2025-02-24T16:54:46.735Z,1740416086.735 [DataOverHttps](INFO): Received command: restart logs
2025-02-24T16:54:46.764Z,1740416086.764 [CommandExec](IMPORTANT): got command restart logs
2025-02-24T16:54:47.384Z,1740416087.384 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T16:59:33.228Z,1740416373.228 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-24T16:59:33.228Z,1740416373.228 [Default:CheckIn:C.Wait] Stopped
2025-02-24T16:59:33.228Z,1740416373.228 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T16:59:33.228Z,1740416373.228 [Default:CheckIn:D] Running Loop=1
2025-02-24T16:59:33.629Z,1740416373.629 [Default:CheckIn:D] Stopped
2025-02-24T16:59:33.629Z,1740416373.629 [Default:CheckIn:E] Running Loop=1
2025-02-24T16:59:34.035Z,1740416374.035 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.667159 min 
2025-02-24T16:59:34.035Z,1740416374.035 [Default:CheckIn:E] Stopped
2025-02-24T16:59:34.047Z,1740416374.047 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-24T16:59:34.047Z,1740416374.047 [Default:CheckIn] Stopped
2025-02-24T16:59:34.047Z,1740416374.047 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-24T16:59:34.048Z,1740416374.048 [Default:CheckIn](INFO): Running loop #2
2025-02-24T16:59:34.048Z,1740416374.048 [Default:CheckIn] Running Loop=2
2025-02-24T16:59:34.048Z,1740416374.048 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-24T16:59:34.048Z,1740416374.048 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-24T16:59:36.022Z,1740416376.022 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165935.00,A,3648.02953,N,12150.83067,W,0.292,107.21,240225,,,A*77
2025-02-24T16:59:36.025Z,1740416376.025 [NAL9602](INFO): GPS fix at 20250224T165935: (36.800492, -121.847178)
2025-02-24T16:59:36.088Z,1740416376.088 [Default:CheckIn:Read_GPS] Stopped
2025-02-24T16:59:36.088Z,1740416376.088 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-24T16:59:48.599Z,1740416388.599 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250224T020235/Courier0039.lzma
2025-02-24T16:59:50.026Z,1740416390.026 [NAL9602](INFO): SBD MO Status=1, MOMSN=13295, MT Status=0, MTMSN=0
2025-02-24T16:59:50.026Z,1740416390.026 [NAL9602](INFO): No messages in MT queue
2025-02-24T16:59:54.254Z,1740416394.254 [DataOverHttps](INFO): Moved sent file to Logs/20250224T020235/Courier0039.lzma.bak
2025-02-24T16:59:54.255Z,1740416394.255 [DataOverHttps](INFO): SBD MOMSN=23973672
2025-02-24T17:00:18.328Z,1740416418.328 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20250224T165446/Courier0000.lzma
2025-02-24T17:00:19.329Z,1740416419.329 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Courier0000.lzma.bak
2025-02-24T17:00:19.329Z,1740416419.329 [DataOverHttps](INFO): SBD MOMSN=23973676
2025-02-24T17:00:20.692Z,1740416420.692 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T17:00:44.235Z,1740416444.235 [DataOverHttps](INFO): Sending 140 bytes from file Logs/20250224T020235/Express0040.lzma
2025-02-24T17:00:45.251Z,1740416445.251 [DataOverHttps](INFO): Moved sent file to Logs/20250224T020235/Express0040.lzma.bak
2025-02-24T17:00:45.251Z,1740416445.251 [DataOverHttps](INFO): SBD MOMSN=23973680
2025-02-24T17:01:18.752Z,1740416478.752 [DataOverHttps](INFO): Sending 382 bytes from file Logs/20250224T165446/Express0001.lzma
2025-02-24T17:01:19.757Z,1740416479.757 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Express0001.lzma.bak
2025-02-24T17:01:19.757Z,1740416479.757 [DataOverHttps](INFO): SBD MOMSN=23973683
2025-02-24T17:01:47.403Z,1740416507.403 [DataOverHttps](INFO): Sending 53 bytes from file Logs/20250224T165446/Express0004.lzma
2025-02-24T17:01:48.406Z,1740416508.406 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Express0004.lzma.bak
2025-02-24T17:01:48.406Z,1740416508.406 [DataOverHttps](INFO): SBD MOMSN=23973687
2025-02-24T17:01:50.573Z,1740416510.573 [Default:CheckIn:Read_Iridium] Stopped
2025-02-24T17:01:50.573Z,1740416510.573 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-24T17:01:50.573Z,1740416510.573 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-24T17:06:51.290Z,1740416811.290 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-24T17:06:51.290Z,1740416811.290 [Default:CheckIn:C.Wait] Stopped
2025-02-24T17:06:51.291Z,1740416811.291 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T17:06:51.291Z,1740416811.291 [Default:CheckIn:D] Running Loop=1
2025-02-24T17:06:51.711Z,1740416811.711 [Default:CheckIn:D] Stopped
2025-02-24T17:06:51.711Z,1740416811.711 [Default:CheckIn:E] Running Loop=1
2025-02-24T17:06:52.096Z,1740416812.096 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  13.968257 min 
2025-02-24T17:06:52.096Z,1740416812.096 [Default:CheckIn:E] Stopped
2025-02-24T17:06:52.096Z,1740416812.096 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-24T17:06:52.096Z,1740416812.096 [Default:CheckIn] Stopped
2025-02-24T17:06:52.096Z,1740416812.096 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-24T17:06:52.096Z,1740416812.096 [Default:CheckIn](INFO): Running loop #3
2025-02-24T17:06:52.096Z,1740416812.096 [Default:CheckIn] Running Loop=3
2025-02-24T17:06:52.097Z,1740416812.097 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-24T17:06:52.097Z,1740416812.097 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-24T17:06:54.110Z,1740416814.110 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,170653.00,A,3648.01155,N,12150.83182,W,0.641,155.88,240225,,,D*70
2025-02-24T17:06:54.113Z,1740416814.113 [NAL9602](INFO): GPS fix at 20250224T170653: (36.800193, -121.847197)
2025-02-24T17:06:54.125Z,1740416814.125 [Default:CheckIn:Read_GPS] Stopped
2025-02-24T17:06:54.125Z,1740416814.125 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-24T17:07:01.295Z,1740416821.295 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250224T165446/Courier0006.lzma
2025-02-24T17:07:02.310Z,1740416822.310 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Courier0006.lzma.bak
2025-02-24T17:07:02.310Z,1740416822.310 [DataOverHttps](INFO): SBD MOMSN=23973689
2025-02-24T17:07:07.943Z,1740416827.943 [NAL9602](INFO): SBD MO Status=1, MOMSN=13296, MT Status=0, MTMSN=0
2025-02-24T17:07:07.944Z,1740416827.944 [NAL9602](INFO): No messages in MT queue
2025-02-24T17:07:22.751Z,1740416842.751 [DataOverHttps](INFO): Sending 132 bytes from file Logs/20250224T165446/Express0007.lzma
2025-02-24T17:07:23.753Z,1740416843.753 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Express0007.lzma.bak
2025-02-24T17:07:23.753Z,1740416843.753 [DataOverHttps](INFO): SBD MOMSN=23973694
2025-02-24T17:07:25.316Z,1740416845.316 [Default:CheckIn:Read_Iridium] Stopped
2025-02-24T17:07:25.317Z,1740416845.317 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-24T17:07:25.317Z,1740416845.317 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-24T17:07:38.639Z,1740416858.639 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T17:11:14.094Z,1740417074.094 [DataOverHttps](IMPORTANT): SBD MTMSN=20250224T171113
2025-02-24T17:11:28.083Z,1740417088.083 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation_approach.tl;set keepstation_approach.MissionTimeout 1 h;set keepstation_approach.NeedCommsTime 30 min;set keepstation_approach.Latitude 36.797 degree;set keepstation_approach.Longitude -121.847 degree" 28ydw 1 2
2025-02-24T17:11:28.089Z,1740417088.089 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation_approach.tl;set keepstation_approach.MissionTimeout 1 h;set keepstation_approach.NeedCommsTime 30 min;set keepstation_approach.Latitude 36.797 degree;set keepstation_approach.Longitude -121.847 degree" 28ydw 1 2.000000
2025-02-24T17:11:28.089Z,1740417088.089 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=28ydw
2025-02-24T17:11:28.090Z,1740417088.090 [CommandExec](IMPORTANT): Scheduled #103 (#1 of 2 with id='28ydw'): "load Transport/keepstation_approach.tl;set keepstation_approach.MissionTimeout 1 h;set keepstation_approach.NeedCommsTime 30 min;set keepstation_approach.Latitude 36.797 degree;set keepstation_approach.Longitude -121.847 degree", ASAP
2025-02-24T17:11:29.085Z,1740417089.085 [DataOverHttps](IMPORTANT): SBD MTMSN=20250224T171128
2025-02-24T17:11:41.118Z,1740417101.118 [DataOverHttps](INFO): Received command: sched asap "set keepstation_approach.Depth 10 m;set keepstation_approach.ApproachDepth 10 m;run" 28ydw 2 2
2025-02-24T17:11:41.223Z,1740417101.223 [CommandExec](IMPORTANT): got command schedule asap "set keepstation_approach.Depth 10 m;set keepstation_approach.ApproachDepth 10 m;run" 28ydw 2 2.000000
2025-02-24T17:11:41.224Z,1740417101.224 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=28ydw
2025-02-24T17:11:41.225Z,1740417101.225 [CommandExec](IMPORTANT): Scheduled #104 (#2 of 2 with id='28ydw'): "set keepstation_approach.Depth 10 m;set keepstation_approach.ApproachDepth 10 m;run", ASAP
2025-02-24T17:11:41.362Z,1740417101.362 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation_approach.tl
2025-02-24T17:11:41.363Z,1740417101.363 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation_approach.tl
2025-02-24T17:11:41.368Z,1740417101.368 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation_approach.tl
2025-02-24T17:11:41.401Z,1740417101.401 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation_approach.tl
2025-02-24T17:11:43.713Z,1740417103.713 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation_approach.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation_approach">
    <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="TransitDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>29</Value>
    </DefineArg>
    <DefineArg Name="SettleTime">
        <Units:minute />
        <Value>5</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="ApproachSpeed">
        <Units:meter_per_second />
        <Value>1</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>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <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>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Syslog Severity="Info">Transiting to station</Syslog>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="TransitDepth" />
            </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="SurfaceComms" Id="OnStation" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="ApproachSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Sequence />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                    , settling for 
                    <Arg Name="SettleTime" />
                    <Units:minute />
                </Syslog>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="SettleTime" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
            </While>
            <Aggregate Id="keepstation">
                <Parallel />
                <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>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="Station">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-02-24T17:11:43.729Z,1740417103.729 [MissionManager](INFO): DefineArg keepstation_approach.MissionTimeout = 4.000000 h
2025-02-24T17:11:43.736Z,1740417103.736 [MissionManager](INFO): DefineArg keepstation_approach.NeedCommsTime = 45.000000 min
2025-02-24T17:11:43.738Z,1740417103.738 [MissionManager](INFO): DefineArg keepstation_approach.Latitude = nan arcdeg
2025-02-24T17:11:43.745Z,1740417103.745 [MissionManager](INFO): DefineArg keepstation_approach.Longitude = nan arcdeg
2025-02-24T17:11:43.752Z,1740417103.752 [MissionManager](INFO): DefineArg keepstation_approach.Depth = 30.000000 m
2025-02-24T17:11:43.754Z,1740417103.754 [MissionManager](INFO): DefineArg keepstation_approach.TransitDepth = 15.000000 m
2025-02-24T17:11:43.761Z,1740417103.761 [MissionManager](INFO): DefineArg keepstation_approach.ApproachDepth = 29.000000 m
2025-02-24T17:11:43.763Z,1740417103.763 [MissionManager](INFO): DefineArg keepstation_approach.SettleTime = 5.000000 min
2025-02-24T17:11:43.790Z,1740417103.790 [MissionManager](INFO): DefineArg keepstation_approach.DepthDeadband = 4.000000 m
2025-02-24T17:11:43.796Z,1740417103.796 [MissionManager](INFO): DefineArg keepstation_approach.Speed = 0.750000 m/s
2025-02-24T17:11:43.799Z,1740417103.799 [MissionManager](INFO): DefineArg keepstation_approach.ApproachSpeed = 1.000000 m/s
2025-02-24T17:11:43.849Z,1740417103.849 [MissionManager](INFO): DefineArg keepstation_approach.Radius = 200.000000 m
2025-02-24T17:11:43.863Z,1740417103.863 [MissionManager](INFO): DefineArg keepstation_approach.MaxDepth = 45.000000 m
2025-02-24T17:11:43.866Z,1740417103.866 [MissionManager](INFO): DefineArg keepstation_approach.MinOffshore = 2.000000 km
2025-02-24T17:11:43.889Z,1740417103.889 [MissionManager](INFO): DefineOutput keepstation_approach.DiveMode = 0.000000 count
2025-02-24T17:11:43.903Z,1740417103.903 [MissionManager](INFO): DefineOutput keepstation_approach.DoingComms = 0.000000 count
2025-02-24T17:11:43.905Z,1740417103.905 [MissionManager](INFO): DefineOutput keepstation_approach.InitialDive = 1.000000 count
2025-02-24T17:11:43.924Z,1740417103.924 [MissionManager](INFO): DefineOutput keepstation_approach.SettleAtDepth = 2.000000 count
2025-02-24T17:11:43.926Z,1740417103.926 [MissionManager](INFO): DefineOutput keepstation_approach.MaintainDepth = 3.000000 count
2025-02-24T17:11:43.971Z,1740417103.971 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-24T17:11:43.971Z,1740417103.971 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-24T17:11:43.973Z,1740417103.973 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-24T17:11:44.510Z,1740417104.510 [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>

2025-02-24T17:11:44.518Z,1740417104.518 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.DiveInterval = 1.000000 h
2025-02-24T17:11:44.541Z,1740417104.541 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-24T17:11:44.564Z,1740417104.564 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-24T17:11:44.566Z,1740417104.566 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.SurfaceDepthRate = nan m/s
2025-02-24T17:11:44.573Z,1740417104.573 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-24T17:11:44.580Z,1740417104.580 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-24T17:11:44.582Z,1740417104.582 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.GPSTimeout = 7.000000 min
2025-02-24T17:11:44.589Z,1740417104.589 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.CommsTimeout = 30.000000 min
2025-02-24T17:11:44.668Z,1740417104.668 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-24T17:11:44.740Z,1740417104.740 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-24T17:11:44.740Z,1740417104.740 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-24T17:11:44.741Z,1740417104.741 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-24T17:11:44.901Z,1740417104.901 [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>

2025-02-24T17:11:44.909Z,1740417104.909 [MissionManager](INFO): DefineArg keepstation_approach:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-24T17:11:44.916Z,1740417104.916 [MissionManager](INFO): DefineArg keepstation_approach:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-24T17:11:44.918Z,1740417104.918 [MissionManager](INFO): DefineArg keepstation_approach:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-24T17:11:44.924Z,1740417104.924 [MissionManager](INFO): DefineArg keepstation_approach:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-24T17:11:44.925Z,1740417104.925 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-24T17:11:44.964Z,1740417104.964 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-24T17:11:44.974Z,1740417104.974 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-24T17:11:44.990Z,1740417104.990 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-24T17:11:44.990Z,1740417104.990 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-24T17:11:45.005Z,1740417105.005 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-24T17:11:45.103Z,1740417105.103 [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>

2025-02-24T17:11:45.106Z,1740417105.106 [MissionManager](INFO): DefineArg keepstation_approach:BackseatDriver.EnableBackseat = 0 bool
2025-02-24T17:11:45.126Z,1740417105.126 [keepstation_approach:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-24T17:11:45.133Z,1740417105.133 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-24T17:11:45.133Z,1740417105.133 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-24T17:11:45.134Z,1740417105.134 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-24T17:11:45.361Z,1740417105.361 [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>

2025-02-24T17:11:45.390Z,1740417105.390 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.SampleAll = 0 bool
2025-02-24T17:11:45.405Z,1740417105.405 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.SampleLoad1 = 0 bool
2025-02-24T17:11:45.407Z,1740417105.407 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.SampleLoad2 = 0 bool
2025-02-24T17:11:45.409Z,1740417105.409 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.SampleLoad3 = 0 bool
2025-02-24T17:11:45.411Z,1740417105.411 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-24T17:11:45.490Z,1740417105.490 [keepstation_approach:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-24T17:11:45.509Z,1740417105.509 [keepstation_approach:H.Pitch](DEBUG): Construct.
2025-02-24T17:11:45.558Z,1740417105.558 [keepstation_approach:TransitToStation:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-24T17:11:45.567Z,1740417105.567 [keepstation_approach:TransitToStation:C.Pitch](DEBUG): Construct.
2025-02-24T17:11:45.584Z,1740417105.584 [keepstation_approach:TransitToStation:D.SetSpeed](DEBUG): Construct.
2025-02-24T17:11:45.586Z,1740417105.586 [keepstation_approach:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-24T17:11:45.609Z,1740417105.609 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-24T17:11:45.616Z,1740417105.616 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed](DEBUG): Construct.
2025-02-24T17:11:45.618Z,1740417105.618 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch](DEBUG): Construct.
2025-02-24T17:11:45.648Z,1740417105.648 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Construct.
2025-02-24T17:11:45.650Z,1740417105.650 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch](DEBUG): Construct.
2025-02-24T17:11:45.663Z,1740417105.663 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](DEBUG): Construct Wait.
2025-02-24T17:11:45.673Z,1740417105.673 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch](DEBUG): Construct.
2025-02-24T17:11:45.707Z,1740417105.707 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-24T17:11:45.725Z,1740417105.725 [keepstation_approach:Station:B.Wait](DEBUG): Construct Wait.
2025-02-24T17:11:45.757Z,1740417105.757 [MissionManager](DEBUG): 
mission keepstation_approach {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius. After each surface interval,
  performs an approach dive to settle at the approach depth before
  transitioning to station keeping.
  """

  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
      """

    TransitDepth = 15 meter
      """
      Depth for initial transit to station.
      """

    ApproachDepth = 29 meter
      """
      Depth for initial dive during station keeping
      """

    SettleTime = 5 minute
      """
      Time to hold at approach depth before transitioning to station keeping
      """

    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.
      """

    ApproachSpeed = 1 meter_per_second
      """
      Speed for initial dive during station keeping
      """

    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
      """
  }

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at station keeping depth.
      """
  }

  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
  }

  aggregate SurfaceComms {
    run when (
      called
      or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
    )

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  call id="StartingMission" refId="SurfaceComms"

  aggregate TransitToStation {
    """
    Need a separate aggregate for transit if we want to specify a
    different depth for the approach.
    """

    run in sequence

    syslog info "Transiting to station"

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = TransitDepth
    }

    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="SurfaceComms"

  aggregate DiveCmd {
    """
    Arbitrates between 3 dive modes: 1) descend from the surface
    to approach depth. 2) settle at approach depth. 3) maintain
    station keeping at target depth.
    """

    run when ( called )

    aggregate InitialDive {
      """
      Descend from the surface to approach depth
      """

