2025-07-18T15:05:16.348Z,1752851116.348 [Supervisor](DEBUG): Initializing supervisor.
2025-07-18T15:05:16.352Z,1752851116.352 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-07-18T15:05:16.353Z,1752851116.353 [SyncHandler](INFO): Protected caller Thread ID is 7333
2025-07-18T15:05:16.353Z,1752851116.353 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-07-18T15:05:16.354Z,1752851116.354 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-07-18T15:05:16.355Z,1752851116.355 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 7334
2025-07-18T15:05:16.359Z,1752851116.359 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-07-18T15:05:16.379Z,1752851116.379 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-07-18T15:05:16.380Z,1752851116.380 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-07-18T15:05:16.380Z,1752851116.380 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 7335
2025-07-18T15:05:16.385Z,1752851116.385 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-07-18T15:05:16.386Z,1752851116.386 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-07-18T15:05:16.386Z,1752851116.386 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 7336
2025-07-18T15:05:16.388Z,1752851116.388 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-07-18T15:05:16.389Z,1752851116.389 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-07-18T15:05:16.390Z,1752851116.390 [logger ThreadHandler](INFO): Protected caller Thread ID is 7337
2025-07-18T15:05:16.394Z,1752851116.394 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-07-18T15:05:16.394Z,1752851116.394 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-07-18T15:05:16.396Z,1752851116.396 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-07-18T15:05:16.737Z,1752851116.737 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-07-18T15:05:16.737Z,1752851116.737 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-07-18T15:05:17.503Z,1752851117.503 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-07-18T15:05:17.503Z,1752851117.503 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-07-18T15:05:17.620Z,1752851117.620 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-07-18T15:05:17.620Z,1752851117.620 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-07-18T15:05:18.179Z,1752851118.179 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-07-18T15:05:18.180Z,1752851118.180 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-07-18T15:05:18.286Z,1752851118.286 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-07-18T15:05:18.286Z,1752851118.286 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-07-18T15:05:18.386Z,1752851118.386 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2025-07-18T15:05:18.387Z,1752851118.387 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-07-18T15:05:18.810Z,1752851118.810 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-07-18T15:05:18.811Z,1752851118.811 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-07-18T15:05:19.041Z,1752851119.041 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-07-18T15:05:19.041Z,1752851119.041 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-07-18T15:05:19.189Z,1752851119.189 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-07-18T15:05:19.189Z,1752851119.189 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-07-18T15:05:19.447Z,1752851119.447 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-07-18T15:05:19.448Z,1752851119.448 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-07-18T15:05:20.022Z,1752851120.022 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-07-18T15:05:20.023Z,1752851120.023 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-07-18T15:05:20.422Z,1752851120.422 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-07-18T15:05:20.423Z,1752851120.423 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-07-18T15:05:20.563Z,1752851120.563 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-07-18T15:05:21.298Z,1752851121.298 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-07-18T15:05:21.299Z,1752851121.299 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-07-18T15:05:21.560Z,1752851121.560 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-07-18T15:05:21.560Z,1752851121.560 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-07-18T15:05:21.875Z,1752851121.875 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-07-18T15:05:21.877Z,1752851121.877 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/
2025-07-18T15:05:21.878Z,1752851121.878 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Control.cfg
2025-07-18T15:05:21.987Z,1752851121.987 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Sensor.cfg
2025-07-18T15:05:22.148Z,1752851122.148 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Simulator.cfg
2025-07-18T15:05:22.243Z,1752851122.243 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/secure.cfg
2025-07-18T15:05:22.336Z,1752851122.336 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Servo.cfg
2025-07-18T15:05:22.457Z,1752851122.457 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/workSite.cfg
