2025-02-24T21:51:22.521Z,1740433882.521 [DataOverHttps](IMPORTANT): SBD MTMSN=20250224T215121
2025-02-24T21:51:30.215Z,1740433890.215 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Speed 0.8 m/s;run
2025-02-24T21:51:30.255Z,1740433890.255 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-24T21:51:30.258Z,1740433890.258 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-24T21:51:30.258Z,1740433890.258 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-24T21:51:30.263Z,1740433890.263 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-24T21:51:31.020Z,1740433891.020 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="ApproachDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:KeepStation>
            <Parallel />
            <Setting>
                <Guidance:KeepStation.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.radius />
                <Arg Name="Radius" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:KeepStation>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-02-24T21:51:31.026Z,1740433891.026 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-24T21:51:31.045Z,1740433891.045 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-24T21:51:31.048Z,1740433891.048 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-24T21:51:31.051Z,1740433891.051 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-24T21:51:31.054Z,1740433891.054 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-24T21:51:31.058Z,1740433891.058 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-24T21:51:31.061Z,1740433891.061 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-24T21:51:31.065Z,1740433891.065 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-24T21:51:31.069Z,1740433891.069 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-24T21:51:31.072Z,1740433891.072 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-24T21:51:31.079Z,1740433891.079 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-24T21:51:31.095Z,1740433891.095 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-24T21:51:31.096Z,1740433891.096 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-24T21:51:31.097Z,1740433891.097 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-24T21:51:31.423Z,1740433891.423 [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>

2025-02-24T21:51:31.429Z,1740433891.429 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-24T21:51:31.433Z,1740433891.433 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-24T21:51:31.436Z,1740433891.436 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-24T21:51:31.440Z,1740433891.440 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-24T21:51:31.444Z,1740433891.444 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-24T21:51:31.447Z,1740433891.447 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-24T21:51:31.450Z,1740433891.450 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-24T21:51:31.470Z,1740433891.470 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-24T21:51:31.486Z,1740433891.486 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-24T21:51:31.550Z,1740433891.550 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-24T21:51:31.550Z,1740433891.550 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-24T21:51:31.556Z,1740433891.556 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-24T21:51:31.669Z,1740433891.669 [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>

2025-02-24T21:51:31.685Z,1740433891.685 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-24T21:51:31.689Z,1740433891.689 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-24T21:51:31.694Z,1740433891.694 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-24T21:51:31.697Z,1740433891.697 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-24T21:51:31.699Z,1740433891.699 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-24T21:51:31.707Z,1740433891.707 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-24T21:51:31.717Z,1740433891.717 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-24T21:51:31.785Z,1740433891.785 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-24T21:51:31.785Z,1740433891.785 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-24T21:51:31.786Z,1740433891.786 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-24T21:51:31.832Z,1740433891.832 [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>

2025-02-24T21:51:31.840Z,1740433891.840 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-24T21:51:31.843Z,1740433891.843 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-24T21:51:31.850Z,1740433891.850 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-24T21:51:31.850Z,1740433891.850 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-24T21:51:31.855Z,1740433891.855 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-24T21:51:32.062Z,1740433892.062 [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>

2025-02-24T21:51:32.071Z,1740433892.071 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-24T21:51:32.096Z,1740433892.096 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-24T21:51:32.099Z,1740433892.099 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-24T21:51:32.106Z,1740433892.106 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-24T21:51:32.111Z,1740433892.111 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-24T21:51:32.175Z,1740433892.175 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-24T21:51:32.177Z,1740433892.177 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-24T21:51:32.200Z,1740433892.200 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-24T21:51:32.212Z,1740433892.212 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-24T21:51:32.238Z,1740433892.238 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-24T21:51:32.250Z,1740433892.250 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-24T21:51:32.277Z,1740433892.277 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-24T21:51:32.291Z,1740433892.291 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-24T21:51:32.298Z,1740433892.298 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-24T21:51:32.325Z,1740433892.325 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission keepstation {
  """
  Vehicle transits to desired waypoint (or stays put if none is commanded)
  and stays within the specified radius.
  """

  arguments {
    MissionTimeout = 4 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 45 minute
      """
      How often to surface for communications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to hold. If NaN, hold the latitude at start of
      mission.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to hold. If NaN, hold the longitude at start of
      mission.
      """

    Depth = 30 meter
      """
      Depth held during drift mode
      """

    ApproachDepth = 15 meter
      """
      Depth for initial approach to station.
      """

    DepthDeadband = 4 meter
      """
      How much vertical drift from the specified depth is allowed in drift
      mode
      """