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        syslog info "Moving to " + ApproachDepth~meter

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = ApproachSpeed
        }

        behavior Guidance:Pitch {
          run in sequence

          set depth = ApproachDepth
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take time to settle at the approach depth with zero speed
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + ApproachDepth~meter + ", settling for " + SettleTime~minute

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 meter_per_second
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = ApproachDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = SettleTime
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      run while ( DiveMode == MaintainDepth )

      aggregate keepstation {
        run in parallel

        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
        }
      }
    }
  }

  aggregate Station {
    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call refId="DiveCmd"
    }

    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
    }
  }
}


2025-02-24T17:11:45.758Z,1740417105.758 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation_approach.tl id=keepstation_approach
2025-02-24T17:12:25.912Z,1740417145.912 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-24T17:12:25.912Z,1740417145.912 [Default:CheckIn:C.Wait] Stopped
2025-02-24T17:12:25.912Z,1740417145.912 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T17:12:25.912Z,1740417145.912 [Default:CheckIn:D] Running Loop=1
2025-02-24T17:12:26.315Z,1740417146.315 [Default:CheckIn:D] Stopped
2025-02-24T17:12:26.315Z,1740417146.315 [Default:CheckIn:E] Running Loop=1
2025-02-24T17:12:26.704Z,1740417146.704 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  19.545251 min 
2025-02-24T17:12:26.704Z,1740417146.704 [Default:CheckIn:E] Stopped
2025-02-24T17:12:26.704Z,1740417146.704 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-24T17:12:26.704Z,1740417146.704 [Default:CheckIn] Stopped
2025-02-24T17:12:26.704Z,1740417146.704 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-24T17:12:26.705Z,1740417146.705 [Default:CheckIn](INFO): Running loop #4
2025-02-24T17:12:26.705Z,1740417146.705 [Default:CheckIn] Running Loop=4
2025-02-24T17:12:26.705Z,1740417146.705 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-24T17:12:26.705Z,1740417146.705 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-24T17:12:28.737Z,1740417148.737 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171227.00,A,3648.00296,N,12150.83763,W,0.447,229.32,240225,,,D*7F
2025-02-24T17:12:28.739Z,1740417148.739 [NAL9602](INFO): GPS fix at 20250224T171227: (36.800049, -121.847294)
2025-02-24T17:12:28.795Z,1740417148.795 [Default:CheckIn:Read_GPS] Stopped
2025-02-24T17:12:28.795Z,1740417148.795 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-24T17:12:47.078Z,1740417167.078 [NAL9602](INFO): SBD MO Status=1, MOMSN=13297, MT Status=0, MTMSN=0
2025-02-24T17:12:47.078Z,1740417167.078 [NAL9602](INFO): No messages in MT queue
2025-02-24T17:12:49.844Z,1740417169.844 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250224T165446/Courier0009.lzma
2025-02-24T17:12:51.756Z,1740417171.756 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Courier0009.lzma.bak
2025-02-24T17:12:51.756Z,1740417171.756 [DataOverHttps](INFO): SBD MOMSN=23973700
2025-02-24T17:13:17.481Z,1740417197.481 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T17:13:33.389Z,1740417213.389 [DataOverHttps](INFO): Sending 498 bytes from file Logs/20250224T165446/Express0010.lzma
2025-02-24T17:13:34.405Z,1740417214.405 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Express0010.lzma.bak
2025-02-24T17:13:34.405Z,1740417214.405 [DataOverHttps](INFO): SBD MOMSN=23973705
2025-02-24T17:13:36.812Z,1740417216.812 [CommandExec](IMPORTANT): got command set keepstation_approach.MissionTimeout 1 hour
2025-02-24T17:13:36.813Z,1740417216.813 [CommandExec](IMPORTANT): got command set keepstation_approach.NeedCommsTime 30 minute
2025-02-24T17:13:36.814Z,1740417216.814 [CommandExec](IMPORTANT): got command set keepstation_approach.Latitude 36.797 degree
2025-02-24T17:13:36.815Z,1740417216.815 [CommandExec](IMPORTANT): got command set keepstation_approach.Longitude -121.847 degree
2025-02-24T17:13:36.959Z,1740417216.959 [Default:CheckIn:Read_Iridium] Stopped
2025-02-24T17:13:36.960Z,1740417216.960 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-24T17:13:36.960Z,1740417216.960 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-24T17:14:25.973Z,1740417265.973 [CommandExec](IMPORTANT): got command set keepstation_approach.Depth 10 meter
2025-02-24T17:14:25.974Z,1740417265.974 [CommandExec](IMPORTANT): got command set keepstation_approach.ApproachDepth 10 meter
2025-02-24T17:14:25.974Z,1740417265.974 [CommandExec](IMPORTANT): got command run
2025-02-24T17:14:26.084Z,1740417266.084 [CommandExec](IMPORTANT): Running 
2025-02-24T17:14:26.258Z,1740417266.258 [Default] Stopped
2025-02-24T17:14:26.258Z,1740417266.258 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-24T17:14:26.258Z,1740417266.258 [Default:B.GoToSurface] Stopped
2025-02-24T17:14:26.258Z,1740417266.258 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-24T17:14:26.258Z,1740417266.258 [Default:CheckIn] Stopped
2025-02-24T17:14:26.259Z,1740417266.259 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-24T17:14:26.259Z,1740417266.259 [Default:CheckIn:C.Wait] Stopped
2025-02-24T17:14:26.259Z,1740417266.259 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T17:14:26.263Z,1740417266.263 [MissionManager](IMPORTANT): Started mission keepstation_approach
2025-02-24T17:14:26.263Z,1740417266.263 [keepstation_approach] Running Loop=1
2025-02-24T17:14:26.264Z,1740417266.264 [keepstation_approach](DEBUG): Aggregate::initialize keepstation_approach
2025-02-24T17:14:26.264Z,1740417266.264 [keepstation_approach:StandardEnvelopes] Running Loop=1
2025-02-24T17:14:26.264Z,1740417266.264 [keepstation_approach:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation_approach:StandardEnvelopes
2025-02-24T17:14:26.264Z,1740417266.264 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-24T17:14:26.264Z,1740417266.264 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-24T17:14:26.264Z,1740417266.264 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-24T17:14:26.264Z,1740417266.264 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-24T17:14:26.264Z,1740417266.264 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-24T17:14:26.264Z,1740417266.264 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-24T17:14:26.265Z,1740417266.265 [keepstation_approach:BackseatDriver] Running Loop=1
2025-02-24T17:14:26.265Z,1740417266.265 [keepstation_approach:BackseatDriver](DEBUG): Aggregate::initialize keepstation_approach:BackseatDriver
2025-02-24T17:14:26.265Z,1740417266.265 [keepstation_approach:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-24T17:14:26.265Z,1740417266.265 [keepstation_approach:PowerOnly] Running Loop=1
2025-02-24T17:14:26.265Z,1740417266.265 [keepstation_approach:PowerOnly](DEBUG): Aggregate::initialize keepstation_approach:PowerOnly
2025-02-24T17:14:26.265Z,1740417266.265 [keepstation_approach:PowerOnly:A] Running Loop=1
2025-02-24T17:14:26.265Z,1740417266.265 [keepstation_approach:PowerOnly:B] Running Loop=1
2025-02-24T17:14:26.265Z,1740417266.265 [keepstation_approach:PowerOnly:C] Running Loop=1
2025-02-24T17:14:26.265Z,1740417266.265 [keepstation_approach:PowerOnly:D] Running Loop=1
2025-02-24T17:14:26.265Z,1740417266.265 [keepstation_approach:PowerOnly:E.Wait] Running Loop=1
2025-02-24T17:14:26.265Z,1740417266.265 [keepstation_approach:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-24T17:14:26.266Z,1740417266.266 [keepstation_approach:H.Pitch] Running Loop=1
2025-02-24T17:14:26.266Z,1740417266.266 [keepstation_approach:H.Pitch](DEBUG): Initialize.
2025-02-24T17:14:26.266Z,1740417266.266 [keepstation_approach:B] Running Loop=1
2025-02-24T17:14:26.267Z,1740417266.267 [keepstation_approach:H.Pitch] Running Loop=1
2025-02-24T17:14:26.271Z,1740417266.271 [keepstation_approach:PowerOnly] Running Loop=1
2025-02-24T17:14:26.272Z,1740417266.272 [keepstation_approach:PowerOnly:D] Stopped
2025-02-24T17:14:26.272Z,1740417266.272 [keepstation_approach:PowerOnly:C] Stopped
2025-02-24T17:14:26.272Z,1740417266.272 [keepstation_approach:PowerOnly:B] Stopped
2025-02-24T17:14:26.272Z,1740417266.272 [keepstation_approach:PowerOnly:A] Stopped
2025-02-24T17:14:26.272Z,1740417266.272 [keepstation_approach:BackseatDriver] Running Loop=1
2025-02-24T17:14:26.272Z,1740417266.272 [keepstation_approach:StandardEnvelopes] Running Loop=1
2025-02-24T17:14:26.272Z,1740417266.272 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-24T17:14:26.273Z,1740417266.273 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-24T17:14:26.273Z,1740417266.273 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-24T17:14:26.273Z,1740417266.273 [keepstation_approach:B] Stopped
2025-02-24T17:14:26.274Z,1740417266.274 [keepstation_approach:D] Running Loop=1
2025-02-24T17:14:26.650Z,1740417266.650 [keepstation_approach:D] Stopped
2025-02-24T17:14:26.650Z,1740417266.650 [keepstation_approach:E] Running Loop=1
2025-02-24T17:14:27.089Z,1740417267.089 [keepstation_approach:E] Stopped
2025-02-24T17:14:27.090Z,1740417267.090 [keepstation_approach:StartingMission] Running Loop=1
2025-02-24T17:14:27.090Z,1740417267.090 [keepstation_approach:StartingMission](DEBUG): Aggregate::initialize keepstation_approach:StartingMission
2025-02-24T17:14:27.458Z,1740417267.458 [keepstation_approach:SurfaceComms] Running Loop=1
2025-02-24T17:14:27.458Z,1740417267.458 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms
2025-02-24T17:14:27.458Z,1740417267.458 [keepstation_approach:SurfaceComms:A] Running Loop=1
2025-02-24T17:14:27.458Z,1740417267.458 [keepstation_approach:SurfaceComms:A] Stopped
2025-02-24T17:14:27.458Z,1740417267.458 [keepstation_approach:SurfaceComms:B] Running Loop=1
2025-02-24T17:14:27.459Z,1740417267.459 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms:B
2025-02-24T17:14:27.879Z,1740417267.879 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-24T17:14:27.879Z,1740417267.879 [keepstation_approach:NeedComms] Running Loop=1
2025-02-24T17:14:27.883Z,1740417267.883 [keepstation_approach:NeedComms](DEBUG): Aggregate::initialize keepstation_approach:NeedComms
2025-02-24T17:14:27.883Z,1740417267.883 [keepstation_approach:NeedComms:B.GoToSurface] Running Loop=1
2025-02-24T17:14:27.883Z,1740417267.883 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-24T17:14:27.884Z,1740417267.884 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-24T17:14:27.884Z,1740417267.884 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-24T17:14:27.885Z,1740417267.885 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-24T17:14:27.885Z,1740417267.885 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-24T17:14:27.885Z,1740417267.885 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-24T17:14:27.886Z,1740417267.886 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-24T17:14:27.886Z,1740417267.886 [keepstation_approach:NeedComms:A] Running Loop=1
2025-02-24T17:14:27.892Z,1740417267.892 [keepstation_approach:NeedComms:A](INFO): last time_fix was:  1740417147.000000 second since 1970/01/01T00:00:00Z 
2025-02-24T17:14:27.892Z,1740417267.892 [keepstation_approach:NeedComms:A] Stopped
2025-02-24T17:14:28.256Z,1740417268.256 [keepstation_approach:NeedComms:C] Running Loop=1
2025-02-24T17:14:28.665Z,1740417268.665 [keepstation_approach:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-24T17:14:30.258Z,1740417270.258 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171429.00,A,3647.99881,N,12150.83936,W,0.603,176.40,240225,,,D*74
2025-02-24T17:14:30.267Z,1740417270.267 [NAL9602](INFO): GPS fix at 20250224T171429: (36.799980, -121.847323)
2025-02-24T17:14:30.332Z,1740417270.332 [keepstation_approach:NeedComms:C] Stopped
2025-02-24T17:14:30.332Z,1740417270.332 [keepstation_approach:NeedComms:D] Running Loop=1
2025-02-24T17:14:30.722Z,1740417270.722 [keepstation_approach:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-24T17:14:38.186Z,1740417278.186 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250224T165446/Courier0014.lzma
2025-02-24T17:14:38.597Z,1740417278.597 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Courier0014.lzma.bak
2025-02-24T17:14:38.597Z,1740417278.597 [DataOverHttps](INFO): SBD MOMSN=23973718
2025-02-24T17:14:50.182Z,1740417290.182 [NAL9602](INFO): SBD MO Status=1, MOMSN=13298, MT Status=0, MTMSN=0
2025-02-24T17:14:50.182Z,1740417290.182 [NAL9602](INFO): No messages in MT queue
2025-02-24T17:15:08.531Z,1740417308.531 [DataOverHttps](INFO): Sending 299 bytes from file Logs/20250224T165446/Express0013.lzma
2025-02-24T17:15:09.533Z,1740417309.533 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Express0013.lzma.bak
2025-02-24T17:15:09.533Z,1740417309.533 [DataOverHttps](INFO): SBD MOMSN=23973723
2025-02-24T17:15:13.007Z,1740417313.007 [keepstation_approach:NeedComms:D] Stopped
2025-02-24T17:15:13.007Z,1740417313.007 [keepstation_approach:NeedComms:E] Running Loop=1
2025-02-24T17:15:13.417Z,1740417313.417 [keepstation_approach:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-24T17:15:14.987Z,1740417314.987 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171514.00,A,3647.99670,N,12150.84043,W,0.719,245.92,240225,,,A*74
2025-02-24T17:15:14.989Z,1740417314.989 [NAL9602](INFO): GPS fix at 20250224T171514: (36.799945, -121.847341)
2025-02-24T17:15:15.083Z,1740417315.083 [keepstation_approach:NeedComms:E] Stopped
2025-02-24T17:15:15.084Z,1740417315.084 [keepstation_approach:NeedComms](INFO): Completed keepstation_approach:NeedComms
2025-02-24T17:15:15.084Z,1740417315.084 [keepstation_approach:NeedComms] Stopped
2025-02-24T17:15:15.084Z,1740417315.084 [keepstation_approach:NeedComms](DEBUG): Aggregate::uninitialize keepstation_approach:NeedComms
2025-02-24T17:15:15.084Z,1740417315.084 [keepstation_approach:NeedComms:B.GoToSurface] Stopped
2025-02-24T17:15:15.085Z,1740417315.085 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-24T17:15:15.471Z,1740417315.471 [keepstation_approach:SurfaceComms:B](INFO): Completed keepstation_approach:SurfaceComms:B
2025-02-24T17:15:15.483Z,1740417315.483 [keepstation_approach:SurfaceComms:B] Stopped
2025-02-24T17:15:15.483Z,1740417315.483 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms:B
2025-02-24T17:15:15.483Z,1740417315.483 [keepstation_approach:SurfaceComms:C] Running Loop=1
2025-02-24T17:15:15.830Z,1740417315.830 [keepstation_approach:SurfaceComms:C] Stopped
2025-02-24T17:15:15.830Z,1740417315.830 [keepstation_approach:SurfaceComms](INFO): Completed keepstation_approach:SurfaceComms
2025-02-24T17:15:15.830Z,1740417315.830 [keepstation_approach:SurfaceComms] Stopped
2025-02-24T17:15:15.830Z,1740417315.830 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms
2025-02-24T17:15:16.229Z,1740417316.229 [keepstation_approach:StartingMission](INFO): Completed keepstation_approach:StartingMission
2025-02-24T17:15:16.229Z,1740417316.229 [keepstation_approach:StartingMission] Stopped
2025-02-24T17:15:16.229Z,1740417316.229 [keepstation_approach:StartingMission](DEBUG): Aggregate::uninitialize keepstation_approach:StartingMission
2025-02-24T17:15:16.229Z,1740417316.229 [keepstation_approach:TransitToStation] Running Loop=1
2025-02-24T17:15:16.229Z,1740417316.229 [keepstation_approach:TransitToStation](DEBUG): Aggregate::initialize keepstation_approach:TransitToStation
2025-02-24T17:15:16.229Z,1740417316.229 [keepstation_approach:TransitToStation:B.Buoyancy] Running Loop=1
2025-02-24T17:15:16.229Z,1740417316.229 [keepstation_approach:TransitToStation:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-24T17:15:16.230Z,1740417316.230 [keepstation_approach:TransitToStation:C.Pitch] Running Loop=1
2025-02-24T17:15:16.230Z,1740417316.230 [keepstation_approach:TransitToStation:C.Pitch](DEBUG): Initialize.
2025-02-24T17:15:16.230Z,1740417316.230 [keepstation_approach:TransitToStation:D.SetSpeed] Running Loop=1
2025-02-24T17:15:16.230Z,1740417316.230 [keepstation_approach:TransitToStation:D.SetSpeed](DEBUG): Initialize.
2025-02-24T17:15:16.230Z,1740417316.230 [keepstation_approach:TransitToStation:A] Running Loop=1
2025-02-24T17:15:16.713Z,1740417316.713 [keepstation_approach:TransitToStation:D.SetSpeed] Running Loop=1
2025-02-24T17:15:16.713Z,1740417316.713 [keepstation_approach:TransitToStation:C.Pitch] Running Loop=1
2025-02-24T17:15:16.713Z,1740417316.713 [keepstation_approach:TransitToStation:B.Buoyancy] Running Loop=1
2025-02-24T17:15:16.714Z,1740417316.714 [keepstation_approach:TransitToStation:A](INFO): Transiting to station
2025-02-24T17:15:16.714Z,1740417316.714 [keepstation_approach:TransitToStation:A] Stopped
2025-02-24T17:15:16.714Z,1740417316.714 [keepstation_approach:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-24T17:15:16.714Z,1740417316.714 [keepstation_approach:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-24T17:15:16.715Z,1740417316.715 [keepstation_approach:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-24T17:15:17.214Z,1740417317.214 [keepstation_approach:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-24T17:15:33.380Z,1740417333.380 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2025-02-24T17:15:33.380Z,1740417333.380 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2025-02-24T17:15:33.380Z,1740417333.380 [BuoyancyServo] Communications Fault, FailCount= 1
2025-02-24T17:15:33.380Z,1740417333.380 [BuoyancyServo](ERROR): Communications Fault
2025-02-24T17:15:33.615Z,1740417333.615 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2025-02-24T17:15:35.443Z,1740417335.443 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-02-24T17:15:35.443Z,1740417335.443 [BuoyancyServo](INFO): Powering down
2025-02-24T17:15:36.470Z,1740417336.470 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2025-02-24T17:15:36.471Z,1740417336.471 [BuoyancyServo] No Fault, FailCount= 1
2025-02-24T17:15:36.631Z,1740417336.631 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-02-24T17:15:36.652Z,1740417336.652 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-02-24T17:15:47.460Z,1740417347.460 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T17:16:31.148Z,1740417391.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T17:16:58.063Z,1740417418.063 [Radio_Surface](INFO): Powering down
2025-02-24T17:17:02.272Z,1740417422.272 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T17:17:03.275Z,1740417423.275 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-24T17:18:43.684Z,1740417523.684 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.727234
2025-02-24T17:23:03.443Z,1740417783.443 [keepstation_approach:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-02-24T17:23:03.443Z,1740417783.443 [keepstation_approach:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-24T17:23:03.443Z,1740417783.443 [keepstation_approach:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-24T17:23:03.445Z,1740417783.445 [keepstation_approach:TransitToStation](INFO): Completed keepstation_approach:TransitToStation
2025-02-24T17:23:03.445Z,1740417783.445 [keepstation_approach:TransitToStation] Stopped
2025-02-24T17:23:03.445Z,1740417783.445 [keepstation_approach:TransitToStation](DEBUG): Aggregate::uninitialize keepstation_approach:TransitToStation
2025-02-24T17:23:03.445Z,1740417783.445 [keepstation_approach:TransitToStation:B.Buoyancy] Stopped
2025-02-24T17:23:03.445Z,1740417783.445 [keepstation_approach:TransitToStation:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-24T17:23:03.445Z,1740417783.445 [keepstation_approach:TransitToStation:C.Pitch] Stopped
2025-02-24T17:23:03.445Z,1740417783.445 [keepstation_approach:TransitToStation:D.SetSpeed] Stopped
2025-02-24T17:23:03.445Z,1740417783.445 [keepstation_approach:TransitToStation:D.SetSpeed](DEBUG): Uninitialize.
2025-02-24T17:23:03.445Z,1740417783.445 [keepstation_approach:OnStation] Running Loop=1
2025-02-24T17:23:03.445Z,1740417783.445 [keepstation_approach:OnStation](DEBUG): Aggregate::initialize keepstation_approach:OnStation
2025-02-24T17:23:03.852Z,1740417783.852 [keepstation_approach:SurfaceComms] Running Loop=1
2025-02-24T17:23:03.852Z,1740417783.852 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms
2025-02-24T17:23:03.852Z,1740417783.852 [keepstation_approach:SurfaceComms:A] Running Loop=1
2025-02-24T17:23:03.852Z,1740417783.852 [keepstation_approach:SurfaceComms:A] Stopped
2025-02-24T17:23:03.853Z,1740417783.853 [keepstation_approach:SurfaceComms:B] Running Loop=1
2025-02-24T17:23:03.853Z,1740417783.853 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms:B
2025-02-24T17:23:04.264Z,1740417784.264 [keepstation_approach:NeedComms] Running Loop=1
2025-02-24T17:23:04.264Z,1740417784.264 [keepstation_approach:NeedComms](DEBUG): Aggregate::initialize keepstation_approach:NeedComms
2025-02-24T17:23:04.264Z,1740417784.264 [keepstation_approach:NeedComms:B.GoToSurface] Running Loop=1
2025-02-24T17:23:04.264Z,1740417784.264 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-24T17:23:04.265Z,1740417784.265 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-24T17:23:04.265Z,1740417784.265 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-24T17:23:04.265Z,1740417784.265 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-24T17:23:04.266Z,1740417784.266 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-24T17:23:04.266Z,1740417784.266 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-24T17:23:04.266Z,1740417784.266 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-24T17:23:04.267Z,1740417784.267 [keepstation_approach:NeedComms:A] Running Loop=1
2025-02-24T17:23:04.268Z,1740417784.268 [keepstation_approach:NeedComms:A](INFO): last time_fix was:  1740417314.000000 second since 1970/01/01T00:00:00Z 
2025-02-24T17:23:04.268Z,1740417784.268 [keepstation_approach:NeedComms:A] Stopped
2025-02-24T17:23:57.625Z,1740417837.625 [keepstation_approach:NeedComms:C] Running Loop=1
2025-02-24T17:23:58.223Z,1740417838.223 [Radio_Surface](INFO): Powering up
2025-02-24T17:24:04.035Z,1740417844.035 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-24T17:24:34.155Z,1740417874.155 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T17:24:57.862Z,1740417897.862 [NAL9602](INFO): SBD MO Status=1, MOMSN=13299, MT Status=0, MTMSN=0
2025-02-24T17:24:57.862Z,1740417897.862 [NAL9602](INFO): No messages in MT queue
2025-02-24T17:24:59.069Z,1740417899.069 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172458.00,A,3647.79922,N,12150.85163,W,0.952,227.40,240225,,,A*70
2025-02-24T17:24:59.081Z,1740417899.081 [NAL9602](INFO): GPS fix at 20250224T172458: (36.796654, -121.847527)
2025-02-24T17:24:59.094Z,1740417899.094 [keepstation_approach:NeedComms:C] Stopped
2025-02-24T17:24:59.094Z,1740417899.094 [keepstation_approach:NeedComms:D] Running Loop=1
2025-02-24T17:25:05.279Z,1740417905.279 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T17:25:08.833Z,1740417908.833 [NAL9602](INFO): SBD MO Status=1, MOMSN=13300, MT Status=0, MTMSN=0
2025-02-24T17:25:08.887Z,1740417908.887 [NAL9602](INFO): Sent 73 bytes from file Logs/20250224T165446/Courier0018.lzma
2025-02-24T17:25:08.888Z,1740417908.888 [NAL9602](INFO): Packets left to send: 0
2025-02-24T17:25:25.986Z,1740417925.986 [NAL9602](INFO): SBD MO Status=1, MOMSN=13301, MT Status=0, MTMSN=0
2025-02-24T17:25:26.043Z,1740417926.043 [NAL9602](INFO): Sent 305 bytes from file Logs/20250224T165446/Express0019.lzma
2025-02-24T17:25:26.044Z,1740417926.044 [NAL9602](INFO): Packets left to send: 0
2025-02-24T17:25:33.799Z,1740417933.799 [NAL9602](INFO): SBD MO Status=0, MOMSN=13302, MT Status=0, MTMSN=0
2025-02-24T17:25:33.886Z,1740417933.886 [keepstation_approach:NeedComms:D] Stopped
2025-02-24T17:25:33.886Z,1740417933.886 [keepstation_approach:NeedComms:E] Running Loop=1
2025-02-24T17:25:36.217Z,1740417936.217 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,172535.00,A,3647.79668,N,12150.85229,W,0.175,234.94,240225,,,A*70
2025-02-24T17:25:36.219Z,1740417936.219 [NAL9602](INFO): GPS fix at 20250224T172535: (36.796611, -121.847538)
2025-02-24T17:25:36.254Z,1740417936.254 [keepstation_approach:NeedComms:E] Stopped
2025-02-24T17:25:36.255Z,1740417936.255 [keepstation_approach:NeedComms](INFO): Completed keepstation_approach:NeedComms
2025-02-24T17:25:36.259Z,1740417936.259 [keepstation_approach:NeedComms] Stopped
2025-02-24T17:25:36.259Z,1740417936.259 [keepstation_approach:NeedComms](DEBUG): Aggregate::uninitialize keepstation_approach:NeedComms
2025-02-24T17:25:36.259Z,1740417936.259 [keepstation_approach:NeedComms:B.GoToSurface] Stopped