2025-07-18T15:05:22.551Z,1752851122.551 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/vehicle.cfg
2025-07-18T15:05:22.666Z,1752851122.666 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Battery.cfg
2025-07-18T15:05:22.951Z,1752851122.951 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-07-18T15:05:22.952Z,1752851122.952 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Science.cfg
2025-07-18T15:05:23.094Z,1752851123.094 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/logger.cfg
2025-07-18T15:05:23.196Z,1752851123.196 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/BIT.cfg
2025-07-18T15:05:23.298Z,1752851123.298 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Navigation.cfg
2025-07-18T15:05:23.391Z,1752851123.391 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-07-18T15:05:23.398Z,1752851123.398 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-07-18T15:05:23.545Z,1752851123.545 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-07-18T15:05:23.546Z,1752851123.546 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-07-18T15:05:23.556Z,1752851123.556 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-07-18T15:05:23.557Z,1752851123.557 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-07-18T15:05:23.612Z,1752851123.612 [DepthRateCalculator] Loaded
2025-07-18T15:05:23.612Z,1752851123.612 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-07-18T15:05:23.618Z,1752851123.618 [PitchRateCalculator] Loaded
2025-07-18T15:05:23.618Z,1752851123.618 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-07-18T15:05:23.629Z,1752851123.629 [SpeedCalculator] Loaded
2025-07-18T15:05:23.629Z,1752851123.629 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-07-18T15:05:23.634Z,1752851123.634 [YawRateCalculator] Loaded
2025-07-18T15:05:23.635Z,1752851123.635 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-07-18T15:05:23.657Z,1752851123.657 [ElevatorOffsetCalculator] Loaded
2025-07-18T15:05:23.658Z,1752851123.658 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-07-18T15:05:23.658Z,1752851123.658 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-07-18T15:05:23.659Z,1752851123.659 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-07-18T15:05:23.717Z,1752851123.717 [VerticalControl](DEBUG): Construct VerticalControl.
2025-07-18T15:05:23.776Z,1752851123.776 [VerticalControl] Loaded
2025-07-18T15:05:23.776Z,1752851123.776 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-07-18T15:05:23.779Z,1752851123.779 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-07-18T15:05:23.828Z,1752851123.828 [HorizontalControl] Loaded
2025-07-18T15:05:23.829Z,1752851123.829 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-07-18T15:05:23.831Z,1752851123.831 [SpeedControl](DEBUG): Construct SpeedControl.
2025-07-18T15:05:23.834Z,1752851123.834 [SpeedControl] Loaded
2025-07-18T15:05:23.834Z,1752851123.834 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-07-18T15:05:23.837Z,1752851123.837 [LoopControl](DEBUG): Construct LoopControl.
2025-07-18T15:05:23.837Z,1752851123.837 [LoopControl] Loaded
2025-07-18T15:05:23.838Z,1752851123.838 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-07-18T15:05:23.838Z,1752851123.838 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-07-18T15:05:23.839Z,1752851123.839 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-07-18T15:05:23.960Z,1752851123.960 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-07-18T15:05:23.960Z,1752851123.960 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-07-18T15:05:23.974Z,1752851123.974 [NavChart] Loaded
2025-07-18T15:05:23.975Z,1752851123.975 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-07-18T15:05:23.981Z,1752851123.981 [UniversalFixResidualReporter] Loaded
2025-07-18T15:05:23.981Z,1752851123.981 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-07-18T15:05:23.981Z,1752851123.981 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-07-18T15:05:23.982Z,1752851123.982 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-07-18T15:05:24.175Z,1752851124.175 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-07-18T15:05:24.176Z,1752851124.176 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-07-18T15:05:24.717Z,1752851124.717 [AHRS_M2] Loaded
2025-07-18T15:05:24.718Z,1752851124.718 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-07-18T15:05:24.758Z,1752851124.758 [BackseatComponent] Loaded
2025-07-18T15:05:24.758Z,1752851124.758 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-07-18T15:05:24.759Z,1752851124.759 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 4093E4E0
2025-07-18T15:05:24.760Z,1752851124.760 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 7422
2025-07-18T15:05:24.763Z,1752851124.763 [LcmUniversalReporter] Loaded
2025-07-18T15:05:24.763Z,1752851124.763 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-07-18T15:05:25.632Z,1752851125.632 [BPC1] Loaded
2025-07-18T15:05:25.632Z,1752851125.632 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-07-18T15:05:25.735Z,1752851125.735 [DAT] Loaded