    Speed = 0.75 meter_per_second
      """
      Vehicle transit speed.
      """

    Radius = 200 meter
      """
      Radius of circle around waypoint to hold.
      """

    MaxDepth = 45 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum distance from the shoreline to maintain
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  call id="StartingMission" refId="NeedComms"

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

    run in sequence

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = ApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:KeepStation {
      run in parallel

      set latitude = Latitude
      set longitude = Longitude
      set radius = Radius
      set speed = Speed
    }

    behavior Guidance:Wait {
      """
      Due to the way the KeepStation behavior is currently
      implemented, we must run it in parallel and use a Wait to keep
      from completing the mission before the timeout expires. However,
      this new version of the mission uses a top-level timeout so that
      the entire mission will not run for longer then MissionTimeout.
      """

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-02-24T21:51:32.326Z,1740433892.326 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-24T21:51:55.902Z,1740433915.902 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 20 minute
2025-02-24T21:51:55.902Z,1740433915.902 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-02-24T21:51:55.903Z,1740433915.903 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-02-24T21:51:55.904Z,1740433915.904 [CommandExec](IMPORTANT): got command set keepstation.Speed 0.8 meter_per_second
2025-02-24T21:51:55.905Z,1740433915.905 [CommandExec](IMPORTANT): got command run
2025-02-24T21:51:55.907Z,1740433915.907 [CommandExec](IMPORTANT): Running 
2025-02-24T21:51:56.046Z,1740433916.046 [Default] Stopped
2025-02-24T21:51:56.046Z,1740433916.046 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-24T21:51:56.046Z,1740433916.046 [Default:B.GoToSurface] Stopped
2025-02-24T21:51:56.046Z,1740433916.046 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-24T21:51:56.046Z,1740433916.046 [Default:CheckIn] Stopped
2025-02-24T21:51:56.046Z,1740433916.046 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-24T21:51:56.046Z,1740433916.046 [Default:CheckIn:C.Wait] Stopped
2025-02-24T21:51:56.046Z,1740433916.046 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T21:51:56.047Z,1740433916.047 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-24T21:51:56.047Z,1740433916.047 [keepstation] Running Loop=1
2025-02-24T21:51:56.047Z,1740433916.047 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-24T21:51:56.047Z,1740433916.047 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-24T21:51:56.047Z,1740433916.047 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-24T21:51:56.048Z,1740433916.048 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-24T21:51:56.048Z,1740433916.048 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-24T21:51:56.048Z,1740433916.048 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-24T21:51:56.048Z,1740433916.048 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-24T21:51:56.048Z,1740433916.048 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-24T21:51:56.048Z,1740433916.048 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-24T21:51:56.048Z,1740433916.048 [keepstation:BackseatDriver] Running Loop=1
2025-02-24T21:51:56.048Z,1740433916.048 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-24T21:51:56.048Z,1740433916.048 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-24T21:51:56.049Z,1740433916.049 [keepstation:PowerOnly] Running Loop=1
2025-02-24T21:51:56.049Z,1740433916.049 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-24T21:51:56.049Z,1740433916.049 [keepstation:PowerOnly:A] Running Loop=1
2025-02-24T21:51:56.049Z,1740433916.049 [keepstation:PowerOnly:B] Running Loop=1
2025-02-24T21:51:56.049Z,1740433916.049 [keepstation:PowerOnly:C] Running Loop=1
2025-02-24T21:51:56.049Z,1740433916.049 [keepstation:PowerOnly:D] Running Loop=1
2025-02-24T21:51:56.049Z,1740433916.049 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-24T21:51:56.049Z,1740433916.049 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-24T21:51:56.049Z,1740433916.049 [keepstation:H.Pitch] Running Loop=1
2025-02-24T21:51:56.049Z,1740433916.049 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-24T21:51:56.050Z,1740433916.050 [keepstation:B] Running Loop=1
2025-02-24T21:51:56.050Z,1740433916.050 [keepstation:H.Pitch] Running Loop=1