2025-02-24T17:25:36.259Z,1740417936.259 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-24T17:25:36.403Z,1740417936.403 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T17:25:36.663Z,1740417936.663 [keepstation_approach:SurfaceComms:B](INFO): Completed keepstation_approach:SurfaceComms:B
2025-02-24T17:25:36.663Z,1740417936.663 [keepstation_approach:SurfaceComms:B] Stopped
2025-02-24T17:25:36.663Z,1740417936.663 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms:B
2025-02-24T17:25:36.663Z,1740417936.663 [keepstation_approach:SurfaceComms:C] Running Loop=1
2025-02-24T17:25:37.032Z,1740417937.032 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position 11.65 mm.
2025-02-24T17:25:37.037Z,1740417937.037 [keepstation_approach:SurfaceComms:C] Stopped
2025-02-24T17:25:37.037Z,1740417937.037 [keepstation_approach:SurfaceComms](INFO): Completed keepstation_approach:SurfaceComms
2025-02-24T17:25:37.037Z,1740417937.037 [keepstation_approach:SurfaceComms] Stopped
2025-02-24T17:25:37.037Z,1740417937.037 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms
2025-02-24T17:25:37.445Z,1740417937.445 [keepstation_approach:OnStation](INFO): Completed keepstation_approach:OnStation
2025-02-24T17:25:37.445Z,1740417937.445 [keepstation_approach:OnStation] Stopped
2025-02-24T17:25:37.445Z,1740417937.445 [keepstation_approach:OnStation](DEBUG): Aggregate::uninitialize keepstation_approach:OnStation
2025-02-24T17:25:37.445Z,1740417937.445 [keepstation_approach:Station] Running Loop=1
2025-02-24T17:25:37.446Z,1740417937.446 [keepstation_approach:Station](DEBUG): Aggregate::initialize keepstation_approach:Station
2025-02-24T17:25:37.446Z,1740417937.446 [keepstation_approach:Station:Dive] Running Loop=1
2025-02-24T17:25:37.446Z,1740417937.446 [keepstation_approach:Station:Dive](DEBUG): Aggregate::initialize keepstation_approach:Station:Dive
2025-02-24T17:25:37.446Z,1740417937.446 [keepstation_approach:Station:Dive:A] Running Loop=1
2025-02-24T17:25:37.446Z,1740417937.446 [keepstation_approach:Station:Dive:A](DEBUG): Aggregate::initialize keepstation_approach:Station:Dive:A
2025-02-24T17:25:37.446Z,1740417937.446 [keepstation_approach:Station:B.Wait] Running Loop=1
2025-02-24T17:25:37.446Z,1740417937.446 [keepstation_approach:Station:B.Wait](DEBUG): Initialize Wait Component.
2025-02-24T17:25:37.864Z,1740417937.864 [keepstation_approach:Station:Dive] Running Loop=1
2025-02-24T17:25:37.864Z,1740417937.864 [keepstation_approach:DiveCmd] Running Loop=1
2025-02-24T17:25:37.864Z,1740417937.864 [keepstation_approach:DiveCmd](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd
2025-02-24T17:25:37.864Z,1740417937.864 [keepstation_approach:DiveCmd:InitialDive] Running Loop=1
2025-02-24T17:25:37.864Z,1740417937.864 [keepstation_approach:DiveCmd:InitialDive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:InitialDive
2025-02-24T17:25:37.865Z,1740417937.865 [keepstation_approach:DiveCmd:InitialDive:dive] Running Loop=1
2025-02-24T17:25:37.865Z,1740417937.865 [keepstation_approach:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:InitialDive:dive
2025-02-24T17:25:37.865Z,1740417937.865 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-24T17:25:37.865Z,1740417937.865 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-24T17:25:37.865Z,1740417937.865 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed] Running Loop=1
2025-02-24T17:25:37.865Z,1740417937.865 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed](DEBUG): Initialize.
2025-02-24T17:25:37.865Z,1740417937.865 [keepstation_approach:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-02-24T17:25:37.865Z,1740417937.865 [keepstation_approach:DiveCmd:SettleAtDepth] Running Loop=1
2025-02-24T17:25:37.865Z,1740417937.865 [keepstation_approach:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth
2025-02-24T17:25:37.865Z,1740417937.865 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-02-24T17:25:37.866Z,1740417937.866 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-24T17:25:37.866Z,1740417937.866 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Running Loop=1
2025-02-24T17:25:37.866Z,1740417937.866 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Initialize.
2025-02-24T17:25:37.866Z,1740417937.866 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Running Loop=1
2025-02-24T17:25:37.866Z,1740417937.866 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch](DEBUG): Initialize.
2025-02-24T17:25:37.866Z,1740417937.866 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-02-24T17:25:37.866Z,1740417937.866 [keepstation_approach:DiveCmd:MaintainDepth] Running Loop=1
2025-02-24T17:25:37.866Z,1740417937.866 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-24T17:25:37.866Z,1740417937.866 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Running Loop=1
2025-02-24T17:25:37.867Z,1740417937.867 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-24T17:25:37.867Z,1740417937.867 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Running Loop=1
2025-02-24T17:25:37.867Z,1740417937.867 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Running Loop=1
2025-02-24T17:25:37.867Z,1740417937.867 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch](DEBUG): Initialize.
2025-02-24T17:25:37.867Z,1740417937.867 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Running Loop=1
2025-02-24T17:25:37.867Z,1740417937.867 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-24T17:25:37.868Z,1740417937.868 [keepstation_approach:DiveCmd:MaintainDepth] Stopped
2025-02-24T17:25:37.868Z,1740417937.868 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-24T17:25:37.868Z,1740417937.868 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Stopped
2025-02-24T17:25:37.868Z,1740417937.868 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-24T17:25:37.868Z,1740417937.868 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Stopped
2025-02-24T17:25:37.868Z,1740417937.868 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Stopped
2025-02-24T17:25:37.868Z,1740417937.868 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Stopped
2025-02-24T17:25:37.869Z,1740417937.869 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-24T17:25:37.869Z,1740417937.869 [keepstation_approach:DiveCmd:SettleAtDepth] Stopped
2025-02-24T17:25:37.869Z,1740417937.869 [keepstation_approach:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:SettleAtDepth
2025-02-24T17:25:37.869Z,1740417937.869 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Stopped
2025-02-24T17:25:37.869Z,1740417937.869 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-24T17:25:37.869Z,1740417937.869 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-02-24T17:25:37.869Z,1740417937.869 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Stopped
2025-02-24T17:25:37.869Z,1740417937.869 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Uninitialize.
2025-02-24T17:25:37.869Z,1740417937.869 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Stopped
2025-02-24T17:25:37.869Z,1740417937.869 [keepstation_approach:DiveCmd:InitialDive] Running Loop=1
2025-02-24T17:25:37.869Z,1740417937.869 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed] Running Loop=1
2025-02-24T17:25:37.870Z,1740417937.870 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-24T17:25:37.870Z,1740417937.870 [keepstation_approach:DiveCmd:InitialDive:dive:A](INFO): Moving to  10.000000 m 
2025-02-24T17:25:37.870Z,1740417937.870 [keepstation_approach:DiveCmd:InitialDive:dive:A] Stopped
2025-02-24T17:25:37.871Z,1740417937.871 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch] Running Loop=1
2025-02-24T17:25:37.871Z,1740417937.871 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch](DEBUG): Initialize.
2025-02-24T17:26:06.130Z,1740417966.130 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 11.65 mm (1 active estimators).
2025-02-24T17:26:07.535Z,1740417967.535 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T17:26:08.535Z,1740417968.535 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T17:27:06.123Z,1740418026.123 [CBIT](IMPORTANT): Beginning ground fault scan
2025-02-24T17:27:10.571Z,1740418030.571 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T17:27:17.322Z,1740418037.322 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.001224
CHAN A1 (24V): -0.000242
CHAN A2 (12V): 0.000736
CHAN A3 (5V): -0.001959
CHAN B0 (3.3V): -0.001167
CHAN B1 (3.15aV): -0.000978
CHAN B2 (3.15bV): -0.001164
CHAN B3 (GND): -0.002126
OPEN: 0.004858
Full Scale: +/- 1 mA
2025-02-24T17:27:36.411Z,1740418056.411 [Radio_Surface](INFO): Powering down
2025-02-24T17:27:41.695Z,1740418061.695 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T17:27:42.702Z,1740418062.702 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-24T17:28:17.843Z,1740418097.843 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch] Stopped
2025-02-24T17:28:17.844Z,1740418097.844 [keepstation_approach:DiveCmd:InitialDive:dive:E] Running Loop=1
2025-02-24T17:28:18.238Z,1740418098.238 [keepstation_approach:DiveCmd:InitialDive:dive:E] Stopped
2025-02-24T17:28:18.239Z,1740418098.239 [keepstation_approach:DiveCmd:InitialDive:dive](INFO): Completed keepstation_approach:DiveCmd:InitialDive:dive
2025-02-24T17:28:18.239Z,1740418098.239 [keepstation_approach:DiveCmd:InitialDive:dive] Stopped
2025-02-24T17:28:18.239Z,1740418098.239 [keepstation_approach:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:InitialDive:dive
2025-02-24T17:28:18.239Z,1740418098.239 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-02-24T17:28:18.239Z,1740418098.239 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-24T17:28:18.239Z,1740418098.239 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed] Stopped
2025-02-24T17:28:18.239Z,1740418098.239 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2025-02-24T17:28:18.239Z,1740418098.239 [keepstation_approach:DiveCmd:InitialDive](INFO): Completed keepstation_approach:DiveCmd:InitialDive
2025-02-24T17:28:18.637Z,1740418098.637 [keepstation_approach:DiveCmd:SettleAtDepth] Running Loop=1
2025-02-24T17:28:18.637Z,1740418098.637 [keepstation_approach:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth
2025-02-24T17:28:18.638Z,1740418098.638 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-02-24T17:28:18.638Z,1740418098.638 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-24T17:28:18.638Z,1740418098.638 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Running Loop=1
2025-02-24T17:28:18.638Z,1740418098.638 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Initialize.
2025-02-24T17:28:18.638Z,1740418098.638 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Running Loop=1
2025-02-24T17:28:18.638Z,1740418098.638 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch](DEBUG): Initialize.
2025-02-24T17:28:18.638Z,1740418098.638 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-02-24T17:28:18.638Z,1740418098.638 [keepstation_approach:DiveCmd:SettleAtDepth] Running Loop=1
2025-02-24T17:28:18.638Z,1740418098.638 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Running Loop=1
2025-02-24T17:28:18.639Z,1740418098.639 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Running Loop=1
2025-02-24T17:28:18.640Z,1740418098.640 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.000000 m , settling for  5.000000 min 
2025-02-24T17:28:18.640Z,1740418098.640 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-02-24T17:28:18.640Z,1740418098.640 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait] Running Loop=1
2025-02-24T17:28:18.640Z,1740418098.640 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](DEBUG): Initialize Wait Component.
2025-02-24T17:33:19.221Z,1740418399.221 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](INFO): Done Waiting.
2025-02-24T17:33:19.221Z,1740418399.221 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait] Stopped
2025-02-24T17:33:19.221Z,1740418399.221 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T17:33:19.221Z,1740418399.221 [keepstation_approach:DiveCmd:SettleAtDepth:dive:E] Running Loop=1
2025-02-24T17:33:19.621Z,1740418399.621 [keepstation_approach:DiveCmd:SettleAtDepth:dive:E] Stopped
2025-02-24T17:33:19.622Z,1740418399.622 [keepstation_approach:DiveCmd:SettleAtDepth:dive](INFO): Completed keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-24T17:33:19.622Z,1740418399.622 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Stopped
2025-02-24T17:33:19.622Z,1740418399.622 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-24T17:33:19.622Z,1740418399.622 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Stopped
2025-02-24T17:33:19.622Z,1740418399.622 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Uninitialize.
2025-02-24T17:33:19.622Z,1740418399.622 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Stopped
2025-02-24T17:33:19.622Z,1740418399.622 [keepstation_approach:DiveCmd:SettleAtDepth](INFO): Completed keepstation_approach:DiveCmd:SettleAtDepth
2025-02-24T17:33:20.034Z,1740418400.034 [keepstation_approach:DiveCmd:MaintainDepth] Running Loop=1
2025-02-24T17:33:20.034Z,1740418400.034 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-24T17:33:20.034Z,1740418400.034 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Running Loop=1
2025-02-24T17:33:20.034Z,1740418400.034 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-24T17:33:20.034Z,1740418400.034 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Running Loop=1
2025-02-24T17:33:20.034Z,1740418400.034 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Running Loop=1
2025-02-24T17:33:20.034Z,1740418400.034 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch](DEBUG): Initialize.
2025-02-24T17:33:20.035Z,1740418400.035 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Running Loop=1
2025-02-24T17:33:20.035Z,1740418400.035 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-24T17:33:20.035Z,1740418400.035 [keepstation_approach:DiveCmd:MaintainDepth] Running Loop=1
2025-02-24T17:33:20.035Z,1740418400.035 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Running Loop=1
2025-02-24T17:33:20.035Z,1740418400.035 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Running Loop=1
2025-02-24T17:33:20.036Z,1740418400.036 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Running Loop=1
2025-02-24T17:33:20.036Z,1740418400.036 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Running Loop=1
2025-02-24T17:49:07.803Z,1740419347.803 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-24T17:49:20.730Z,1740419360.730 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-24T17:49:33.658Z,1740419373.658 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-24T17:49:46.586Z,1740419386.586 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-24T17:49:59.919Z,1740419399.919 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-24T17:50:12.441Z,1740419412.441 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-24T17:50:25.370Z,1740419425.370 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-24T17:55:27.561Z,1740419727.561 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-24T17:55:33.225Z,1740419733.225 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-24T17:55:33.226Z,1740419733.226 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-24T17:55:33.228Z,1740419733.228 [BPC1](INFO): Received data from all battery sticks.
2025-02-24T17:55:36.473Z,1740419736.473 [keepstation_approach:SurfaceComms] Running Loop=1
2025-02-24T17:55:36.473Z,1740419736.473 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms
2025-02-24T17:55:36.474Z,1740419736.474 [keepstation_approach:SurfaceComms:A] Running Loop=1
2025-02-24T17:55:36.474Z,1740419736.474 [keepstation_approach:SurfaceComms:A] Stopped
2025-02-24T17:55:36.474Z,1740419736.474 [keepstation_approach:SurfaceComms:B] Running Loop=1
2025-02-24T17:55:36.474Z,1740419736.474 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms:B
2025-02-24T17:55:36.868Z,1740419736.868 [keepstation_approach:Station:Dive] Stopped
2025-02-24T17:55:36.868Z,1740419736.868 [keepstation_approach:Station:Dive](DEBUG): Aggregate::uninitialize keepstation_approach:Station:Dive
2025-02-24T17:55:36.868Z,1740419736.868 [keepstation_approach:Station:Dive:A] Stopped
2025-02-24T17:55:36.868Z,1740419736.868 [keepstation_approach:Station:Dive:A](DEBUG): Aggregate::uninitialize keepstation_approach:Station:Dive:A
2025-02-24T17:55:36.869Z,1740419736.869 [keepstation_approach:DiveCmd:MaintainDepth] Stopped
2025-02-24T17:55:36.869Z,1740419736.869 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-24T17:55:36.869Z,1740419736.869 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Stopped
2025-02-24T17:55:36.869Z,1740419736.869 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-24T17:55:36.869Z,1740419736.869 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Stopped
2025-02-24T17:55:36.869Z,1740419736.869 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Stopped
2025-02-24T17:55:36.869Z,1740419736.869 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Stopped
2025-02-24T17:55:36.869Z,1740419736.869 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-24T17:55:36.871Z,1740419736.871 [keepstation_approach:NeedComms] Running Loop=1
2025-02-24T17:55:36.871Z,1740419736.871 [keepstation_approach:NeedComms](DEBUG): Aggregate::initialize keepstation_approach:NeedComms
2025-02-24T17:55:36.871Z,1740419736.871 [keepstation_approach:NeedComms:B.GoToSurface] Running Loop=1
2025-02-24T17:55:36.871Z,1740419736.871 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-24T17:55:36.872Z,1740419736.872 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-24T17:55:36.872Z,1740419736.872 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-24T17:55:36.873Z,1740419736.873 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-24T17:55:36.873Z,1740419736.873 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-24T17:55:36.873Z,1740419736.873 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-24T17:55:36.874Z,1740419736.874 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-24T17:55:36.874Z,1740419736.874 [keepstation_approach:NeedComms:A] Running Loop=1
2025-02-24T17:55:36.876Z,1740419736.876 [keepstation_approach:NeedComms:A](INFO): last time_fix was:  1740417935.000000 second since 1970/01/01T00:00:00Z 
2025-02-24T17:55:36.876Z,1740419736.876 [keepstation_approach:NeedComms:A] Stopped
2025-02-24T17:56:23.666Z,1740419783.666 [keepstation_approach:NeedComms:C] Running Loop=1
2025-02-24T17:56:24.339Z,1740419784.339 [Radio_Surface](INFO): Powering up
2025-02-24T17:56:29.867Z,1740419789.867 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-24T17:57:00.016Z,1740419820.016 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T17:57:31.151Z,1740419851.151 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T17:58:02.275Z,1740419882.275 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T17:58:18.013Z,1740419898.013 [NAL9602](INFO): SBD MO Status=0, MOMSN=13303, MT Status=0, MTMSN=0
2025-02-24T17:58:18.013Z,1740419898.013 [NAL9602](INFO): No messages in MT queue
2025-02-24T17:58:19.250Z,1740419899.250 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175818.00,A,3647.74484,N,12150.93593,W,0.544,202.55,240225,,,A*77
2025-02-24T17:58:19.252Z,1740419899.252 [NAL9602](INFO): GPS fix at 20250224T175818: (36.795747, -121.848932)
2025-02-24T17:58:19.266Z,1740419899.266 [keepstation_approach:NeedComms:C] Stopped
2025-02-24T17:58:19.267Z,1740419899.267 [keepstation_approach:NeedComms:D] Running Loop=1
2025-02-24T17:58:33.399Z,1740419913.399 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T17:58:43.251Z,1740419923.251 [NAL9602](INFO): SBD MO Status=2, MOMSN=13304, MT Status=2, MTMSN=0
2025-02-24T17:58:43.251Z,1740419923.251 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-24T17:58:49.868Z,1740419929.868 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003257
2025-02-24T17:58:57.387Z,1740419937.387 [DataOverHttps](INFO): Sending 202 bytes from file Logs/20250224T165446/Courier0021.lzma
2025-02-24T17:58:58.389Z,1740419938.389 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Courier0021.lzma.bak
2025-02-24T17:58:58.389Z,1740419938.389 [DataOverHttps](INFO): SBD MOMSN=23973745
2025-02-24T17:59:01.942Z,1740419941.942 [NAL9602](INFO): SBD MO Status=1, MOMSN=13304, MT Status=0, MTMSN=0
2025-02-24T17:59:01.000Z,1740419942.000 [NAL9602](INFO): Sent 202 bytes from file Logs/20250224T165446/Courier0021.lzma
2025-02-24T17:59:01.000Z,1740419942.000 [NAL9602](INFO): Packets left to send: 0
2025-02-24T17:59:32.347Z,1740419972.347 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T17:59:33.986Z,1740419973.986 [DataOverHttps](INFO): Sending 372 bytes from file Logs/20250224T165446/Express0022.lzma
2025-02-24T17:59:34.997Z,1740419974.997 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Express0022.lzma.bak
2025-02-24T17:59:34.998Z,1740419974.998 [DataOverHttps](INFO): SBD MOMSN=23973750
2025-02-24T17:59:39.696Z,1740419979.696 [keepstation_approach:NeedComms:D] Stopped
2025-02-24T17:59:39.696Z,1740419979.696 [keepstation_approach:NeedComms:E] Running Loop=1
2025-02-24T17:59:41.442Z,1740419981.442 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175940.00,A,3647.74144,N,12150.93914,W,0.486,183.03,240225,,,A*77
2025-02-24T17:59:41.465Z,1740419981.465 [NAL9602](INFO): GPS fix at 20250224T175940: (36.795691, -121.848986)
2025-02-24T17:59:41.558Z,1740419981.558 [keepstation_approach:NeedComms:E] Stopped
2025-02-24T17:59:41.592Z,1740419981.592 [keepstation_approach:NeedComms](INFO): Completed keepstation_approach:NeedComms
2025-02-24T17:59:41.592Z,1740419981.592 [keepstation_approach:NeedComms] Stopped
2025-02-24T17:59:41.592Z,1740419981.592 [keepstation_approach:NeedComms](DEBUG): Aggregate::uninitialize keepstation_approach:NeedComms
2025-02-24T17:59:41.592Z,1740419981.592 [keepstation_approach:NeedComms:B.GoToSurface] Stopped
2025-02-24T17:59:41.592Z,1740419981.592 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-24T17:59:41.962Z,1740419981.962 [keepstation_approach:SurfaceComms:B](INFO): Completed keepstation_approach:SurfaceComms:B
2025-02-24T17:59:41.962Z,1740419981.962 [keepstation_approach:SurfaceComms:B] Stopped
2025-02-24T17:59:41.962Z,1740419981.962 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms:B
2025-02-24T17:59:41.962Z,1740419981.962 [keepstation_approach:SurfaceComms:C] Running Loop=1
2025-02-24T17:59:42.294Z,1740419982.294 [keepstation_approach:SurfaceComms:C] Stopped
2025-02-24T17:59:42.294Z,1740419982.294 [keepstation_approach:SurfaceComms](INFO): Completed keepstation_approach:SurfaceComms
2025-02-24T17:59:42.294Z,1740419982.294 [keepstation_approach:SurfaceComms] Stopped
2025-02-24T17:59:42.294Z,1740419982.294 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms
2025-02-24T17:59:42.671Z,1740419982.671 [keepstation_approach:Station:Dive] Running Loop=1
2025-02-24T17:59:42.671Z,1740419982.671 [keepstation_approach:Station:Dive](DEBUG): Aggregate::initialize keepstation_approach:Station:Dive
2025-02-24T17:59:42.671Z,1740419982.671 [keepstation_approach:Station:Dive:A] Running Loop=1
2025-02-24T17:59:42.671Z,1740419982.671 [keepstation_approach:Station:Dive:A](DEBUG): Aggregate::initialize keepstation_approach:Station:Dive:A
2025-02-24T17:59:42.672Z,1740419982.672 [keepstation_approach:DiveCmd:InitialDive] Running Loop=1
2025-02-24T17:59:42.672Z,1740419982.672 [keepstation_approach:DiveCmd:InitialDive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:InitialDive
2025-02-24T17:59:42.672Z,1740419982.672 [keepstation_approach:DiveCmd:InitialDive:dive] Running Loop=1
2025-02-24T17:59:42.672Z,1740419982.672 [keepstation_approach:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:InitialDive:dive
2025-02-24T17:59:42.672Z,1740419982.672 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-24T17:59:42.672Z,1740419982.672 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-24T17:59:42.672Z,1740419982.672 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed] Running Loop=1
2025-02-24T17:59:42.672Z,1740419982.672 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed](DEBUG): Initialize.
2025-02-24T17:59:42.673Z,1740419982.673 [keepstation_approach:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-02-24T17:59:42.674Z,1740419982.674 [keepstation_approach:DiveCmd:InitialDive:dive:A](INFO): Moving to  10.000000 m 
2025-02-24T17:59:42.674Z,1740419982.674 [keepstation_approach:DiveCmd:InitialDive:dive:A] Stopped
2025-02-24T17:59:42.674Z,1740419982.674 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch] Running Loop=1
2025-02-24T17:59:42.674Z,1740419982.674 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch](DEBUG): Initialize.