2025-07-18T15:05:25.735Z,1752851125.735 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-07-18T15:05:25.736Z,1752851125.736 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 4096E4E0
2025-07-18T15:05:25.737Z,1752851125.737 [DAT ThreadHandler](INFO): Protected caller Thread ID is 7423
2025-07-18T15:05:25.814Z,1752851125.814 [DataOverHttps] Loaded
2025-07-18T15:05:25.815Z,1752851125.815 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-07-18T15:05:25.816Z,1752851125.816 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4099E4E0
2025-07-18T15:05:25.816Z,1752851125.816 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 7424
2025-07-18T15:05:25.882Z,1752851125.882 [Depth_Keller] Loaded
2025-07-18T15:05:25.882Z,1752851125.882 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-07-18T15:05:26.141Z,1752851126.141 [NAL9602] Loaded
2025-07-18T15:05:26.151Z,1752851126.151 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-07-18T15:05:26.278Z,1752851126.278 [Onboard] Loaded
2025-07-18T15:05:26.278Z,1752851126.278 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-07-18T15:05:26.279Z,1752851126.279 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409CE4E0
2025-07-18T15:05:26.280Z,1752851126.280 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 7425
2025-07-18T15:05:26.347Z,1752851126.347 [Power24vConverter] Loaded
2025-07-18T15:05:26.347Z,1752851126.347 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-07-18T15:05:26.478Z,1752851126.478 [Radio_Surface] Loaded
2025-07-18T15:05:26.478Z,1752851126.478 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-07-18T15:05:26.479Z,1752851126.479 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409FE4E0
2025-07-18T15:05:26.479Z,1752851126.479 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 7426
2025-07-18T15:05:26.549Z,1752851126.549 [RDI_Pathfinder] Loaded
2025-07-18T15:05:26.549Z,1752851126.549 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2025-07-18T15:05:26.565Z,1752851126.565 [Sonardyne_Nano] Loaded
2025-07-18T15:05:26.566Z,1752851126.566 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-07-18T15:05:26.566Z,1752851126.566 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-07-18T15:05:26.567Z,1752851126.567 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-07-18T15:05:26.795Z,1752851126.795 [BuoyancyServo] Loaded
2025-07-18T15:05:26.795Z,1752851126.795 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-07-18T15:05:26.819Z,1752851126.819 [ElevatorServo] Loaded
2025-07-18T15:05:26.819Z,1752851126.819 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-07-18T15:05:26.851Z,1752851126.851 [DockingStepper] Loaded
2025-07-18T15:05:26.851Z,1752851126.851 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2025-07-18T15:05:26.875Z,1752851126.875 [MassServo] Loaded
2025-07-18T15:05:26.875Z,1752851126.875 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-07-18T15:05:26.897Z,1752851126.897 [RudderServo] Loaded
2025-07-18T15:05:26.897Z,1752851126.897 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-07-18T15:05:26.915Z,1752851126.915 [ThrusterHE] Loaded
2025-07-18T15:05:26.915Z,1752851126.915 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-07-18T15:05:26.916Z,1752851126.916 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-07-18T15:05:26.916Z,1752851126.916 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-07-18T15:05:26.980Z,1752851126.980 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-07-18T15:05:26.981Z,1752851126.981 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-07-18T15:05:27.012Z,1752851127.012 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-07-18T15:05:27.012Z,1752851127.012 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-07-18T15:05:27.391Z,1752851127.391 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-07-18T15:05:27.392Z,1752851127.392 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-07-18T15:05:27.576Z,1752851127.576 [CTD_Seabird] Loaded
2025-07-18T15:05:27.576Z,1752851127.576 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-07-18T15:05:27.578Z,1752851127.578 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BBE4E0
2025-07-18T15:05:27.578Z,1752851127.578 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 7427
2025-07-18T15:05:27.616Z,1752851127.616 [ESPComponent] Loaded
2025-07-18T15:05:27.616Z,1752851127.616 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-07-18T15:05:27.640Z,1752851127.640 [PAR_Licor] Loaded
2025-07-18T15:05:27.640Z,1752851127.640 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-07-18T15:05:27.688Z,1752851127.688 [WetLabsBB2FL] Loaded
2025-07-18T15:05:27.688Z,1752851127.688 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-07-18T15:05:27.689Z,1752851127.689 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BEE4E0
2025-07-18T15:05:27.690Z,1752851127.690 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 7428
2025-07-18T15:05:27.691Z,1752851127.691 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-07-18T15:05:27.691Z,1752851127.691 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-07-18T15:05:27.869Z,1752851127.869 [SBIT](DEBUG): Construct Startup Built In Test.