2025-02-24T21:51:56.050Z,1740433916.050 [keepstation:PowerOnly] Running Loop=1
2025-02-24T21:51:56.051Z,1740433916.051 [keepstation:PowerOnly:D] Stopped
2025-02-24T21:51:56.051Z,1740433916.051 [keepstation:PowerOnly:C] Stopped
2025-02-24T21:51:56.051Z,1740433916.051 [keepstation:PowerOnly:B] Stopped
2025-02-24T21:51:56.051Z,1740433916.051 [keepstation:PowerOnly:A] Stopped
2025-02-24T21:51:56.051Z,1740433916.051 [keepstation:BackseatDriver] Running Loop=1
2025-02-24T21:51:56.051Z,1740433916.051 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-24T21:51:56.051Z,1740433916.051 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-24T21:51:56.052Z,1740433916.052 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-24T21:51:56.052Z,1740433916.052 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-24T21:51:56.053Z,1740433916.053 [keepstation:B] Stopped
2025-02-24T21:51:56.053Z,1740433916.053 [keepstation:D] Running Loop=1
2025-02-24T21:51:56.472Z,1740433916.472 [keepstation:D] Stopped
2025-02-24T21:51:56.472Z,1740433916.472 [keepstation:E] Running Loop=1
2025-02-24T21:51:56.859Z,1740433916.859 [keepstation:E] Stopped
2025-02-24T21:51:56.879Z,1740433916.879 [keepstation:StartingMission] Running Loop=1
2025-02-24T21:51:56.879Z,1740433916.879 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-24T21:51:57.268Z,1740433917.268 [keepstation:NeedComms] Running Loop=1
2025-02-24T21:51:57.268Z,1740433917.268 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-24T21:51:57.269Z,1740433917.269 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-24T21:51:57.269Z,1740433917.269 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-24T21:51:57.269Z,1740433917.269 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-24T21:51:57.269Z,1740433917.269 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-24T21:51:57.270Z,1740433917.270 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-24T21:51:57.270Z,1740433917.270 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-24T21:51:57.270Z,1740433917.270 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-24T21:51:57.271Z,1740433917.271 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-24T21:51:57.275Z,1740433917.275 [keepstation:NeedComms:A] Running Loop=1
2025-02-24T21:51:57.277Z,1740433917.277 [keepstation:NeedComms:A](INFO): last time_fix was:  1740433734.000000 second since 1970/01/01T00:00:00Z 
2025-02-24T21:51:57.277Z,1740433917.277 [keepstation:NeedComms:A] Stopped
2025-02-24T21:51:57.678Z,1740433917.678 [keepstation:NeedComms:C] Running Loop=1
2025-02-24T21:51:58.088Z,1740433918.088 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-24T21:51:59.658Z,1740433919.658 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215158.00,A,3647.78240,N,12150.78086,W,0.311,99.81,240225,,,A*46
2025-02-24T21:51:59.661Z,1740433919.661 [NAL9602](INFO): GPS fix at 20250224T215158: (36.796373, -121.846348)
2025-02-24T21:51:59.739Z,1740433919.739 [keepstation:NeedComms:C] Stopped
2025-02-24T21:51:59.740Z,1740433919.740 [keepstation:NeedComms:D] Running Loop=1
2025-02-24T21:52:00.131Z,1740433920.131 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-24T21:52:01.544Z,1740433921.544 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250224T204222/Courier0012.lzma
2025-02-24T21:52:02.038Z,1740433922.038 [DataOverHttps](INFO): Moved sent file to Logs/20250224T204222/Courier0012.lzma.bak
2025-02-24T21:52:02.038Z,1740433922.038 [DataOverHttps](IMPORTANT): SBD MOMSN=23974769, MTMSN=20250224T215201
2025-02-24T21:52:09.856Z,1740433929.856 [DataOverHttps](INFO): Received command: configSet courier mostRecent latitude_fix persist;configSet courier mostRecent longitude_fix persist
2025-02-24T21:52:11.289Z,1740433931.289 [DataOverHttps](IMPORTANT): SBD MTMSN=20250224T215209
2025-02-24T21:52:11.932Z,1740433931.932 [CommandExec](IMPORTANT): got command configSet Courier mostRecent latitude_fix persist
2025-02-24T21:52:11.934Z,1740433931.934 [CommandExec](IMPORTANT): got command configSet Courier mostRecent longitude_fix persist
2025-02-24T21:52:18.812Z,1740433938.812 [DataOverHttps](INFO): Sending 272 bytes from file Logs/20250224T215050/Courier0000.lzma
2025-02-24T21:52:18.816Z,1740433938.816 [DataOverHttps](INFO): Received command: configSet courier mostRecent time_fix persist
2025-02-24T21:52:19.455Z,1740433939.455 [CommandExec](IMPORTANT): got command configSet Courier mostRecent time_fix persist
2025-02-24T21:52:20.067Z,1740433940.067 [DataOverHttps](INFO): Moved sent file to Logs/20250224T215050/Courier0000.lzma.bak
2025-02-24T21:52:20.067Z,1740433940.067 [DataOverHttps](INFO): SBD MOMSN=23974772