2025-02-24T17:59:50.801Z,1740419990.801 [NAL9602](INFO): SBD MO Status=0, MOMSN=13305, MT Status=0, MTMSN=0
2025-02-24T17:59:50.801Z,1740419990.801 [NAL9602](INFO): No messages in MT queue
2025-02-24T18:00:21.520Z,1740420021.520 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T18:00:52.111Z,1740420052.111 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:01:09.439Z,1740420069.439 [Radio_Surface](INFO): Powering down
2025-02-24T18:01:23.235Z,1740420083.235 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:01:24.240Z,1740420084.240 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-24T18:02:06.586Z,1740420126.586 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch] Stopped
2025-02-24T18:02:06.587Z,1740420126.587 [keepstation_approach:DiveCmd:InitialDive:dive:E] Running Loop=1
2025-02-24T18:02:06.976Z,1740420126.976 [keepstation_approach:DiveCmd:InitialDive:dive:E] Stopped
2025-02-24T18:02:06.976Z,1740420126.976 [keepstation_approach:DiveCmd:InitialDive:dive](INFO): Completed keepstation_approach:DiveCmd:InitialDive:dive
2025-02-24T18:02:06.976Z,1740420126.976 [keepstation_approach:DiveCmd:InitialDive:dive] Stopped
2025-02-24T18:02:06.976Z,1740420126.976 [keepstation_approach:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:InitialDive:dive
2025-02-24T18:02:06.976Z,1740420126.976 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-02-24T18:02:06.976Z,1740420126.976 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-24T18:02:06.977Z,1740420126.977 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed] Stopped
2025-02-24T18:02:06.977Z,1740420126.977 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2025-02-24T18:02:06.977Z,1740420126.977 [keepstation_approach:DiveCmd:InitialDive](INFO): Completed keepstation_approach:DiveCmd:InitialDive
2025-02-24T18:02:07.380Z,1740420127.380 [keepstation_approach:DiveCmd:SettleAtDepth] Running Loop=1
2025-02-24T18:02:07.380Z,1740420127.380 [keepstation_approach:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth
2025-02-24T18:02:07.380Z,1740420127.380 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-02-24T18:02:07.380Z,1740420127.380 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-24T18:02:07.380Z,1740420127.380 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Running Loop=1
2025-02-24T18:02:07.380Z,1740420127.380 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Initialize.
2025-02-24T18:02:07.380Z,1740420127.380 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Running Loop=1
2025-02-24T18:02:07.380Z,1740420127.380 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch](DEBUG): Initialize.
2025-02-24T18:02:07.380Z,1740420127.380 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-02-24T18:02:07.382Z,1740420127.382 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  10.000000 m , settling for  5.000000 min 
2025-02-24T18:02:07.382Z,1740420127.382 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-02-24T18:02:07.382Z,1740420127.382 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait] Running Loop=1
2025-02-24T18:02:07.382Z,1740420127.382 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](DEBUG): Initialize Wait Component.
2025-02-24T18:03:02.644Z,1740420182.644 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.731140
2025-02-24T18:07:07.956Z,1740420427.956 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](INFO): Done Waiting.
2025-02-24T18:07:07.956Z,1740420427.956 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait] Stopped
2025-02-24T18:07:07.956Z,1740420427.956 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T18:07:07.957Z,1740420427.957 [keepstation_approach:DiveCmd:SettleAtDepth:dive:E] Running Loop=1
2025-02-24T18:07:08.361Z,1740420428.361 [keepstation_approach:DiveCmd:SettleAtDepth:dive:E] Stopped
2025-02-24T18:07:08.362Z,1740420428.362 [keepstation_approach:DiveCmd:SettleAtDepth:dive](INFO): Completed keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-24T18:07:08.362Z,1740420428.362 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Stopped
2025-02-24T18:07:08.362Z,1740420428.362 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-24T18:07:08.362Z,1740420428.362 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Stopped
2025-02-24T18:07:08.362Z,1740420428.362 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Uninitialize.
2025-02-24T18:07:08.362Z,1740420428.362 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Stopped
2025-02-24T18:07:08.362Z,1740420428.362 [keepstation_approach:DiveCmd:SettleAtDepth](INFO): Completed keepstation_approach:DiveCmd:SettleAtDepth
2025-02-24T18:07:08.764Z,1740420428.764 [keepstation_approach:DiveCmd:MaintainDepth] Running Loop=1
2025-02-24T18:07:08.764Z,1740420428.764 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-24T18:07:08.764Z,1740420428.764 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Running Loop=1
2025-02-24T18:07:08.765Z,1740420428.765 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-24T18:07:08.765Z,1740420428.765 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Running Loop=1
2025-02-24T18:07:08.765Z,1740420428.765 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Running Loop=1
2025-02-24T18:07:08.765Z,1740420428.765 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch](DEBUG): Initialize.
2025-02-24T18:07:08.765Z,1740420428.765 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Running Loop=1
2025-02-24T18:07:08.765Z,1740420428.765 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-24T18:07:08.766Z,1740420428.766 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](INFO): Rest->Waypoint
2025-02-24T18:14:26.306Z,1740420866.306 [keepstation_approach](INFO): Timed out from 2025-02-24T17:14:26.3Z
2025-02-24T18:14:26.306Z,1740420866.306 [MissionManager](INFO): keepstation_approach is completed.
2025-02-24T18:14:26.306Z,1740420866.306 [MissionManager](INFO): Uninitializing Mission keepstation_approach
2025-02-24T18:14:26.307Z,1740420866.307 [keepstation_approach] Stopped
2025-02-24T18:14:26.307Z,1740420866.307 [keepstation_approach](DEBUG): Aggregate::uninitialize keepstation_approach
2025-02-24T18:14:26.307Z,1740420866.307 [keepstation_approach:StandardEnvelopes] Stopped
2025-02-24T18:14:26.307Z,1740420866.307 [keepstation_approach:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation_approach:StandardEnvelopes
2025-02-24T18:14:26.307Z,1740420866.307 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-24T18:14:26.307Z,1740420866.307 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-24T18:14:26.307Z,1740420866.307 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-24T18:14:26.307Z,1740420866.307 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-24T18:14:26.307Z,1740420866.307 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-24T18:14:26.308Z,1740420866.308 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-24T18:14:26.308Z,1740420866.308 [keepstation_approach:BackseatDriver] Stopped
2025-02-24T18:14:26.308Z,1740420866.308 [keepstation_approach:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation_approach:BackseatDriver
2025-02-24T18:14:26.308Z,1740420866.308 [keepstation_approach:BackseatDriver:A.BackseatDriver] Stopped
2025-02-24T18:14:26.308Z,1740420866.308 [keepstation_approach:PowerOnly] Stopped
2025-02-24T18:14:26.308Z,1740420866.308 [keepstation_approach:PowerOnly](DEBUG): Aggregate::uninitialize keepstation_approach:PowerOnly
2025-02-24T18:14:26.308Z,1740420866.308 [keepstation_approach:PowerOnly:E.Wait] Stopped
2025-02-24T18:14:26.308Z,1740420866.308 [keepstation_approach:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T18:14:26.308Z,1740420866.308 [keepstation_approach:H.Pitch] Stopped
2025-02-24T18:14:26.308Z,1740420866.308 [keepstation_approach:DiveCmd] Stopped
2025-02-24T18:14:26.308Z,1740420866.308 [keepstation_approach:DiveCmd](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd
2025-02-24T18:14:26.308Z,1740420866.308 [keepstation_approach:DiveCmd:InitialDive] Stopped
2025-02-24T18:14:26.309Z,1740420866.309 [keepstation_approach:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:InitialDive
2025-02-24T18:14:26.309Z,1740420866.309 [keepstation_approach:DiveCmd:SettleAtDepth] Stopped
2025-02-24T18:14:26.309Z,1740420866.309 [keepstation_approach:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:SettleAtDepth
2025-02-24T18:14:26.309Z,1740420866.309 [keepstation_approach:DiveCmd:MaintainDepth] Stopped
2025-02-24T18:14:26.309Z,1740420866.309 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-24T18:14:26.309Z,1740420866.309 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Stopped
2025-02-24T18:14:26.309Z,1740420866.309 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-24T18:14:26.309Z,1740420866.309 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Stopped
2025-02-24T18:14:26.309Z,1740420866.309 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Stopped
2025-02-24T18:14:26.309Z,1740420866.309 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Stopped
2025-02-24T18:14:26.309Z,1740420866.309 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-24T18:14:26.309Z,1740420866.309 [keepstation_approach:Station] Stopped
2025-02-24T18:14:26.310Z,1740420866.310 [keepstation_approach:Station](DEBUG): Aggregate::uninitialize keepstation_approach:Station
2025-02-24T18:14:26.310Z,1740420866.310 [keepstation_approach:Station:Dive] Stopped
2025-02-24T18:14:26.310Z,1740420866.310 [keepstation_approach:Station:Dive](DEBUG): Aggregate::uninitialize keepstation_approach:Station:Dive
2025-02-24T18:14:26.310Z,1740420866.310 [keepstation_approach:Station:Dive:A] Stopped
2025-02-24T18:14:26.310Z,1740420866.310 [keepstation_approach:Station:Dive:A](DEBUG): Aggregate::uninitialize keepstation_approach:Station:Dive:A
2025-02-24T18:14:26.310Z,1740420866.310 [keepstation_approach:Station:B.Wait] Stopped
2025-02-24T18:14:26.310Z,1740420866.310 [keepstation_approach:Station:B.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T18:14:26.720Z,1740420866.720 [MissionManager](IMPORTANT): Started mission Default
2025-02-24T18:14:26.721Z,1740420866.721 [Default] Running Loop=1
2025-02-24T18:14:26.721Z,1740420866.721 [Default](DEBUG): Aggregate::initialize Default
2025-02-24T18:14:26.721Z,1740420866.721 [Default:B.GoToSurface] Running Loop=1
2025-02-24T18:14:26.721Z,1740420866.721 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-24T18:14:26.721Z,1740420866.721 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-24T18:14:26.722Z,1740420866.722 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-24T18:14:26.722Z,1740420866.722 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-24T18:14:26.722Z,1740420866.722 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-24T18:14:26.722Z,1740420866.722 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-24T18:14:26.723Z,1740420866.723 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-24T18:14:26.724Z,1740420866.724 [Default:A.Wait] Running Loop=1
2025-02-24T18:14:26.724Z,1740420866.724 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-24T18:14:27.125Z,1740420867.125 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (2 active estimators).
2025-02-24T18:14:27.343Z,1740420867.343 [Radio_Surface](INFO): Powering up
2025-02-24T18:14:33.503Z,1740420873.503 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-24T18:14:40.068Z,1740420880.068 [Default:A.Wait](INFO): Done Waiting.
2025-02-24T18:14:40.068Z,1740420880.068 [Default:A.Wait] Stopped
2025-02-24T18:14:40.068Z,1740420880.068 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T18:15:00.256Z,1740420900.256 [Default:CheckIn] Running Loop=1
2025-02-24T18:15:00.256Z,1740420900.256 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-24T18:15:00.256Z,1740420900.256 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-24T18:15:03.637Z,1740420903.637 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:15:34.773Z,1740420934.773 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:15:38.619Z,1740420938.619 [NAL9602](INFO): SBD MO Status=2, MOMSN=13306, MT Status=2, MTMSN=0
2025-02-24T18:15:38.619Z,1740420938.619 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-24T18:15:48.713Z,1740420948.713 [NAL9602](INFO): SBD MO Status=0, MOMSN=13306, MT Status=0, MTMSN=0
2025-02-24T18:15:48.713Z,1740420948.713 [NAL9602](INFO): No messages in MT queue
2025-02-24T18:15:49.930Z,1740420949.930 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,181549.00,A,3647.79962,N,12150.85955,W,0.622,125.71,240225,,,A*7F
2025-02-24T18:15:49.933Z,1740420949.933 [NAL9602](INFO): GPS fix at 20250224T181549: (36.796660, -121.847659)
2025-02-24T18:15:49.962Z,1740420949.962 [Default:CheckIn:Read_GPS] Stopped
2025-02-24T18:15:49.963Z,1740420949.963 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-24T18:16:02.546Z,1740420962.546 [NAL9602](INFO): SBD MO Status=1, MOMSN=13307, MT Status=0, MTMSN=0
2025-02-24T18:16:02.595Z,1740420962.595 [NAL9602](INFO): Sent 73 bytes from file Logs/20250224T165446/Courier0024.lzma
2025-02-24T18:16:02.596Z,1740420962.596 [NAL9602](INFO): Packets left to send: 0
2025-02-24T18:16:05.895Z,1740420965.895 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:16:25.810Z,1740420985.810 [NAL9602](INFO): SBD MO Status=2, MOMSN=13308, MT Status=2, MTMSN=0
2025-02-24T18:16:25.811Z,1740420985.811 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-24T18:16:37.076Z,1740420997.076 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:16:48.764Z,1740421008.764 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003263
2025-02-24T18:16:57.931Z,1740421017.931 [DataOverHttps](INFO): Sending 140 bytes from file Logs/20250224T165446/Express0025.lzma
2025-02-24T18:16:58.933Z,1740421018.933 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Express0025.lzma.bak
2025-02-24T18:16:58.933Z,1740421018.933 [DataOverHttps](INFO): SBD MOMSN=23973759
2025-02-24T18:17:00.618Z,1740421020.618 [NAL9602](INFO): SBD MO Status=1, MOMSN=13308, MT Status=0, MTMSN=0
2025-02-24T18:17:00.687Z,1740421020.687 [NAL9602](INFO): Sent 140 bytes from file Logs/20250224T165446/Express0025.lzma
2025-02-24T18:17:00.688Z,1740421020.688 [NAL9602](INFO): Packets left to send: 0
2025-02-24T18:17:00.729Z,1740421020.729 [Default:CheckIn:Read_Iridium] Stopped
2025-02-24T18:17:00.730Z,1740421020.730 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-24T18:17:00.730Z,1740421020.730 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-24T18:17:31.360Z,1740421051.360 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T18:22:01.369Z,1740421321.369 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-24T18:22:01.369Z,1740421321.369 [Default:CheckIn:C.Wait] Stopped
2025-02-24T18:22:01.369Z,1740421321.369 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T18:22:01.369Z,1740421321.369 [Default:CheckIn:D] Running Loop=1
2025-02-24T18:22:01.781Z,1740421321.781 [Default:CheckIn:D] Stopped
2025-02-24T18:22:01.781Z,1740421321.781 [Default:CheckIn:E] Running Loop=1
2025-02-24T18:22:02.179Z,1740421322.179 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  7.584329 min 
2025-02-24T18:22:02.179Z,1740421322.179 [Default:CheckIn:E] Stopped
2025-02-24T18:22:02.179Z,1740421322.179 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-24T18:22:02.179Z,1740421322.179 [Default:CheckIn] Stopped
2025-02-24T18:22:02.179Z,1740421322.179 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-24T18:22:02.179Z,1740421322.179 [Default:CheckIn](INFO): Running loop #2
2025-02-24T18:22:02.179Z,1740421322.179 [Default:CheckIn] Running Loop=2
2025-02-24T18:22:02.180Z,1740421322.180 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-24T18:22:02.180Z,1740421322.180 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-24T18:22:04.186Z,1740421324.186 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182203.00,A,3647.78708,N,12150.86344,W,0.855,191.10,240225,,,A*79
2025-02-24T18:22:04.188Z,1740421324.188 [NAL9602](INFO): GPS fix at 20250224T182203: (36.796451, -121.847724)
2025-02-24T18:22:04.216Z,1740421324.216 [Default:CheckIn:Read_GPS] Stopped
2025-02-24T18:22:04.216Z,1740421324.216 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-24T18:22:11.767Z,1740421331.767 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250224T165446/Courier0027.lzma
2025-02-24T18:22:12.769Z,1740421332.769 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Courier0027.lzma.bak
2025-02-24T18:22:12.769Z,1740421332.769 [DataOverHttps](INFO): SBD MOMSN=23973764
2025-02-24T18:22:32.460Z,1740421352.460 [DataOverHttps](INFO): Sending 131 bytes from file Logs/20250224T165446/Express0028.lzma
2025-02-24T18:22:32.483Z,1740421352.483 [NAL9602](INFO): SBD MO Status=2, MOMSN=13309, MT Status=2, MTMSN=0
2025-02-24T18:22:32.483Z,1740421352.483 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-24T18:22:33.461Z,1740421353.461 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Express0028.lzma.bak
2025-02-24T18:22:33.462Z,1740421353.462 [DataOverHttps](INFO): SBD MOMSN=23973767
2025-02-24T18:22:35.785Z,1740421355.785 [Default:CheckIn:Read_Iridium] Stopped
2025-02-24T18:22:35.785Z,1740421355.785 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-24T18:22:35.785Z,1740421355.785 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-24T18:24:23.545Z,1740421463.545 [DataOverHttps](IMPORTANT): SBD MTMSN=20250224T182422
2025-02-24T18:24:31.179Z,1740421471.179 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation_approach.tl;set keepstation_approach.MissionTimeout 1 h;set keepstation_approach.NeedCommsTime 30 min;set keepstation_approach.Latitude 36.797 degree;set keepstation_approach.Longitude -121.847 degree" 291s6 1 2
2025-02-24T18:24:31.280Z,1740421471.280 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation_approach.tl;set keepstation_approach.MissionTimeout 1 h;set keepstation_approach.NeedCommsTime 30 min;set keepstation_approach.Latitude 36.797 degree;set keepstation_approach.Longitude -121.847 degree" 291s6 1 2.000000
2025-02-24T18:24:31.280Z,1740421471.280 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=291s6
2025-02-24T18:24:31.281Z,1740421471.281 [CommandExec](IMPORTANT): Scheduled #105 (#1 of 2 with id='291s6'): "load Transport/keepstation_approach.tl;set keepstation_approach.MissionTimeout 1 h;set keepstation_approach.NeedCommsTime 30 min;set keepstation_approach.Latitude 36.797 degree;set keepstation_approach.Longitude -121.847 degree", ASAP
2025-02-24T18:24:32.181Z,1740421472.181 [DataOverHttps](IMPORTANT): SBD MTMSN=20250224T182431
2025-02-24T18:24:39.763Z,1740421479.763 [DataOverHttps](INFO): Received command: sched asap "set keepstation_approach.Depth 5 m;set keepstation_approach.ApproachDepth 5 m;run" 291s6 2 2
2025-02-24T18:24:39.838Z,1740421479.838 [CommandExec](IMPORTANT): got command schedule asap "set keepstation_approach.Depth 5 m;set keepstation_approach.ApproachDepth 5 m;run" 291s6 2 2.000000
2025-02-24T18:24:39.839Z,1740421479.839 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=291s6
2025-02-24T18:24:39.840Z,1740421479.840 [CommandExec](IMPORTANT): Scheduled #106 (#2 of 2 with id='291s6'): "set keepstation_approach.Depth 5 m;set keepstation_approach.ApproachDepth 5 m;run", ASAP
2025-02-24T18:24:39.960Z,1740421479.960 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation_approach.tl
2025-02-24T18:24:39.961Z,1740421479.961 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation_approach.tl
2025-02-24T18:24:39.961Z,1740421479.961 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation_approach.tl
2025-02-24T18:24:39.962Z,1740421479.962 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation_approach.tl
2025-02-24T18:24:40.982Z,1740421480.982 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation_approach.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation_approach">
    <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="TransitDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>29</Value>
    </DefineArg>
    <DefineArg Name="SettleTime">
        <Units:minute />
        <Value>5</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="ApproachSpeed">
        <Units:meter_per_second />
        <Value>1</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>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="SettleAtDepth">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="MaintainDepth">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <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>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="InitialDive" />
        </Assign>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Syslog Severity="Info">Transiting to station</Syslog>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="TransitDepth" />
            </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="SurfaceComms" Id="OnStation" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Moving to 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="ApproachSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Sequence />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SettleAtDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SettleAtDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SettleAtDepth" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Syslog Severity="Info">
                    Reached 
                    <Arg Name="ApproachDepth" />
                    <Units:meter />
                    , settling for 
                    <Arg Name="SettleTime" />
                    <Units:minute />
                </Syslog>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Arg Name="SettleTime" />
                    </Setting>
                </Guidance:Wait>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="MaintainDepth" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MaintainDepth">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="MaintainDepth" />
                </Eq>
            </While>
            <Aggregate Id="keepstation">
                <Parallel />
                <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>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="Station">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-02-24T18:24:40.997Z,1740421480.997 [MissionManager](INFO): DefineArg keepstation_approach.MissionTimeout = 4.000000 h
2025-02-24T18:24:41.004Z,1740421481.004 [MissionManager](INFO): DefineArg keepstation_approach.NeedCommsTime = 45.000000 min
2025-02-24T18:24:41.006Z,1740421481.006 [MissionManager](INFO): DefineArg keepstation_approach.Latitude = nan arcdeg
2025-02-24T18:24:41.012Z,1740421481.012 [MissionManager](INFO): DefineArg keepstation_approach.Longitude = nan arcdeg
2025-02-24T18:24:41.014Z,1740421481.014 [MissionManager](INFO): DefineArg keepstation_approach.Depth = 30.000000 m
2025-02-24T18:24:41.019Z,1740421481.019 [MissionManager](INFO): DefineArg keepstation_approach.TransitDepth = 15.000000 m
2025-02-24T18:24:41.061Z,1740421481.061 [MissionManager](INFO): DefineArg keepstation_approach.ApproachDepth = 29.000000 m
2025-02-24T18:24:41.063Z,1740421481.063 [MissionManager](INFO): DefineArg keepstation_approach.SettleTime = 5.000000 min
2025-02-24T18:24:41.065Z,1740421481.065 [MissionManager](INFO): DefineArg keepstation_approach.DepthDeadband = 4.000000 m
2025-02-24T18:24:41.083Z,1740421481.083 [MissionManager](INFO): DefineArg keepstation_approach.Speed = 0.750000 m/s
2025-02-24T18:24:41.085Z,1740421481.085 [MissionManager](INFO): DefineArg keepstation_approach.ApproachSpeed = 1.000000 m/s
2025-02-24T18:24:41.088Z,1740421481.088 [MissionManager](INFO): DefineArg keepstation_approach.Radius = 200.000000 m
2025-02-24T18:24:41.090Z,1740421481.090 [MissionManager](INFO): DefineArg keepstation_approach.MaxDepth = 45.000000 m
2025-02-24T18:24:41.104Z,1740421481.104 [MissionManager](INFO): DefineArg keepstation_approach.MinOffshore = 2.000000 km
2025-02-24T18:24:41.107Z,1740421481.107 [MissionManager](INFO): DefineOutput keepstation_approach.DiveMode = 0.000000 count
2025-02-24T18:24:41.109Z,1740421481.109 [MissionManager](INFO): DefineOutput keepstation_approach.DoingComms = 0.000000 count
2025-02-24T18:24:41.119Z,1740421481.119 [MissionManager](INFO): DefineOutput keepstation_approach.InitialDive = 1.000000 count
2025-02-24T18:24:41.122Z,1740421481.122 [MissionManager](INFO): DefineOutput keepstation_approach.SettleAtDepth = 2.000000 count
2025-02-24T18:24:41.139Z,1740421481.139 [MissionManager](INFO): DefineOutput keepstation_approach.MaintainDepth = 3.000000 count
2025-02-24T18:24:41.140Z,1740421481.140 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-24T18:24:41.140Z,1740421481.140 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-24T18:24:41.141Z,1740421481.141 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-24T18:24:41.382Z,1740421481.382 [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>

