27.361Z,1740362547.361 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-24T02:02:27.361Z,1740362547.361 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-24T02:02:27.361Z,1740362547.361 [keepstation:BackseatDriver] Running Loop=1
2025-02-24T02:02:27.361Z,1740362547.361 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-24T02:02:27.361Z,1740362547.361 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-24T02:02:27.362Z,1740362547.362 [keepstation:PowerOnly] Running Loop=1
2025-02-24T02:02:27.362Z,1740362547.362 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-24T02:02:27.362Z,1740362547.362 [keepstation:PowerOnly:A] Running Loop=1
2025-02-24T02:02:27.362Z,1740362547.362 [keepstation:PowerOnly:B] Running Loop=1
2025-02-24T02:02:27.362Z,1740362547.362 [keepstation:PowerOnly:C] Running Loop=1
2025-02-24T02:02:27.362Z,1740362547.362 [keepstation:PowerOnly:D] Running Loop=1
2025-02-24T02:02:27.362Z,1740362547.362 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-24T02:02:27.362Z,1740362547.362 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-24T02:02:27.362Z,1740362547.362 [keepstation:H.Pitch] Running Loop=1
2025-02-24T02:02:27.362Z,1740362547.362 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-24T02:02:27.363Z,1740362547.363 [keepstation:B] Running Loop=1
2025-02-24T02:02:27.375Z,1740362547.375 [keepstation:H.Pitch] Running Loop=1
2025-02-24T02:02:27.376Z,1740362547.376 [keepstation:PowerOnly] Running Loop=1
2025-02-24T02:02:27.376Z,1740362547.376 [keepstation:PowerOnly:D] Stopped
2025-02-24T02:02:27.376Z,1740362547.376 [keepstation:PowerOnly:C] Stopped
2025-02-24T02:02:27.376Z,1740362547.376 [keepstation:PowerOnly:B] Stopped
2025-02-24T02:02:27.376Z,1740362547.376 [keepstation:PowerOnly:A] Stopped
2025-02-24T02:02:27.376Z,1740362547.376 [keepstation:BackseatDriver] Running Loop=1
2025-02-24T02:02:27.376Z,1740362547.376 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-24T02:02:27.416Z,1740362547.416 [CommandExec](IMPORTANT): got command schedule "load Transport/keepstation.tl;set keepstation.MissionTimeout 3.5 h;set keepstation.NeedCommsTime 3 h;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.DepthDeadband 1 m" 27sav 1 2.000000
2025-02-24T02:02:27.416Z,1740362547.416 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=27sav
2025-02-24T02:02:27.417Z,1740362547.417 [CommandExec](IMPORTANT): Scheduled #100 (#1 of 2 with id='27sav'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 3.5 h;set keepstation.NeedCommsTime 3 h;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.DepthDeadband 1 m", AFTER MISSION
2025-02-24T02:02:27.427Z,1740362547.427 [CommandExec](IMPORTANT): got command schedule "set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 27sav 2 2.000000
2025-02-24T02:02:27.431Z,1740362547.431 [BackseatComponent](INFO): Powering up
2025-02-24T02:02:27.432Z,1740362547.432 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-24T02:02:27.434Z,1740362547.434 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=27sav
2025-02-24T02:02:27.438Z,1740362547.438 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-24T02:02:27.438Z,1740362547.438 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-24T02:02:27.438Z,1740362547.438 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-24T02:02:27.438Z,1740362547.438 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-24T02:02:27.435Z,1740362547.435 [CommandExec](IMPORTANT): Scheduled #101 (#2 of 2 with id='27sav'): "set keepstation:BackseatDriver.EnableBackseat 1 bool;run", AFTER MISSION
2025-02-24T02:02:27.448Z,1740362547.448 [keepstation:B] Stopped
2025-02-24T02:02:27.448Z,1740362547.448 [keepstation:D] Running Loop=1
2025-02-24T02:02:27.743Z,1740362547.743 [keepstation:D] Stopped
2025-02-24T02:02:27.744Z,1740362547.744 [keepstation:E] Running Loop=1
2025-02-24T02:02:27.821Z,1740362547.821 [DataOverHttps](IMPORTANT): SBD MTMSN=20250224T020226
2025-02-24T02:02:28.151Z,1740362548.151 [keepstation:E] Stopped
2025-02-24T02:02:28.151Z,1740362548.151 [keepstation:StartingMission] Running Loop=1
2025-02-24T02:02:28.152Z,1740362548.152 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-24T02:02:28.544Z,1740362548.544 [keepstation:NeedComms] Running Loop=1
2025-02-24T02:02:28.544Z,1740362548.544 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-24T02:02:28.544Z,1740362548.544 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-24T02:02:28.544Z,1740362548.544 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-24T02:02:28.545Z,1740362548.545 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-24T02:02:28.545Z,1740362548.545 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-24T02:02:28.545Z,1740362548.545 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-24T02:02:28.546Z,1740362548.546 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-24T02:02:28.546Z,1740362548.546 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-24T02:02:28.546Z,1740362548.546 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-24T02:02:28.547Z,1740362548.547 [keepstation:NeedComms:A] Running Loop=1
2025-02-24T02:02:28.564Z,1740362548.564 [keepstation:NeedComms:A](INFO): last time_fix was:  1740362374.000000 second since 1970/01/01T00:00:00Z 
2025-02-24T02:02:28.564Z,1740362548.564 [keepstation:NeedComms:A] Stopped
2025-02-24T02:02:28.944Z,1740362548.944 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-24T02:02:28.945Z,1740362548.945 [keepstation:NeedComms:C] Running Loop=1
2025-02-24T02:02:29.352Z,1740362549.352 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-24T02:02:30.958Z,1740362550.958 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,020230.00,A,3647.57198,N,12150.66408,W,0.816,165.83,240225,,,A*75
2025-02-24T02:02:30.961Z,1740362550.961 [NAL9602](INFO): GPS fix at 20250224T020230: (36.792866, -121.844401)
2025-02-24T02:02:30.996Z,1740362550.996 [keepstation:NeedComms:C] Stopped
2025-02-24T02:02:30.996Z,1740362550.996 [keepstation:NeedComms:D] Running Loop=1
2025-02-24T02:02:31.405Z,1740362551.405 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-24T02:02:35.428Z,1740362555.428 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250223T170550/Courier0039.lzma
2025-02-24T02:02:35.430Z,1740362555.430 [DataOverHttps](INFO): Received command: restart logs