2025-02-24T21:52:31.200Z,1740433951.200 [NAL9602](INFO): SBD MO Status=0, MOMSN=13335, MT Status=0, MTMSN=0
2025-02-24T21:52:31.200Z,1740433951.200 [NAL9602](INFO): No messages in MT queue
2025-02-24T21:52:36.055Z,1740433956.055 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250224T215050/Courier0003.lzma
2025-02-24T21:52:37.057Z,1740433957.057 [DataOverHttps](INFO): Moved sent file to Logs/20250224T215050/Courier0003.lzma.bak
2025-02-24T21:52:37.057Z,1740433957.057 [DataOverHttps](INFO): SBD MOMSN=23974777
2025-02-24T21:52:54.975Z,1740433974.975 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250224T215050/Courier0006.lzma
2025-02-24T21:52:55.977Z,1740433975.977 [DataOverHttps](INFO): Moved sent file to Logs/20250224T215050/Courier0006.lzma.bak
2025-02-24T21:52:55.977Z,1740433975.977 [DataOverHttps](INFO): SBD MOMSN=23974780
2025-02-24T21:53:01.956Z,1740433981.956 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T21:53:15.819Z,1740433995.819 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250224T215050/Courier0009.lzma
2025-02-24T21:53:16.821Z,1740433996.821 [DataOverHttps](INFO): Moved sent file to Logs/20250224T215050/Courier0009.lzma.bak
2025-02-24T21:53:16.821Z,1740433996.821 [DataOverHttps](IMPORTANT): SBD MOMSN=23974783, MTMSN=20250224T215315
2025-02-24T21:53:24.689Z,1740434004.689 [DataOverHttps](INFO): Received command: stop
2025-02-24T21:53:24.776Z,1740434004.776 [CommandExec](IMPORTANT): got command stop
2025-02-24T21:53:24.776Z,1740434004.776 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-02-24T21:53:25.064Z,1740434005.064 [MissionManager](INFO): MissionManager is completed.
2025-02-24T21:53:25.064Z,1740434005.064 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-24T21:53:25.064Z,1740434005.064 [keepstation] Stopped
2025-02-24T21:53:25.064Z,1740434005.064 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-24T21:53:25.064Z,1740434005.064 [keepstation:NeedComms] Stopped
2025-02-24T21:53:25.064Z,1740434005.064 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-24T21:53:25.064Z,1740434005.064 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-24T21:53:25.064Z,1740434005.064 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-24T21:53:25.064Z,1740434005.064 [keepstation:NeedComms:D] Stopped
2025-02-24T21:53:25.064Z,1740434005.064 [keepstation:StandardEnvelopes] Stopped
2025-02-24T21:53:25.065Z,1740434005.065 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-24T21:53:25.065Z,1740434005.065 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-24T21:53:25.065Z,1740434005.065 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-24T21:53:25.065Z,1740434005.065 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-24T21:53:25.065Z,1740434005.065 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-24T21:53:25.065Z,1740434005.065 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-24T21:53:25.065Z,1740434005.065 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-24T21:53:25.065Z,1740434005.065 [keepstation:BackseatDriver] Stopped
2025-02-24T21:53:25.065Z,1740434005.065 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-24T21:53:25.065Z,1740434005.065 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-24T21:53:25.065Z,1740434005.065 [keepstation:PowerOnly] Stopped
2025-02-24T21:53:25.065Z,1740434005.065 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-24T21:53:25.066Z,1740434005.066 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-24T21:53:25.066Z,1740434005.066 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T21:53:25.066Z,1740434005.066 [keepstation:H.Pitch] Stopped
2025-02-24T21:53:25.066Z,1740434005.066 [keepstation:StartingMission] Stopped
2025-02-24T21:53:25.066Z,1740434005.066 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-24T21:53:25.427Z,1740434005.427 [MissionManager](IMPORTANT): Started mission Default
2025-02-24T21:53:25.428Z,1740434005.428 [Default] Running Loop=1
2025-02-24T21:53:25.428Z,1740434005.428 [Default](DEBUG): Aggregate::initialize Default
2025-02-24T21:53:25.428Z,1740434005.428 [Default:B.GoToSurface] Running Loop=1
2025-02-24T21:53:25.428Z,1740434005.428 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-24T21:53:25.428Z,1740434005.428 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-24T21:53:25.428Z,1740434005.428 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-24T21:53:25.429Z,1740434005.429 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-24T21:53:25.429Z,1740434005.429 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-24T21:53:25.429Z,1740434005.429 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-24T21:53:25.430Z,1740434005.430 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-24T21:53:25.430Z,1740434005.430 [Default:A.Wait] Running Loop=1