2025-02-24T18:24:41.407Z,1740421481.407 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.DiveInterval = 1.000000 h
2025-02-24T18:24:41.410Z,1740421481.410 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-24T18:24:41.416Z,1740421481.416 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-24T18:24:41.418Z,1740421481.418 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.SurfaceDepthRate = nan m/s
2025-02-24T18:24:41.426Z,1740421481.426 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-24T18:24:41.429Z,1740421481.429 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-24T18:24:41.432Z,1740421481.432 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.GPSTimeout = 7.000000 min
2025-02-24T18:24:41.434Z,1740421481.434 [MissionManager](INFO): DefineArg keepstation_approach:NeedComms.CommsTimeout = 30.000000 min
2025-02-24T18:24:41.442Z,1740421481.442 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-24T18:24:41.494Z,1740421481.494 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-24T18:24:41.494Z,1740421481.494 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-24T18:24:41.504Z,1740421481.504 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-24T18:24:41.603Z,1740421481.603 [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>

2025-02-24T18:24:41.610Z,1740421481.610 [MissionManager](INFO): DefineArg keepstation_approach:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-24T18:24:41.612Z,1740421481.612 [MissionManager](INFO): DefineArg keepstation_approach:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-24T18:24:41.615Z,1740421481.615 [MissionManager](INFO): DefineArg keepstation_approach:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-24T18:24:41.619Z,1740421481.619 [MissionManager](INFO): DefineArg keepstation_approach:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-24T18:24:41.620Z,1740421481.620 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-24T18:24:41.626Z,1740421481.626 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-24T18:24:41.633Z,1740421481.633 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-24T18:24:41.641Z,1740421481.641 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-24T18:24:41.641Z,1740421481.641 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-24T18:24:41.642Z,1740421481.642 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-24T18:24:41.692Z,1740421481.692 [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>

2025-02-24T18:24:41.696Z,1740421481.696 [MissionManager](INFO): DefineArg keepstation_approach:BackseatDriver.EnableBackseat = 0 bool
2025-02-24T18:24:41.698Z,1740421481.698 [keepstation_approach:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-24T18:24:41.700Z,1740421481.700 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-24T18:24:41.700Z,1740421481.700 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-24T18:24:41.702Z,1740421481.702 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-24T18:24:41.882Z,1740421481.882 [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>

2025-02-24T18:24:41.886Z,1740421481.886 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.SampleAll = 0 bool
2025-02-24T18:24:41.888Z,1740421481.888 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.SampleLoad1 = 0 bool
2025-02-24T18:24:41.890Z,1740421481.890 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.SampleLoad2 = 0 bool
2025-02-24T18:24:41.892Z,1740421481.892 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.SampleLoad3 = 0 bool
2025-02-24T18:24:41.894Z,1740421481.894 [MissionManager](INFO): DefineArg keepstation_approach:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-24T18:24:41.901Z,1740421481.901 [keepstation_approach:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-24T18:24:41.902Z,1740421481.902 [keepstation_approach:H.Pitch](DEBUG): Construct.
2025-02-24T18:24:41.914Z,1740421481.914 [keepstation_approach:TransitToStation:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-24T18:24:41.955Z,1740421481.955 [keepstation_approach:TransitToStation:C.Pitch](DEBUG): Construct.
2025-02-24T18:24:41.960Z,1740421481.960 [keepstation_approach:TransitToStation:D.SetSpeed](DEBUG): Construct.
2025-02-24T18:24:41.962Z,1740421481.962 [keepstation_approach:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-24T18:24:41.978Z,1740421481.978 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-24T18:24:41.981Z,1740421481.981 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed](DEBUG): Construct.
2025-02-24T18:24:41.983Z,1740421481.983 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch](DEBUG): Construct.
2025-02-24T18:24:41.992Z,1740421481.992 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Construct.
2025-02-24T18:24:41.994Z,1740421481.994 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch](DEBUG): Construct.
2025-02-24T18:24:41.999Z,1740421481.999 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](DEBUG): Construct Wait.
2025-02-24T18:24:42.005Z,1740421482.005 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch](DEBUG): Construct.
2025-02-24T18:24:42.009Z,1740421482.009 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-24T18:24:42.018Z,1740421482.018 [keepstation_approach:Station:B.Wait](DEBUG): Construct Wait.
2025-02-24T18:24:42.047Z,1740421482.047 [MissionManager](DEBUG): 
mission keepstation_approach {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius. After each surface interval,
  performs an approach dive to settle at the approach depth before
  transitioning to station keeping.
  """

  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
      """

    TransitDepth = 15 meter
      """
      Depth for initial transit to station.
      """

    ApproachDepth = 29 meter
      """
      Depth for initial dive during station keeping
      """

    SettleTime = 5 minute
      """
      Time to hold at approach depth before transitioning to station keeping
      """

    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.
      """

    ApproachSpeed = 1 meter_per_second
      """
      Speed for initial dive during station keeping
      """

    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
      """
  }

  output {
    DiveMode = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      switch between dive modes. Initialized to DoingComms.
      """

    DoingComms = 0 count
      """
      Mission variable (don't change). The mission will run in this mode
      when doing surface comms.
      """

    InitialDive = 1 count
      """
      Mission variable (don't change). The mission will run in this mode after
      surface comms are done to dive the vehicle to the approach depth.
      """

    SettleAtDepth = 2 count
      """
      Mission variable (don't change). The mission will run in this mode to
      settle the vehicle at the target depth.
      """

    MaintainDepth = 3 count
      """
      Mission variable (don't change). The mission will run in this mode to
      maintain the vehicle at station keeping depth.
      """
  }

  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
  }

  aggregate SurfaceComms {
    run when (
      called
      or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
    )

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    assign in sequence DiveMode = InitialDive
  }

  call id="StartingMission" refId="SurfaceComms"

  aggregate TransitToStation {
    """
    Need a separate aggregate for transit if we want to specify a
    different depth for the approach.
    """

    run in sequence

    syslog info "Transiting to station"

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = TransitDepth
    }

    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="SurfaceComms"

  aggregate DiveCmd {
    """
    Arbitrates between 3 dive modes: 1) descend from the surface
    to approach depth. 2) settle at approach depth. 3) maintain
    station keeping at target depth.
    """

    run when ( called )

    aggregate InitialDive {
      """
      Descend from the surface to approach depth
      """

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        syslog info "Moving to " + ApproachDepth~meter

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = ApproachSpeed
        }

        behavior Guidance:Pitch {
          run in sequence

          set depth = ApproachDepth
        }

        assign in sequence DiveMode = SettleAtDepth
      }
    }

    aggregate SettleAtDepth {
      """
      Take time to settle at the approach depth with zero speed
      """

      run while ( DiveMode == SettleAtDepth )

      aggregate dive {
        run in sequence

        syslog info "Reached " + ApproachDepth~meter + ", settling for " + SettleTime~minute

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 meter_per_second
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = ApproachDepth
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = SettleTime
        }

        assign in sequence DiveMode = MaintainDepth
      }
    }

    aggregate MaintainDepth {
      run while ( DiveMode == MaintainDepth )

      aggregate keepstation {
        run in parallel

        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
        }
      }
    }
  }

  aggregate Station {
    run in sequence

    aggregate Dive {
      run while ( not ( DiveMode == DoingComms ) )