2025-02-24T21:53:25.430Z,1740434005.430 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-24T21:53:35.461Z,1740434015.461 [DataOverHttps](INFO): Sending 135 bytes from file Logs/20250224T204222/Express0013.lzma
2025-02-24T21:53:36.289Z,1740434016.289 [DataOverHttps](INFO): Moved sent file to Logs/20250224T204222/Express0013.lzma.bak
2025-02-24T21:53:36.289Z,1740434016.289 [DataOverHttps](INFO): SBD MOMSN=23974797
2025-02-24T21:53:38.755Z,1740434018.755 [Default:A.Wait](INFO): Done Waiting.
2025-02-24T21:53:38.755Z,1740434018.755 [Default:A.Wait] Stopped
2025-02-24T21:53:38.755Z,1740434018.755 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T21:53:39.162Z,1740434019.162 [Default:CheckIn] Running Loop=1
2025-02-24T21:53:39.162Z,1740434019.162 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-24T21:53:39.162Z,1740434019.162 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-24T21:53:41.172Z,1740434021.172 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215340.00,A,3647.78092,N,12150.77235,W,0.486,108.32,240225,,,A*7D
2025-02-24T21:53:41.175Z,1740434021.175 [NAL9602](INFO): GPS fix at 20250224T215340: (36.796349, -121.846206)
2025-02-24T21:53:41.186Z,1740434021.186 [Default:CheckIn:Read_GPS] Stopped
2025-02-24T21:53:41.186Z,1740434021.186 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-24T21:53:56.571Z,1740434036.571 [NAL9602](INFO): SBD MO Status=2, MOMSN=13336, MT Status=2, MTMSN=0
2025-02-24T21:53:56.572Z,1740434036.572 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-24T21:54:01.547Z,1740434041.547 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250224T215050/Courier0012.lzma
2025-02-24T21:54:02.549Z,1740434042.549 [DataOverHttps](INFO): Moved sent file to Logs/20250224T215050/Courier0012.lzma.bak
2025-02-24T21:54:02.549Z,1740434042.549 [DataOverHttps](INFO): SBD MOMSN=23974865
2025-02-24T21:54:05.022Z,1740434045.022 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-24T21:54:16.350Z,1740434056.350 [NAL9602](INFO): SBD MO Status=2, MOMSN=13336, MT Status=2, MTMSN=0
2025-02-24T21:54:16.350Z,1740434056.350 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-24T21:54:20.768Z,1740434060.768 [DataOverHttps](INFO): Sending 537 bytes from file Logs/20250224T215050/Express0001.lzma
2025-02-24T21:54:21.769Z,1740434061.769 [DataOverHttps](INFO): Moved sent file to Logs/20250224T215050/Express0001.lzma.bak
2025-02-24T21:54:21.770Z,1740434061.770 [DataOverHttps](INFO): SBD MOMSN=23974868
2025-02-24T21:54:31.718Z,1740434071.718 [NAL9602](INFO): SBD MO Status=2, MOMSN=13336, MT Status=2, MTMSN=0
2025-02-24T21:54:31.718Z,1740434071.718 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-24T21:54:39.971Z,1740434079.971 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20250224T215050/Express0004.lzma
2025-02-24T21:54:40.973Z,1740434080.973 [DataOverHttps](INFO): Moved sent file to Logs/20250224T215050/Express0004.lzma.bak
2025-02-24T21:54:40.973Z,1740434080.973 [DataOverHttps](INFO): SBD MOMSN=23974880
2025-02-24T21:54:49.091Z,1740434089.091 [NAL9602](INFO): SBD MO Status=2, MOMSN=13336, MT Status=2, MTMSN=0
2025-02-24T21:54:49.091Z,1740434089.091 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-24T21:55:04.168Z,1740434104.168 [DataOverHttps](INFO): Sending 106 bytes from file Logs/20250224T215050/Express0007.lzma
2025-02-24T21:55:04.905Z,1740434104.905 [NAL9602](INFO): SBD MO Status=2, MOMSN=13336, MT Status=2, MTMSN=0
2025-02-24T21:55:04.905Z,1740434104.905 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-24T21:55:05.181Z,1740434105.181 [DataOverHttps](INFO): Moved sent file to Logs/20250224T215050/Express0007.lzma.bak
2025-02-24T21:55:05.182Z,1740434105.182 [DataOverHttps](INFO): SBD MOMSN=23974882
2025-02-24T21:55:27.105Z,1740434127.105 [DataOverHttps](INFO): Sending 180 bytes from file Logs/20250224T215050/Express0010.lzma
2025-02-24T21:55:28.106Z,1740434128.106 [DataOverHttps](INFO): Moved sent file to Logs/20250224T215050/Express0010.lzma.bak
2025-02-24T21:55:28.106Z,1740434128.106 [DataOverHttps](INFO): SBD MOMSN=23974885
2025-02-24T21:55:29.154Z,1740434129.154 [NAL9602](INFO): SBD MO Status=2, MOMSN=13336, MT Status=2, MTMSN=0
2025-02-24T21:55:29.154Z,1740434129.154 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-24T21:55:48.019Z,1740434148.019 [DataOverHttps](INFO): Sending 172 bytes from file Logs/20250224T215050/Express0013.lzma