      call refId="DiveCmd"
    }

    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
    }
  }
}


2025-02-24T18:24:42.048Z,1740421482.048 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation_approach.tl id=keepstation_approach
2025-02-24T18:24:49.878Z,1740421489.878 [NAL9602](INFO): SBD MO Status=0, MOMSN=13309, MT Status=0, MTMSN=0
2025-02-24T18:24:49.878Z,1740421489.878 [NAL9602](INFO): No messages in MT queue
2025-02-24T18:25:20.316Z,1740421520.316 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T18:25:44.125Z,1740421544.125 [CommandExec](IMPORTANT): got command set keepstation_approach.MissionTimeout 1 hour
2025-02-24T18:25:44.126Z,1740421544.126 [CommandExec](IMPORTANT): got command set keepstation_approach.NeedCommsTime 30 minute
2025-02-24T18:25:44.126Z,1740421544.126 [CommandExec](IMPORTANT): got command set keepstation_approach.Latitude 36.797 degree
2025-02-24T18:25:44.131Z,1740421544.131 [CommandExec](IMPORTANT): got command set keepstation_approach.Longitude -121.847 degree
2025-02-24T18:26:04.569Z,1740421564.569 [CommandExec](IMPORTANT): got command set keepstation_approach.Depth 5 meter
2025-02-24T18:26:04.570Z,1740421564.570 [CommandExec](IMPORTANT): got command set keepstation_approach.ApproachDepth 5 meter
2025-02-24T18:26:04.570Z,1740421564.570 [CommandExec](IMPORTANT): got command run
2025-02-24T18:26:04.573Z,1740421564.573 [CommandExec](IMPORTANT): Running 
2025-02-24T18:26:04.796Z,1740421564.796 [Default] Stopped
2025-02-24T18:26:04.796Z,1740421564.796 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-24T18:26:04.796Z,1740421564.796 [Default:B.GoToSurface] Stopped
2025-02-24T18:26:04.797Z,1740421564.797 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-24T18:26:04.797Z,1740421564.797 [Default:CheckIn] Stopped
2025-02-24T18:26:04.797Z,1740421564.797 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-24T18:26:04.797Z,1740421564.797 [Default:CheckIn:C.Wait] Stopped
2025-02-24T18:26:04.797Z,1740421564.797 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T18:26:04.797Z,1740421564.797 [MissionManager](IMPORTANT): Started mission keepstation_approach
2025-02-24T18:26:04.797Z,1740421564.797 [keepstation_approach] Running Loop=1
2025-02-24T18:26:04.797Z,1740421564.797 [keepstation_approach](DEBUG): Aggregate::initialize keepstation_approach
2025-02-24T18:26:04.798Z,1740421564.798 [keepstation_approach:StandardEnvelopes] Running Loop=1
2025-02-24T18:26:04.798Z,1740421564.798 [keepstation_approach:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation_approach:StandardEnvelopes
2025-02-24T18:26:04.798Z,1740421564.798 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-24T18:26:04.798Z,1740421564.798 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-24T18:26:04.798Z,1740421564.798 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-24T18:26:04.798Z,1740421564.798 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-24T18:26:04.798Z,1740421564.798 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-24T18:26:04.798Z,1740421564.798 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-24T18:26:04.798Z,1740421564.798 [keepstation_approach:BackseatDriver] Running Loop=1
2025-02-24T18:26:04.798Z,1740421564.798 [keepstation_approach:BackseatDriver](DEBUG): Aggregate::initialize keepstation_approach:BackseatDriver
2025-02-24T18:26:04.799Z,1740421564.799 [keepstation_approach:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-24T18:26:04.799Z,1740421564.799 [keepstation_approach:PowerOnly] Running Loop=1
2025-02-24T18:26:04.799Z,1740421564.799 [keepstation_approach:PowerOnly](DEBUG): Aggregate::initialize keepstation_approach:PowerOnly
2025-02-24T18:26:04.799Z,1740421564.799 [keepstation_approach:PowerOnly:A] Running Loop=1
2025-02-24T18:26:04.799Z,1740421564.799 [keepstation_approach:PowerOnly:B] Running Loop=1
2025-02-24T18:26:04.799Z,1740421564.799 [keepstation_approach:PowerOnly:C] Running Loop=1
2025-02-24T18:26:04.799Z,1740421564.799 [keepstation_approach:PowerOnly:D] Running Loop=1
2025-02-24T18:26:04.799Z,1740421564.799 [keepstation_approach:PowerOnly:E.Wait] Running Loop=1
2025-02-24T18:26:04.800Z,1740421564.800 [keepstation_approach:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-24T18:26:04.800Z,1740421564.800 [keepstation_approach:H.Pitch] Running Loop=1
2025-02-24T18:26:04.800Z,1740421564.800 [keepstation_approach:H.Pitch](DEBUG): Initialize.
2025-02-24T18:26:04.800Z,1740421564.800 [keepstation_approach:B] Running Loop=1
2025-02-24T18:26:04.801Z,1740421564.801 [keepstation_approach:H.Pitch] Running Loop=1
2025-02-24T18:26:04.801Z,1740421564.801 [keepstation_approach:PowerOnly] Running Loop=1
2025-02-24T18:26:04.801Z,1740421564.801 [keepstation_approach:PowerOnly:D] Stopped
2025-02-24T18:26:04.801Z,1740421564.801 [keepstation_approach:PowerOnly:C] Stopped
2025-02-24T18:26:04.801Z,1740421564.801 [keepstation_approach:PowerOnly:B] Stopped
2025-02-24T18:26:04.802Z,1740421564.802 [keepstation_approach:PowerOnly:A] Stopped
2025-02-24T18:26:04.802Z,1740421564.802 [keepstation_approach:BackseatDriver] Running Loop=1
2025-02-24T18:26:04.802Z,1740421564.802 [keepstation_approach:StandardEnvelopes] Running Loop=1
2025-02-24T18:26:04.802Z,1740421564.802 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-24T18:26:04.802Z,1740421564.802 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-24T18:26:04.803Z,1740421564.803 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-24T18:26:04.803Z,1740421564.803 [keepstation_approach:B] Stopped
2025-02-24T18:26:04.803Z,1740421564.803 [keepstation_approach:D] Running Loop=1
2025-02-24T18:26:05.188Z,1740421565.188 [keepstation_approach:D] Stopped
2025-02-24T18:26:05.188Z,1740421565.188 [keepstation_approach:E] Running Loop=1
2025-02-24T18:26:05.592Z,1740421565.592 [keepstation_approach:E] Stopped
2025-02-24T18:26:05.593Z,1740421565.593 [keepstation_approach:StartingMission] Running Loop=1
2025-02-24T18:26:05.593Z,1740421565.593 [keepstation_approach:StartingMission](DEBUG): Aggregate::initialize keepstation_approach:StartingMission
2025-02-24T18:26:05.996Z,1740421565.996 [keepstation_approach:SurfaceComms] Running Loop=1
2025-02-24T18:26:05.996Z,1740421565.996 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms
2025-02-24T18:26:05.996Z,1740421565.996 [keepstation_approach:SurfaceComms:A] Running Loop=1
2025-02-24T18:26:05.996Z,1740421565.996 [keepstation_approach:SurfaceComms:A] Stopped
2025-02-24T18:26:05.996Z,1740421565.996 [keepstation_approach:SurfaceComms:B] Running Loop=1
2025-02-24T18:26:05.996Z,1740421565.996 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms:B
2025-02-24T18:26:06.414Z,1740421566.414 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-24T18:26:06.414Z,1740421566.414 [keepstation_approach:NeedComms] Running Loop=1
2025-02-24T18:26:06.414Z,1740421566.414 [keepstation_approach:NeedComms](DEBUG): Aggregate::initialize keepstation_approach:NeedComms
2025-02-24T18:26:06.414Z,1740421566.414 [keepstation_approach:NeedComms:B.GoToSurface] Running Loop=1
2025-02-24T18:26:06.414Z,1740421566.414 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-24T18:26:06.415Z,1740421566.415 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-24T18:26:06.415Z,1740421566.415 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-24T18:26:06.416Z,1740421566.416 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-24T18:26:06.416Z,1740421566.416 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-24T18:26:06.416Z,1740421566.416 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-24T18:26:06.417Z,1740421566.417 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-24T18:26:06.417Z,1740421566.417 [keepstation_approach:NeedComms:A] Running Loop=1
2025-02-24T18:26:06.418Z,1740421566.418 [keepstation_approach:NeedComms:A](INFO): last time_fix was:  1740421323.000000 second since 1970/01/01T00:00:00Z 
2025-02-24T18:26:06.418Z,1740421566.418 [keepstation_approach:NeedComms:A] Stopped
2025-02-24T18:26:06.805Z,1740421566.805 [keepstation_approach:NeedComms:C] Running Loop=1
2025-02-24T18:26:07.204Z,1740421567.204 [keepstation_approach:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-24T18:26:08.810Z,1740421568.810 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182608.00,A,3647.77708,N,12150.86949,W,1.244,252.76,240225,,,D*7C
2025-02-24T18:26:08.813Z,1740421568.813 [NAL9602](INFO): GPS fix at 20250224T182608: (36.796285, -121.847825)
2025-02-24T18:26:08.869Z,1740421568.869 [keepstation_approach:NeedComms:C] Stopped
2025-02-24T18:26:08.869Z,1740421568.869 [keepstation_approach:NeedComms:D] Running Loop=1
2025-02-24T18:26:09.251Z,1740421569.251 [keepstation_approach:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-24T18:26:11.926Z,1740421571.926 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250224T165446/Courier0030.lzma
2025-02-24T18:26:12.398Z,1740421572.398 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Courier0030.lzma.bak
2025-02-24T18:26:12.398Z,1740421572.398 [DataOverHttps](INFO): SBD MOMSN=23973774
2025-02-24T18:26:29.266Z,1740421589.266 [NAL9602](INFO): SBD MO Status=0, MOMSN=13310, MT Status=0, MTMSN=0
2025-02-24T18:26:29.266Z,1740421589.266 [NAL9602](INFO): No messages in MT queue
2025-02-24T18:26:31.279Z,1740421591.279 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250224T165446/Courier0033.lzma
2025-02-24T18:26:32.281Z,1740421592.281 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Courier0033.lzma.bak
2025-02-24T18:26:32.281Z,1740421592.281 [DataOverHttps](INFO): SBD MOMSN=23973777
2025-02-24T18:26:49.058Z,1740421609.058 [DataOverHttps](INFO): Sending 532 bytes from file Logs/20250224T165446/Express0031.lzma
2025-02-24T18:26:49.909Z,1740421609.909 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Express0031.lzma.bak
2025-02-24T18:26:49.910Z,1740421609.910 [DataOverHttps](INFO): SBD MOMSN=23973779
2025-02-24T18:26:59.984Z,1740421619.984 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T18:27:11.091Z,1740421631.091 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250224T165446/Express0034.lzma
2025-02-24T18:27:12.094Z,1740421632.094 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Express0034.lzma.bak
2025-02-24T18:27:12.094Z,1740421632.094 [DataOverHttps](INFO): SBD MOMSN=23973801
2025-02-24T18:27:14.187Z,1740421634.187 [keepstation_approach:NeedComms:D] Stopped
2025-02-24T18:27:14.191Z,1740421634.191 [keepstation_approach:NeedComms:E] Running Loop=1
2025-02-24T18:27:14.614Z,1740421634.614 [keepstation_approach:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-24T18:27:16.172Z,1740421636.172 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182715.00,A,3647.77465,N,12150.87000,W,0.272,144.37,240225,,,D*79
2025-02-24T18:27:16.174Z,1740421636.174 [NAL9602](INFO): GPS fix at 20250224T182715: (36.796244, -121.847833)
2025-02-24T18:27:16.275Z,1740421636.275 [keepstation_approach:NeedComms:E] Stopped
2025-02-24T18:27:16.303Z,1740421636.303 [keepstation_approach:NeedComms](INFO): Completed keepstation_approach:NeedComms
2025-02-24T18:27:16.303Z,1740421636.303 [keepstation_approach:NeedComms] Stopped
2025-02-24T18:27:16.303Z,1740421636.303 [keepstation_approach:NeedComms](DEBUG): Aggregate::uninitialize keepstation_approach:NeedComms
2025-02-24T18:27:16.303Z,1740421636.303 [keepstation_approach:NeedComms:B.GoToSurface] Stopped
2025-02-24T18:27:16.304Z,1740421636.304 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-24T18:27:16.639Z,1740421636.639 [keepstation_approach:SurfaceComms:B](INFO): Completed keepstation_approach:SurfaceComms:B
2025-02-24T18:27:16.639Z,1740421636.639 [keepstation_approach:SurfaceComms:B] Stopped
2025-02-24T18:27:16.643Z,1740421636.643 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms:B
2025-02-24T18:27:16.644Z,1740421636.644 [keepstation_approach:SurfaceComms:C] Running Loop=1
2025-02-24T18:27:17.021Z,1740421637.021 [keepstation_approach:SurfaceComms:C] Stopped
2025-02-24T18:27:17.021Z,1740421637.021 [keepstation_approach:SurfaceComms](INFO): Completed keepstation_approach:SurfaceComms
2025-02-24T18:27:17.022Z,1740421637.022 [keepstation_approach:SurfaceComms] Stopped
2025-02-24T18:27:17.022Z,1740421637.022 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms
2025-02-24T18:27:17.420Z,1740421637.420 [keepstation_approach:StartingMission](INFO): Completed keepstation_approach:StartingMission
2025-02-24T18:27:17.420Z,1740421637.420 [keepstation_approach:StartingMission] Stopped
2025-02-24T18:27:17.420Z,1740421637.420 [keepstation_approach:StartingMission](DEBUG): Aggregate::uninitialize keepstation_approach:StartingMission
2025-02-24T18:27:17.420Z,1740421637.420 [keepstation_approach:TransitToStation] Running Loop=1
2025-02-24T18:27:17.420Z,1740421637.420 [keepstation_approach:TransitToStation](DEBUG): Aggregate::initialize keepstation_approach:TransitToStation
2025-02-24T18:27:17.420Z,1740421637.420 [keepstation_approach:TransitToStation:B.Buoyancy] Running Loop=1
2025-02-24T18:27:17.421Z,1740421637.421 [keepstation_approach:TransitToStation:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-24T18:27:17.421Z,1740421637.421 [keepstation_approach:TransitToStation:C.Pitch] Running Loop=1
2025-02-24T18:27:17.421Z,1740421637.421 [keepstation_approach:TransitToStation:C.Pitch](DEBUG): Initialize.
2025-02-24T18:27:17.421Z,1740421637.421 [keepstation_approach:TransitToStation:D.SetSpeed] Running Loop=1
2025-02-24T18:27:17.421Z,1740421637.421 [keepstation_approach:TransitToStation:D.SetSpeed](DEBUG): Initialize.
2025-02-24T18:27:17.421Z,1740421637.421 [keepstation_approach:TransitToStation:A] Running Loop=1
2025-02-24T18:27:17.848Z,1740421637.848 [keepstation_approach:TransitToStation:D.SetSpeed] Running Loop=1
2025-02-24T18:27:17.849Z,1740421637.849 [keepstation_approach:TransitToStation:C.Pitch] Running Loop=1
2025-02-24T18:27:17.849Z,1740421637.849 [keepstation_approach:TransitToStation:B.Buoyancy] Running Loop=1
2025-02-24T18:27:17.849Z,1740421637.849 [keepstation_approach:TransitToStation:A](INFO): Transiting to station
2025-02-24T18:27:17.849Z,1740421637.849 [keepstation_approach:TransitToStation:A] Stopped
2025-02-24T18:27:17.851Z,1740421637.851 [keepstation_approach:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-24T18:27:17.855Z,1740421637.855 [keepstation_approach:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-24T18:27:17.856Z,1740421637.856 [keepstation_approach:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-24T18:27:18.248Z,1740421638.248 [keepstation_approach:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-24T18:27:30.322Z,1740421650.322 [NAL9602](INFO): SBD MO Status=0, MOMSN=13311, MT Status=0, MTMSN=0
2025-02-24T18:27:30.322Z,1740421650.322 [NAL9602](INFO): No messages in MT queue
2025-02-24T18:27:52.138Z,1740421672.138 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.75 m/s, pitch 30.00 deg, mass-position 11.65 mm (3 active estimators).
2025-02-24T18:28:01.024Z,1740421681.024 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T18:28:24.043Z,1740421704.043 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:29:27.112Z,1740421767.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:29:42.795Z,1740421782.795 [Radio_Surface](INFO): Powering down
2025-02-24T18:29:58.235Z,1740421798.235 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:29:59.244Z,1740421799.244 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-24T18:30:19.065Z,1740421819.065 [keepstation_approach:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-02-24T18:30:19.065Z,1740421819.065 [keepstation_approach:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-24T18:30:19.065Z,1740421819.065 [keepstation_approach:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-24T18:30:19.066Z,1740421819.066 [keepstation_approach:TransitToStation](INFO): Completed keepstation_approach:TransitToStation
2025-02-24T18:30:19.066Z,1740421819.066 [keepstation_approach:TransitToStation] Stopped
2025-02-24T18:30:19.066Z,1740421819.066 [keepstation_approach:TransitToStation](DEBUG): Aggregate::uninitialize keepstation_approach:TransitToStation
2025-02-24T18:30:19.066Z,1740421819.066 [keepstation_approach:TransitToStation:B.Buoyancy] Stopped
2025-02-24T18:30:19.066Z,1740421819.066 [keepstation_approach:TransitToStation:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-24T18:30:19.066Z,1740421819.066 [keepstation_approach:TransitToStation:C.Pitch] Stopped
2025-02-24T18:30:19.066Z,1740421819.066 [keepstation_approach:TransitToStation:D.SetSpeed] Stopped
2025-02-24T18:30:19.067Z,1740421819.067 [keepstation_approach:TransitToStation:D.SetSpeed](DEBUG): Uninitialize.
2025-02-24T18:30:19.067Z,1740421819.067 [keepstation_approach:OnStation] Running Loop=1
2025-02-24T18:30:19.067Z,1740421819.067 [keepstation_approach:OnStation](DEBUG): Aggregate::initialize keepstation_approach:OnStation
2025-02-24T18:30:19.482Z,1740421819.482 [keepstation_approach:SurfaceComms] Running Loop=1
2025-02-24T18:30:19.483Z,1740421819.483 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms
2025-02-24T18:30:19.483Z,1740421819.483 [keepstation_approach:SurfaceComms:A] Running Loop=1
2025-02-24T18:30:19.483Z,1740421819.483 [keepstation_approach:SurfaceComms:A] Stopped
2025-02-24T18:30:19.483Z,1740421819.483 [keepstation_approach:SurfaceComms:B] Running Loop=1
2025-02-24T18:30:19.483Z,1740421819.483 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation_approach:SurfaceComms:B
2025-02-24T18:30:19.876Z,1740421819.876 [keepstation_approach:NeedComms] Running Loop=1
2025-02-24T18:30:19.876Z,1740421819.876 [keepstation_approach:NeedComms](DEBUG): Aggregate::initialize keepstation_approach:NeedComms
2025-02-24T18:30:19.876Z,1740421819.876 [keepstation_approach:NeedComms:B.GoToSurface] Running Loop=1
2025-02-24T18:30:19.876Z,1740421819.876 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-24T18:30:19.877Z,1740421819.877 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-24T18:30:19.877Z,1740421819.877 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-24T18:30:19.877Z,1740421819.877 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-24T18:30:19.878Z,1740421819.878 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-24T18:30:19.878Z,1740421819.878 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-24T18:30:19.878Z,1740421819.878 [keepstation_approach:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-24T18:30:19.879Z,1740421819.879 [keepstation_approach:NeedComms:A] Running Loop=1
2025-02-24T18:30:19.880Z,1740421819.880 [keepstation_approach:NeedComms:A](INFO): last time_fix was:  1740421635.000000 second since 1970/01/01T00:00:00Z 
2025-02-24T18:30:19.880Z,1740421819.880 [keepstation_approach:NeedComms:A] Stopped
2025-02-24T18:30:32.400Z,1740421832.400 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.579025
2025-02-24T18:31:09.574Z,1740421869.574 [keepstation_approach:NeedComms:C] Running Loop=1
2025-02-24T18:31:10.063Z,1740421870.063 [Radio_Surface](INFO): Powering up
2025-02-24T18:31:15.571Z,1740421875.571 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-24T18:31:45.691Z,1740421905.691 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:32:16.815Z,1740421936.815 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:32:47.952Z,1740421967.952 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:33:19.116Z,1740421999.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:33:31.388Z,1740422011.388 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003244
2025-02-24T18:33:50.510Z,1740422030.510 [NAL9602](INFO): SBD MO Status=0, MOMSN=13312, MT Status=0, MTMSN=0
2025-02-24T18:33:50.510Z,1740422030.510 [NAL9602](INFO): No messages in MT queue
2025-02-24T18:33:51.730Z,1740422031.730 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183350.00,A,3647.81138,N,12150.80412,W,0.058,269.09,240225,,,D*72
2025-02-24T18:33:51.733Z,1740422031.733 [NAL9602](INFO): GPS fix at 20250224T183350: (36.796856, -121.846735)
2025-02-24T18:33:51.803Z,1740422031.803 [keepstation_approach:NeedComms:C] Stopped
2025-02-24T18:33:51.815Z,1740422031.815 [keepstation_approach:NeedComms:D] Running Loop=1
2025-02-24T18:34:05.095Z,1740422045.095 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250224T165446/Courier0036.lzma
2025-02-24T18:34:06.097Z,1740422046.097 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Courier0036.lzma.bak
2025-02-24T18:34:06.097Z,1740422046.097 [DataOverHttps](INFO): SBD MOMSN=23973804
2025-02-24T18:34:24.224Z,1740422064.224 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T18:34:28.993Z,1740422068.993 [DataOverHttps](INFO): Sending 185 bytes from file Logs/20250224T165446/Express0037.lzma
2025-02-24T18:34:30.001Z,1740422070.001 [DataOverHttps](INFO): Moved sent file to Logs/20250224T165446/Express0037.lzma.bak
2025-02-24T18:34:30.002Z,1740422070.002 [DataOverHttps](INFO): SBD MOMSN=23973808
2025-02-24T18:34:32.396Z,1740422072.396 [keepstation_approach:NeedComms:D] Stopped
2025-02-24T18:34:32.397Z,1740422072.397 [keepstation_approach:NeedComms:E] Running Loop=1
2025-02-24T18:34:34.342Z,1740422074.342 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183433.00,A,3647.80974,N,12150.80487,W,0.622,215.81,240225,,,D*7D
2025-02-24T18:34:34.345Z,1740422074.345 [NAL9602](INFO): GPS fix at 20250224T183433: (36.796829, -121.846748)
2025-02-24T18:34:34.372Z,1740422074.372 [keepstation_approach:NeedComms:E] Stopped
2025-02-24T18:34:34.373Z,1740422074.373 [keepstation_approach:NeedComms](INFO): Completed keepstation_approach:NeedComms
2025-02-24T18:34:34.373Z,1740422074.373 [keepstation_approach:NeedComms] Stopped
2025-02-24T18:34:34.373Z,1740422074.373 [keepstation_approach:NeedComms](DEBUG): Aggregate::uninitialize keepstation_approach:NeedComms
2025-02-24T18:34:34.373Z,1740422074.373 [keepstation_approach:NeedComms:B.GoToSurface] Stopped
2025-02-24T18:34:34.373Z,1740422074.373 [keepstation_approach:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-24T18:34:34.769Z,1740422074.769 [keepstation_approach:SurfaceComms:B](INFO): Completed keepstation_approach:SurfaceComms:B
2025-02-24T18:34:34.769Z,1740422074.769 [keepstation_approach:SurfaceComms:B] Stopped
2025-02-24T18:34:34.769Z,1740422074.769 [keepstation_approach:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms:B
2025-02-24T18:34:34.770Z,1740422074.770 [keepstation_approach:SurfaceComms:C] Running Loop=1
2025-02-24T18:34:35.160Z,1740422075.160 [keepstation_approach:SurfaceComms:C] Stopped
2025-02-24T18:34:35.160Z,1740422075.160 [keepstation_approach:SurfaceComms](INFO): Completed keepstation_approach:SurfaceComms
2025-02-24T18:34:35.160Z,1740422075.160 [keepstation_approach:SurfaceComms] Stopped
2025-02-24T18:34:35.161Z,1740422075.161 [keepstation_approach:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation_approach:SurfaceComms
2025-02-24T18:34:35.583Z,1740422075.583 [keepstation_approach:OnStation](INFO): Completed keepstation_approach:OnStation
2025-02-24T18:34:35.583Z,1740422075.583 [keepstation_approach:OnStation] Stopped
2025-02-24T18:34:35.584Z,1740422075.584 [keepstation_approach:OnStation](DEBUG): Aggregate::uninitialize keepstation_approach:OnStation
2025-02-24T18:34:35.584Z,1740422075.584 [keepstation_approach:Station] Running Loop=1
2025-02-24T18:34:35.584Z,1740422075.584 [keepstation_approach:Station](DEBUG): Aggregate::initialize keepstation_approach:Station
2025-02-24T18:34:35.584Z,1740422075.584 [keepstation_approach:Station:Dive] Running Loop=1
2025-02-24T18:34:35.584Z,1740422075.584 [keepstation_approach:Station:Dive](DEBUG): Aggregate::initialize keepstation_approach:Station:Dive
2025-02-24T18:34:35.584Z,1740422075.584 [keepstation_approach:Station:Dive:A] Running Loop=1
2025-02-24T18:34:35.584Z,1740422075.584 [keepstation_approach:Station:Dive:A](DEBUG): Aggregate::initialize keepstation_approach:Station:Dive:A
2025-02-24T18:34:35.584Z,1740422075.584 [keepstation_approach:Station:B.Wait] Running Loop=1
2025-02-24T18:34:35.585Z,1740422075.585 [keepstation_approach:Station:B.Wait](DEBUG): Initialize Wait Component.
2025-02-24T18:34:35.989Z,1740422075.989 [keepstation_approach:Station:Dive] Running Loop=1
2025-02-24T18:34:35.989Z,1740422075.989 [keepstation_approach:DiveCmd] Running Loop=1
2025-02-24T18:34:35.989Z,1740422075.989 [keepstation_approach:DiveCmd](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd
2025-02-24T18:34:35.989Z,1740422075.989 [keepstation_approach:DiveCmd:InitialDive] Running Loop=1
2025-02-24T18:34:35.989Z,1740422075.989 [keepstation_approach:DiveCmd:InitialDive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:InitialDive
2025-02-24T18:34:35.990Z,1740422075.990 [keepstation_approach:DiveCmd:InitialDive:dive] Running Loop=1
2025-02-24T18:34:35.990Z,1740422075.990 [keepstation_approach:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:InitialDive:dive
2025-02-24T18:34:35.990Z,1740422075.990 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-24T18:34:35.990Z,1740422075.990 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-24T18:34:35.990Z,1740422075.990 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed] Running Loop=1
2025-02-24T18:34:35.990Z,1740422075.990 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed](DEBUG): Initialize.
2025-02-24T18:34:35.990Z,1740422075.990 [keepstation_approach:DiveCmd:InitialDive:dive:A] Running Loop=1
2025-02-24T18:34:35.990Z,1740422075.990 [keepstation_approach:DiveCmd:SettleAtDepth] Running Loop=1
2025-02-24T18:34:35.990Z,1740422075.990 [keepstation_approach:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth
2025-02-24T18:34:35.990Z,1740422075.990 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-02-24T18:34:35.991Z,1740422075.991 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-24T18:34:35.991Z,1740422075.991 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Running Loop=1
2025-02-24T18:34:35.991Z,1740422075.991 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Initialize.
2025-02-24T18:34:35.995Z,1740422075.995 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Running Loop=1
2025-02-24T18:34:35.995Z,1740422075.995 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch](DEBUG): Initialize.
2025-02-24T18:34:35.995Z,1740422075.995 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-02-24T18:34:35.995Z,1740422075.995 [keepstation_approach:DiveCmd:MaintainDepth] Running Loop=1
2025-02-24T18:34:35.996Z,1740422075.996 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-24T18:34:35.996Z,1740422075.996 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Running Loop=1