2025-02-24T21:55:49.037Z,1740434149.037 [DataOverHttps](INFO): Moved sent file to Logs/20250224T215050/Express0013.lzma.bak
2025-02-24T21:55:49.037Z,1740434149.037 [DataOverHttps](INFO): SBD MOMSN=23974891
2025-02-24T21:55:49.782Z,1740434149.782 [NAL9602](INFO): SBD MO Status=0, MOMSN=13336, MT Status=0, MTMSN=0
2025-02-24T21:55:49.782Z,1740434149.782 [NAL9602](INFO): No messages in MT queue
2025-02-24T21:56:09.155Z,1740434169.155 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250224T215050/Express0016.lzma
2025-02-24T21:56:10.157Z,1740434170.157 [DataOverHttps](INFO): Moved sent file to Logs/20250224T215050/Express0016.lzma.bak
2025-02-24T21:56:10.158Z,1740434170.158 [DataOverHttps](INFO): SBD MOMSN=23974896
2025-02-24T21:56:12.061Z,1740434172.061 [Default:CheckIn:Read_Iridium] Stopped
2025-02-24T21:56:12.061Z,1740434172.061 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-24T21:56:12.061Z,1740434172.061 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-24T21:56:20.525Z,1740434180.525 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T22:01:12.668Z,1740434472.668 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-24T22:01:12.668Z,1740434472.668 [Default:CheckIn:C.Wait] Stopped
2025-02-24T22:01:12.668Z,1740434472.668 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T22:01:12.668Z,1740434472.668 [Default:CheckIn:D] Running Loop=1
2025-02-24T22:01:13.070Z,1740434473.070 [Default:CheckIn:D] Stopped
2025-02-24T22:01:13.073Z,1740434473.073 [Default:CheckIn:E] Running Loop=1
2025-02-24T22:01:13.483Z,1740434473.483 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  7.794046 min 
2025-02-24T22:01:13.483Z,1740434473.483 [Default:CheckIn:E] Stopped
2025-02-24T22:01:13.483Z,1740434473.483 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-24T22:01:13.483Z,1740434473.483 [Default:CheckIn] Stopped
2025-02-24T22:01:13.483Z,1740434473.483 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-24T22:01:13.483Z,1740434473.483 [Default:CheckIn](INFO): Running loop #2
2025-02-24T22:01:13.484Z,1740434473.484 [Default:CheckIn] Running Loop=2
2025-02-24T22:01:13.484Z,1740434473.484 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-24T22:01:13.484Z,1740434473.484 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-24T22:01:15.484Z,1740434475.484 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,220114.00,A,3647.77736,N,12150.73979,W,0.991,80.00,240225,,,A*42
2025-02-24T22:01:15.486Z,1740434475.486 [NAL9602](INFO): GPS fix at 20250224T220114: (36.796289, -121.845663)
2025-02-24T22:01:15.530Z,1740434475.530 [Default:CheckIn:Read_GPS] Stopped
2025-02-24T22:01:15.530Z,1740434475.530 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-24T22:01:24.935Z,1740434484.935 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250224T215050/Courier0018.lzma
2025-02-24T22:01:25.937Z,1740434485.937 [DataOverHttps](INFO): Moved sent file to Logs/20250224T215050/Courier0018.lzma.bak
2025-02-24T22:01:25.937Z,1740434485.937 [DataOverHttps](INFO): SBD MOMSN=23974899
2025-02-24T22:01:43.102Z,1740434503.102 [NAL9602](INFO): SBD MO Status=0, MOMSN=13337, MT Status=0, MTMSN=0
2025-02-24T22:01:43.103Z,1740434503.103 [NAL9602](INFO): No messages in MT queue
2025-02-24T22:01:45.819Z,1740434505.819 [DataOverHttps](INFO): Sending 160 bytes from file Logs/20250224T215050/Express0019.lzma
2025-02-24T22:01:46.821Z,1740434506.821 [DataOverHttps](INFO): Moved sent file to Logs/20250224T215050/Express0019.lzma.bak
2025-02-24T22:01:46.821Z,1740434506.821 [DataOverHttps](INFO): SBD MOMSN=23974902
2025-02-24T22:01:48.387Z,1740434508.387 [Default:CheckIn:Read_Iridium] Stopped
2025-02-24T22:01:48.388Z,1740434508.388 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-24T22:01:48.388Z,1740434508.388 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-24T22:02:13.808Z,1740434533.808 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-24T22:03:29.656Z,1740434609.656 [DataOverHttps](IMPORTANT): SBD MTMSN=20250224T220328
2025-02-24T22:03:37.196Z,1740434617.196 [DataOverHttps](INFO): Received command: restart sys
2025-02-24T22:03:37.301Z,1740434617.301 [CommandExec](IMPORTANT): got command restart system
2025-02-24T22:03:39.439Z,1740434619.439 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T22:03:39.440Z,1740434619.440 [CommandExec](INFO): Uninitializing the command executive.
2025-02-24T22:03:39.440Z,1740434619.440 [CommandExec](INFO): Uninitializing the command scheduler.
2025-02-24T22:03:39.440Z,1740434619.440 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:39.631Z,1740434619.631 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-02-24T22:03:39.631Z,1740434619.631 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-02-24T22:03:39.632Z,1740434619.632 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:39.632Z,1740434619.632 [NavChartDb](INFO): Join timeout helper Thread ID is 719
2025-02-24T22:03:39.647Z,1740434619.647 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T22:03:39.648Z,1740434619.648 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:39.651Z,1740434619.651 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-02-24T22:03:39.651Z,1740434619.651 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:39.652Z,1740434619.652 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 720
2025-02-24T22:03:39.841Z,1740434619.841 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T22:03:39.841Z,1740434619.841 [WetLabsBB2FL](INFO): Powering down
2025-02-24T22:03:39.842Z,1740434619.842 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:39.851Z,1740434619.851 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-02-24T22:03:39.851Z,1740434619.851 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:39.852Z,1740434619.852 [CTD_Seabird](INFO): Join timeout helper Thread ID is 721
2025-02-24T22:03:40.344Z,1740434620.344 [CTD_Seabird](INFO): Powering down
2025-02-24T22:03:40.359Z,1740434620.359 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T22:03:40.360Z,1740434620.360 [CTD_Seabird](INFO): Powering down
2025-02-24T22:03:40.371Z,1740434620.371 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:40.379Z,1740434620.379 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-02-24T22:03:40.379Z,1740434620.379 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:40.380Z,1740434620.380 [Radio_Surface](INFO): Join timeout helper Thread ID is 722
2025-02-24T22:03:40.598Z,1740434620.598 [Radio_Surface](INFO): Powering down
2025-02-24T22:03:40.599Z,1740434620.599 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T22:03:40.599Z,1740434620.599 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:40.603Z,1740434620.603 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-02-24T22:03:40.603Z,1740434620.603 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:40.604Z,1740434620.604 [Onboard](INFO): Join timeout helper Thread ID is 723
2025-02-24T22:03:41.208Z,1740434621.208 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-24T22:03:41.332Z,1740434621.332 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T22:03:41.332Z,1740434621.332 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:41.336Z,1740434621.336 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-02-24T22:03:41.336Z,1740434621.336 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:41.337Z,1740434621.337 [DataOverHttps](INFO): Join timeout helper Thread ID is 724
2025-02-24T22:03:42.211Z,1740434622.211 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T22:03:42.212Z,1740434622.212 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:42.224Z,1740434622.224 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-02-24T22:03:42.224Z,1740434622.224 [DAT ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:42.224Z,1740434622.224 [DAT](INFO): Join timeout helper Thread ID is 725
2025-02-24T22:03:42.359Z,1740434622.359 [DAT](INFO): Powering down
2025-02-24T22:03:42.436Z,1740434622.436 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T22:03:42.436Z,1740434622.436 [DAT](INFO): Powering down
2025-02-24T22:03:42.437Z,1740434622.437 [DAT ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:42.444Z,1740434622.444 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-02-24T22:03:42.444Z,1740434622.444 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:42.444Z,1740434622.444 [BackseatComponent](INFO): Join timeout helper Thread ID is 726
2025-02-24T22:03:42.619Z,1740434622.619 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T22:03:42.620Z,1740434622.620 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:42.624Z,1740434622.624 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-02-24T22:03:42.624Z,1740434622.624 [logger ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:42.624Z,1740434622.624 [logger](INFO): Join timeout helper Thread ID is 727
2025-02-24T22:03:42.667Z,1740434622.667 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T22:03:42.668Z,1740434622.668 [logger ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:42.684Z,1740434622.684 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-02-24T22:03:42.684Z,1740434622.684 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:42.684Z,1740434622.684 [CommandLine](INFO): Join timeout helper Thread ID is 728