2025-02-24T18:34:35.996Z,1740422075.996 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-24T18:34:35.996Z,1740422075.996 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Running Loop=1
2025-02-24T18:34:35.996Z,1740422075.996 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Running Loop=1
2025-02-24T18:34:35.996Z,1740422075.996 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch](DEBUG): Initialize.
2025-02-24T18:34:35.996Z,1740422075.996 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Running Loop=1
2025-02-24T18:34:35.996Z,1740422075.996 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-24T18:34:35.997Z,1740422075.997 [keepstation_approach:DiveCmd:MaintainDepth] Stopped
2025-02-24T18:34:35.997Z,1740422075.997 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-24T18:34:35.997Z,1740422075.997 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Stopped
2025-02-24T18:34:35.997Z,1740422075.997 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-24T18:34:35.997Z,1740422075.997 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Stopped
2025-02-24T18:34:35.997Z,1740422075.997 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Stopped
2025-02-24T18:34:35.997Z,1740422075.997 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Stopped
2025-02-24T18:34:35.998Z,1740422075.998 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-24T18:34:35.998Z,1740422075.998 [keepstation_approach:DiveCmd:SettleAtDepth] Stopped
2025-02-24T18:34:35.998Z,1740422075.998 [keepstation_approach:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:SettleAtDepth
2025-02-24T18:34:35.998Z,1740422075.998 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Stopped
2025-02-24T18:34:35.998Z,1740422075.998 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-24T18:34:35.998Z,1740422075.998 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-02-24T18:34:35.998Z,1740422075.998 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Stopped
2025-02-24T18:34:35.998Z,1740422075.998 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Uninitialize.
2025-02-24T18:34:35.998Z,1740422075.998 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Stopped
2025-02-24T18:34:35.998Z,1740422075.998 [keepstation_approach:DiveCmd:InitialDive] Running Loop=1
2025-02-24T18:34:35.998Z,1740422075.998 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed] Running Loop=1
2025-02-24T18:34:35.999Z,1740422075.999 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-24T18:34:36.003Z,1740422076.003 [keepstation_approach:DiveCmd:InitialDive:dive:A](INFO): Moving to  5.000000 m 
2025-02-24T18:34:36.004Z,1740422076.004 [keepstation_approach:DiveCmd:InitialDive:dive:A] Stopped
2025-02-24T18:34:36.004Z,1740422076.004 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch] Running Loop=1
2025-02-24T18:34:36.004Z,1740422076.004 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch](DEBUG): Initialize.
2025-02-24T18:34:54.550Z,1740422094.550 [NAL9602](INFO): SBD MO Status=2, MOMSN=13313, MT Status=2, MTMSN=0
2025-02-24T18:34:54.550Z,1740422094.550 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-24T18:35:05.045Z,1740422105.045 [NAL9602](INFO): SBD MO Status=0, MOMSN=13313, MT Status=0, MTMSN=0
2025-02-24T18:35:05.045Z,1740422105.045 [NAL9602](INFO): No messages in MT queue
2025-02-24T18:35:35.747Z,1740422135.747 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T18:35:41.000Z,1740422142.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:36:13.124Z,1740422173.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:36:32.727Z,1740422192.727 [keepstation_approach:DiveCmd:InitialDive:dive:D.Pitch] Stopped
2025-02-24T18:36:32.728Z,1740422192.728 [keepstation_approach:DiveCmd:InitialDive:dive:E] Running Loop=1
2025-02-24T18:36:33.138Z,1740422193.138 [keepstation_approach:DiveCmd:InitialDive:dive:E] Stopped
2025-02-24T18:36:33.139Z,1740422193.139 [keepstation_approach:DiveCmd:InitialDive:dive](INFO): Completed keepstation_approach:DiveCmd:InitialDive:dive
2025-02-24T18:36:33.139Z,1740422193.139 [keepstation_approach:DiveCmd:InitialDive:dive] Stopped
2025-02-24T18:36:33.139Z,1740422193.139 [keepstation_approach:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:InitialDive:dive
2025-02-24T18:36:33.139Z,1740422193.139 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-02-24T18:36:33.139Z,1740422193.139 [keepstation_approach:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-24T18:36:33.139Z,1740422193.139 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed] Stopped
2025-02-24T18:36:33.139Z,1740422193.139 [keepstation_approach:DiveCmd:InitialDive:dive:C.SetSpeed](DEBUG): Uninitialize.
2025-02-24T18:36:33.140Z,1740422193.140 [keepstation_approach:DiveCmd:InitialDive](INFO): Completed keepstation_approach:DiveCmd:InitialDive
2025-02-24T18:36:33.532Z,1740422193.532 [keepstation_approach:DiveCmd:SettleAtDepth] Running Loop=1
2025-02-24T18:36:33.532Z,1740422193.532 [keepstation_approach:DiveCmd:SettleAtDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth
2025-02-24T18:36:33.532Z,1740422193.532 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Running Loop=1
2025-02-24T18:36:33.532Z,1740422193.532 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-24T18:36:33.532Z,1740422193.532 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Running Loop=1
2025-02-24T18:36:33.532Z,1740422193.532 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Initialize.
2025-02-24T18:36:33.533Z,1740422193.533 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Running Loop=1
2025-02-24T18:36:33.533Z,1740422193.533 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch](DEBUG): Initialize.
2025-02-24T18:36:33.533Z,1740422193.533 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Running Loop=1
2025-02-24T18:36:33.533Z,1740422193.533 [keepstation_approach:DiveCmd:SettleAtDepth] Running Loop=1
2025-02-24T18:36:33.533Z,1740422193.533 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Running Loop=1
2025-02-24T18:36:33.533Z,1740422193.533 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Running Loop=1
2025-02-24T18:36:33.534Z,1740422193.534 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A](INFO): Reached  5.000000 m , settling for  5.000000 min 
2025-02-24T18:36:33.534Z,1740422193.534 [keepstation_approach:DiveCmd:SettleAtDepth:dive:A] Stopped
2025-02-24T18:36:33.535Z,1740422193.535 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait] Running Loop=1
2025-02-24T18:36:33.535Z,1740422193.535 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](DEBUG): Initialize Wait Component.
2025-02-24T18:36:44.247Z,1740422204.247 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:36:50.459Z,1740422210.459 [Radio_Surface](INFO): Powering down
2025-02-24T18:37:15.387Z,1740422235.387 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:37:16.392Z,1740422236.392 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-24T18:37:51.532Z,1740422271.532 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.743591
2025-02-24T18:41:34.124Z,1740422494.124 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](INFO): Done Waiting.
2025-02-24T18:41:34.124Z,1740422494.124 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait] Stopped
2025-02-24T18:41:34.124Z,1740422494.124 [keepstation_approach:DiveCmd:SettleAtDepth:dive:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T18:41:34.125Z,1740422494.125 [keepstation_approach:DiveCmd:SettleAtDepth:dive:E] Running Loop=1
2025-02-24T18:41:34.512Z,1740422494.512 [keepstation_approach:DiveCmd:SettleAtDepth:dive:E] Stopped
2025-02-24T18:41:34.513Z,1740422494.513 [keepstation_approach:DiveCmd:SettleAtDepth:dive](INFO): Completed keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-24T18:41:34.513Z,1740422494.513 [keepstation_approach:DiveCmd:SettleAtDepth:dive] Stopped
2025-02-24T18:41:34.513Z,1740422494.513 [keepstation_approach:DiveCmd:SettleAtDepth:dive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:SettleAtDepth:dive
2025-02-24T18:41:34.513Z,1740422494.513 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed] Stopped
2025-02-24T18:41:34.513Z,1740422494.513 [keepstation_approach:DiveCmd:SettleAtDepth:dive:B.SetSpeed](DEBUG): Uninitialize.
2025-02-24T18:41:34.513Z,1740422494.513 [keepstation_approach:DiveCmd:SettleAtDepth:dive:C.Pitch] Stopped
2025-02-24T18:41:34.513Z,1740422494.513 [keepstation_approach:DiveCmd:SettleAtDepth](INFO): Completed keepstation_approach:DiveCmd:SettleAtDepth
2025-02-24T18:41:34.912Z,1740422494.912 [keepstation_approach:DiveCmd:MaintainDepth] Running Loop=1
2025-02-24T18:41:34.912Z,1740422494.912 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-24T18:41:34.912Z,1740422494.912 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Running Loop=1
2025-02-24T18:41:34.912Z,1740422494.912 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::initialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-24T18:41:34.912Z,1740422494.912 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Running Loop=1
2025-02-24T18:41:34.912Z,1740422494.912 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Running Loop=1
2025-02-24T18:41:34.913Z,1740422494.913 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch](DEBUG): Initialize.
2025-02-24T18:41:34.913Z,1740422494.913 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Running Loop=1
2025-02-24T18:41:34.913Z,1740422494.913 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-24T18:41:34.913Z,1740422494.913 [keepstation_approach:DiveCmd:MaintainDepth] Running Loop=1
2025-02-24T18:41:34.913Z,1740422494.913 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Running Loop=1
2025-02-24T18:41:34.913Z,1740422494.913 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Running Loop=1
2025-02-24T18:41:34.914Z,1740422494.914 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Running Loop=1
2025-02-24T18:41:34.914Z,1740422494.914 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Running Loop=1
2025-02-24T18:49:41.699Z,1740422981.699 [Radio_Surface](INFO): Powering up
2025-02-24T18:49:47.523Z,1740422987.523 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-24T18:50:17.655Z,1740423017.655 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:50:48.779Z,1740423048.779 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:51:19.908Z,1740423079.908 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:51:51.048Z,1740423111.048 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-24T18:52:12.699Z,1740423132.699 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004956
2025-02-24T18:53:03.281Z,1740423183.281 [DataOverHttps](IMPORTANT): SBD MTMSN=20250224T185302
2025-02-24T18:53:14.749Z,1740423194.749 [DataOverHttps](INFO): Received command: configset bioacousticsdatabridge.loadatstartup 1 bool persist; restart app
2025-02-24T18:53:16.230Z,1740423196.230 [CommandExec](IMPORTANT): got command configSet BioacousticsDataBridge.loadAtStartup 1 bool persist
2025-02-24T18:53:16.231Z,1740423196.231 [CommandExec](IMPORTANT): configSet BioacousticsDataBridge.loadAtStartup requires a restart to take effect.
2025-02-24T18:53:16.250Z,1740423196.250 [CommandExec](IMPORTANT): got command restart application
2025-02-24T18:53:17.255Z,1740423197.255 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2025-02-24T18:53:17.256Z,1740423197.256 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T18:53:17.256Z,1740423197.256 [CommandExec](INFO): Uninitializing the command executive.
2025-02-24T18:53:17.256Z,1740423197.256 [CommandExec](INFO): Uninitializing the command scheduler.
2025-02-24T18:53:17.256Z,1740423197.256 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:17.363Z,1740423197.363 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-02-24T18:53:17.363Z,1740423197.363 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-02-24T18:53:17.438Z,1740423197.438 [MissionManager](INFO): MissionManager is completed.
2025-02-24T18:53:17.440Z,1740423197.440 [MissionManager](INFO): Uninitializing Mission keepstation_approach
2025-02-24T18:53:17.440Z,1740423197.440 [keepstation_approach] Stopped
2025-02-24T18:53:17.440Z,1740423197.440 [keepstation_approach](DEBUG): Aggregate::uninitialize keepstation_approach
2025-02-24T18:53:17.440Z,1740423197.440 [keepstation_approach:StandardEnvelopes] Stopped
2025-02-24T18:53:17.441Z,1740423197.441 [keepstation_approach:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation_approach:StandardEnvelopes
2025-02-24T18:53:17.441Z,1740423197.441 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-24T18:53:17.442Z,1740423197.442 [keepstation_approach:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-24T18:53:17.442Z,1740423197.442 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-24T18:53:17.442Z,1740423197.442 [keepstation_approach:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-24T18:53:17.443Z,1740423197.443 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-24T18:53:17.473Z,1740423197.473 [keepstation_approach:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-24T18:53:17.473Z,1740423197.473 [keepstation_approach:BackseatDriver] Stopped
2025-02-24T18:53:17.473Z,1740423197.473 [keepstation_approach:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation_approach:BackseatDriver
2025-02-24T18:53:17.473Z,1740423197.473 [keepstation_approach:BackseatDriver:A.BackseatDriver] Stopped
2025-02-24T18:53:17.477Z,1740423197.477 [keepstation_approach:PowerOnly] Stopped
2025-02-24T18:53:17.477Z,1740423197.477 [keepstation_approach:PowerOnly](DEBUG): Aggregate::uninitialize keepstation_approach:PowerOnly
2025-02-24T18:53:17.477Z,1740423197.477 [keepstation_approach:PowerOnly:E.Wait] Stopped
2025-02-24T18:53:17.478Z,1740423197.478 [keepstation_approach:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T18:53:17.478Z,1740423197.478 [keepstation_approach:H.Pitch] Stopped
2025-02-24T18:53:17.478Z,1740423197.478 [keepstation_approach:DiveCmd] Stopped
2025-02-24T18:53:17.478Z,1740423197.478 [keepstation_approach:DiveCmd](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd
2025-02-24T18:53:17.478Z,1740423197.478 [keepstation_approach:DiveCmd:InitialDive] Stopped
2025-02-24T18:53:17.478Z,1740423197.478 [keepstation_approach:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:InitialDive
2025-02-24T18:53:17.479Z,1740423197.479 [keepstation_approach:DiveCmd:SettleAtDepth] Stopped
2025-02-24T18:53:17.479Z,1740423197.479 [keepstation_approach:DiveCmd:SettleAtDepth](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:SettleAtDepth
2025-02-24T18:53:17.479Z,1740423197.479 [keepstation_approach:DiveCmd:MaintainDepth] Stopped
2025-02-24T18:53:17.498Z,1740423197.498 [keepstation_approach:DiveCmd:MaintainDepth](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:MaintainDepth
2025-02-24T18:53:17.498Z,1740423197.498 [keepstation_approach:DiveCmd:MaintainDepth:keepstation] Stopped
2025-02-24T18:53:17.498Z,1740423197.498 [keepstation_approach:DiveCmd:MaintainDepth:keepstation](DEBUG): Aggregate::uninitialize keepstation_approach:DiveCmd:MaintainDepth:keepstation
2025-02-24T18:53:17.498Z,1740423197.498 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:A] Stopped
2025-02-24T18:53:17.498Z,1740423197.498 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:B.Pitch] Stopped
2025-02-24T18:53:17.498Z,1740423197.498 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation] Stopped
2025-02-24T18:53:17.498Z,1740423197.498 [keepstation_approach:DiveCmd:MaintainDepth:keepstation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-24T18:53:17.498Z,1740423197.498 [keepstation_approach:Station] Stopped
2025-02-24T18:53:17.498Z,1740423197.498 [keepstation_approach:Station](DEBUG): Aggregate::uninitialize keepstation_approach:Station
2025-02-24T18:53:17.499Z,1740423197.499 [keepstation_approach:Station:Dive] Stopped
2025-02-24T18:53:17.499Z,1740423197.499 [keepstation_approach:Station:Dive](DEBUG): Aggregate::uninitialize keepstation_approach:Station:Dive
2025-02-24T18:53:17.499Z,1740423197.499 [keepstation_approach:Station:Dive:A] Stopped
2025-02-24T18:53:17.519Z,1740423197.519 [keepstation_approach:Station:Dive:A](DEBUG): Aggregate::uninitialize keepstation_approach:Station:Dive:A
2025-02-24T18:53:17.519Z,1740423197.519 [keepstation_approach:Station:B.Wait] Stopped
2025-02-24T18:53:17.521Z,1740423197.521 [keepstation_approach:Station:B.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T18:53:17.954Z,1740423197.954 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:17.956Z,1740423197.956 [NavChartDb](INFO): Join timeout helper Thread ID is 8258
2025-02-24T18:53:18.023Z,1740423198.023 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T18:53:18.024Z,1740423198.024 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:18.024Z,1740423198.024 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-02-24T18:53:18.024Z,1740423198.024 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:18.025Z,1740423198.025 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 8259
2025-02-24T18:53:18.095Z,1740423198.095 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T18:53:18.096Z,1740423198.096 [WetLabsBB2FL](INFO): Powering down
2025-02-24T18:53:18.096Z,1740423198.096 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:18.097Z,1740423198.097 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-02-24T18:53:18.097Z,1740423198.097 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:18.097Z,1740423198.097 [CTD_Seabird](INFO): Join timeout helper Thread ID is 8260
2025-02-24T18:53:18.664Z,1740423198.664 [MissionManager](IMPORTANT): Started mission Default
2025-02-24T18:53:18.665Z,1740423198.665 [Default] Running Loop=1
2025-02-24T18:53:18.665Z,1740423198.665 [Default](DEBUG): Aggregate::initialize Default
2025-02-24T18:53:18.665Z,1740423198.665 [Default:B.GoToSurface] Running Loop=1
2025-02-24T18:53:18.665Z,1740423198.665 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-24T18:53:18.665Z,1740423198.665 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-24T18:53:18.666Z,1740423198.666 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-24T18:53:18.666Z,1740423198.666 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-24T18:53:18.666Z,1740423198.666 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-24T18:53:18.667Z,1740423198.667 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-24T18:53:18.687Z,1740423198.687 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-24T18:53:18.693Z,1740423198.693 [Default:A.Wait] Running Loop=1
2025-02-24T18:53:18.693Z,1740423198.693 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-24T18:53:18.703Z,1740423198.703 [CTD_Seabird](INFO): Powering down
2025-02-24T18:53:18.715Z,1740423198.715 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T18:53:18.716Z,1740423198.716 [CTD_Seabird](INFO): Powering down
2025-02-24T18:53:18.727Z,1740423198.727 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:18.735Z,1740423198.735 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-02-24T18:53:18.735Z,1740423198.735 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:18.736Z,1740423198.736 [Radio_Surface](INFO): Join timeout helper Thread ID is 8261
2025-02-24T18:53:19.024Z,1740423199.024 [Radio_Surface](INFO): Powering down
2025-02-24T18:53:19.024Z,1740423199.024 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T18:53:19.025Z,1740423199.025 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:19.047Z,1740423199.047 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-02-24T18:53:19.047Z,1740423199.047 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:19.048Z,1740423199.048 [Onboard](INFO): Join timeout helper Thread ID is 8262
2025-02-24T18:53:19.755Z,1740423199.755 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-24T18:53:22.119Z,1740423202.119 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T18:53:22.120Z,1740423202.120 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:22.413Z,1740423202.413 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-02-24T18:53:22.413Z,1740423202.413 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:22.413Z,1740423202.413 [DataOverHttps](INFO): Join timeout helper Thread ID is 8265
2025-02-24T18:53:22.772Z,1740423202.772 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T18:53:22.773Z,1740423202.773 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:22.776Z,1740423202.776 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-02-24T18:53:22.776Z,1740423202.776 [DAT ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:22.777Z,1740423202.777 [DAT](INFO): Join timeout helper Thread ID is 8266
2025-02-24T18:53:22.851Z,1740423202.851 [DAT](INFO): Powering down
2025-02-24T18:53:22.924Z,1740423202.924 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T18:53:22.924Z,1740423202.924 [DAT](INFO): Powering down
2025-02-24T18:53:22.925Z,1740423202.925 [DAT ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:22.944Z,1740423202.944 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-02-24T18:53:22.944Z,1740423202.944 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:22.945Z,1740423202.945 [BackseatComponent](INFO): Join timeout helper Thread ID is 8267
2025-02-24T18:53:23.100Z,1740423203.100 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T18:53:23.100Z,1740423203.100 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:23.104Z,1740423203.104 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-02-24T18:53:23.104Z,1740423203.104 [logger ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:23.104Z,1740423203.104 [logger](INFO): Join timeout helper Thread ID is 8268
2025-02-24T18:53:23.152Z,1740423203.152 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T18:53:23.154Z,1740423203.154 [logger ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:23.164Z,1740423203.164 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-02-24T18:53:23.164Z,1740423203.164 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:23.165Z,1740423203.165 [CommandLine](INFO): Join timeout helper Thread ID is 8269
2025-02-24T18:53:23.175Z,1740423203.175 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T18:53:23.176Z,1740423203.176 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:23.184Z,1740423203.184 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-02-24T18:53:23.184Z,1740423203.184 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:23.184Z,1740423203.184 [CommandExec](INFO): Join timeout helper Thread ID is 8270
2025-02-24T18:53:23.185Z,1740423203.185 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-02-24T18:53:23.185Z,1740423203.185 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:23.186Z,1740423203.186 [controlThread](INFO): Join timeout helper Thread ID is 8271
2025-02-24T18:53:23.327Z,1740423203.327 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T18:53:23.327Z,1740423203.327 [controlThread](DEBUG): Uninitializing ControlThread
2025-02-24T18:53:23.328Z,1740423203.328 [AHRS_M2](INFO): Powering down
2025-02-24T18:53:23.400Z,1740423203.400 [NAL9602](INFO): Powering down
2025-02-24T18:53:23.401Z,1740423203.401 [Sonardyne_Nano](INFO): Powering down
2025-02-24T18:53:23.520Z,1740423203.520 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-02-24T18:53:23.521Z,1740423203.521 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-02-24T18:53:23.521Z,1740423203.521 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-02-24T18:53:23.522Z,1740423203.522 [MissionManager](INFO): Uninitializing Mission Default
2025-02-24T18:53:23.522Z,1740423203.522 [Default] Stopped
2025-02-24T18:53:23.522Z,1740423203.522 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-24T18:53:23.522Z,1740423203.522 [Default:A.Wait] Stopped
2025-02-24T18:53:23.522Z,1740423203.522 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T18:53:23.522Z,1740423203.522 [Default:B.GoToSurface] Stopped
2025-02-24T18:53:23.522Z,1740423203.522 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-24T18:53:23.526Z,1740423203.526 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-02-24T18:53:23.526Z,1740423203.526 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-02-24T18:53:23.526Z,1740423203.526 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-02-24T18:53:23.526Z,1740423203.526 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-02-24T18:53:23.527Z,1740423203.527 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-02-24T18:53:23.527Z,1740423203.527 [BuoyancyServo](INFO): Powering down
2025-02-24T18:53:23.659Z,1740423203.659 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-02-24T18:53:23.659Z,1740423203.659 [ElevatorServo](INFO): Powering down
2025-02-24T18:53:23.660Z,1740423203.660 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-24T18:53:23.660Z,1740423203.660 [MassServo](INFO): Powering down
2025-02-24T18:53:23.661Z,1740423203.661 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-02-24T18:53:23.661Z,1740423203.661 [RudderServo](INFO): Powering down
2025-02-24T18:53:23.662Z,1740423203.662 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-24T18:53:23.662Z,1740423203.662 [ThrusterHE](INFO): Powering down
2025-02-24T18:53:23.663Z,1740423203.663 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-02-24T18:53:23.664Z,1740423203.664 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-02-24T18:53:23.664Z,1740423203.664 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-02-24T18:53:23.664Z,1740423203.664 [CBIT](DEBUG): Powering off loads.
2025-02-24T18:53:23.683Z,1740423203.683 [CBIT](DEBUG): Disabling WDT.
2025-02-24T18:53:23.703Z,1740423203.703 [CBIT](DEBUG): Opening all GF detection circuits.
2025-02-24T18:53:23.704Z,1740423203.704 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:23.878Z,1740423203.878 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:23.882Z,1740423203.882 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:23.890Z,1740423203.890 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:23.940Z,1740423203.940 [DAT ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:23.981Z,1740423203.981 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:24.310Z,1740423204.310 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:24.317Z,1740423204.317 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:24.345Z,1740423204.345 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-24T18:53:24.426Z,1740423204.426 [logger ThreadHandler](INFO): Thread cancelled.