2025-02-24T22:03:42.751Z,1740434622.751 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T22:03:42.752Z,1740434622.752 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:42.753Z,1740434622.753 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-02-24T22:03:42.753Z,1740434622.753 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:42.754Z,1740434622.754 [CommandExec](INFO): Join timeout helper Thread ID is 729
2025-02-24T22:03:42.760Z,1740434622.760 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-02-24T22:03:42.760Z,1740434622.760 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:42.760Z,1740434622.760 [controlThread](INFO): Join timeout helper Thread ID is 730
2025-02-24T22:03:42.782Z,1740434622.782 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-24T22:03:42.782Z,1740434622.782 [controlThread](DEBUG): Uninitializing ControlThread
2025-02-24T22:03:42.782Z,1740434622.782 [AHRS_M2](INFO): Powering down
2025-02-24T22:03:42.856Z,1740434622.856 [NAL9602](INFO): Powering down
2025-02-24T22:03:42.858Z,1740434622.858 [Sonardyne_Nano](INFO): Powering down
2025-02-24T22:03:42.976Z,1740434622.976 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-02-24T22:03:42.977Z,1740434622.977 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-02-24T22:03:42.977Z,1740434622.977 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-02-24T22:03:42.978Z,1740434622.978 [MissionManager](INFO): Uninitializing Mission Default
2025-02-24T22:03:42.978Z,1740434622.978 [Default] Stopped
2025-02-24T22:03:42.978Z,1740434622.978 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-24T22:03:42.978Z,1740434622.978 [Default:B.GoToSurface] Stopped
2025-02-24T22:03:42.978Z,1740434622.978 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-24T22:03:42.979Z,1740434622.979 [Default:CheckIn] Stopped
2025-02-24T22:03:42.979Z,1740434622.979 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-24T22:03:42.979Z,1740434622.979 [Default:CheckIn:C.Wait] Stopped
2025-02-24T22:03:42.979Z,1740434622.979 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-24T22:03:42.982Z,1740434622.982 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-02-24T22:03:42.982Z,1740434622.982 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-02-24T22:03:42.983Z,1740434622.983 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-02-24T22:03:42.983Z,1740434622.983 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-02-24T22:03:42.983Z,1740434622.983 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-02-24T22:03:42.984Z,1740434622.984 [BuoyancyServo](INFO): Powering down
2025-02-24T22:03:42.995Z,1740434622.995 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-02-24T22:03:42.995Z,1740434622.995 [ElevatorServo](INFO): Powering down
2025-02-24T22:03:42.996Z,1740434622.996 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-24T22:03:42.996Z,1740434622.996 [MassServo](INFO): Powering down
2025-02-24T22:03:42.997Z,1740434622.997 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-02-24T22:03:42.997Z,1740434622.997 [RudderServo](INFO): Powering down
2025-02-24T22:03:42.998Z,1740434622.998 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-24T22:03:42.999Z,1740434622.999 [ThrusterHE](INFO): Powering down
2025-02-24T22:03:42.000Z,1740434623.000 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-02-24T22:03:43.000Z,1740434623.000 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-02-24T22:03:43.000Z,1740434623.000 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-02-24T22:03:43.001Z,1740434623.001 [CBIT](DEBUG): Powering off loads.
2025-02-24T22:03:43.011Z,1740434623.011 [CBIT](DEBUG): Disabling WDT.
2025-02-24T22:03:43.023Z,1740434623.023 [CBIT](DEBUG): Opening all GF detection circuits.
2025-02-24T22:03:43.024Z,1740434623.024 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:43.075Z,1740434623.075 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:43.078Z,1740434623.078 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:43.086Z,1740434623.086 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:43.093Z,1740434623.093 [DAT ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:43.139Z,1740434623.139 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:43.246Z,1740434623.246 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:43.253Z,1740434623.253 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:43.277Z,1740434623.277 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-24T22:03:43.358Z,1740434623.358 [logger ThreadHandler](INFO): Thread cancelled.