2025-07-18T15:05:27.879Z,1752851127.879 [SBIT] Loaded
2025-07-18T15:05:27.879Z,1752851127.879 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-07-18T15:05:27.883Z,1752851127.883 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-07-18T15:05:27.896Z,1752851127.896 [IBIT] Loaded
2025-07-18T15:05:27.896Z,1752851127.896 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-07-18T15:05:27.902Z,1752851127.902 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-07-18T15:05:27.987Z,1752851127.987 [CBIT] Loaded
2025-07-18T15:05:27.988Z,1752851127.988 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-07-18T15:05:28.021Z,1752851128.021 [GFScanner] Loaded
2025-07-18T15:05:28.022Z,1752851128.022 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-07-18T15:05:28.022Z,1752851128.022 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-07-18T15:05:28.029Z,1752851128.029 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-07-18T15:05:28.032Z,1752851128.032 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-07-18T15:05:28.043Z,1752851128.043 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-07-18T15:05:28.044Z,1752851128.044 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C694E0
2025-07-18T15:05:28.045Z,1752851128.045 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 7429
2025-07-18T15:05:28.049Z,1752851128.049 [Supervisor](INFO): Main Thread ID is 825
2025-07-18T15:05:28.049Z,1752851128.049 [Supervisor](DEBUG): Running supervisor.
2025-07-18T15:05:28.050Z,1752851128.050 [CommandExec ThreadHandler](INFO): Handler Thread ID is 7430
2025-07-18T15:05:28.050Z,1752851128.050 [CommandExec](INFO): Initializing the command executive.
2025-07-18T15:05:28.052Z,1752851128.052 [CommandLine ThreadHandler](INFO): Handler Thread ID is 7431
2025-07-18T15:05:28.054Z,1752851128.054 [controlThread ThreadHandler](INFO): Handler Thread ID is 7432
2025-07-18T15:05:28.055Z,1752851128.055 [controlThread](DEBUG): Initializing ControlThread
2025-07-18T15:05:28.055Z,1752851128.055 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-07-18T15:05:28.056Z,1752851128.056 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-07-18T15:05:28.056Z,1752851128.056 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-07-18T15:05:28.056Z,1752851128.056 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-07-18T15:05:28.057Z,1752851128.057 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-07-18T15:05:28.057Z,1752851128.057 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-07-18T15:05:28.059Z,1752851128.059 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-07-18T15:05:28.060Z,1752851128.060 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-07-18T15:05:28.060Z,1752851128.060 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-07-18T15:05:28.061Z,1752851128.061 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-07-18T15:05:28.061Z,1752851128.061 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-07-18T15:05:28.066Z,1752851128.066 [SBIT](INFO): Initialize SBIT Component.
2025-07-18T15:05:28.067Z,1752851128.067 [SBIT](IMPORTANT): git: 2025-07-16
2025-07-18T15:05:28.067Z,1752851128.067 [SBIT](INFO): git hash: d69d2715ddd00fa751675e8858faf22d094d5d81
2025-07-18T15:05:28.067Z,1752851128.067 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-07-18T15:05:28.068Z,1752851128.068 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Tue Sep 24 11:12:27 PDT 2019
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2025-07-18T15:05:28.069Z,1752851128.069 [SBIT](INFO): Beginning SBIT in 93.000000 seconds.
2025-07-18T15:05:28.070Z,1752851128.070 [IBIT](INFO): Initialize IBIT Component.
2025-07-18T15:05:28.071Z,1752851128.071 [CBIT](DEBUG): Initialize CBIT Component.
2025-07-18T15:05:28.072Z,1752851128.072 [logger ThreadHandler](INFO): Handler Thread ID is 7433
2025-07-18T15:05:28.082Z,1752851128.082 [CBIT](DEBUG): Initialized mux pins.
2025-07-18T15:05:28.082Z,1752851128.082 [CBIT](DEBUG): Initializing the watchdog timer.
2025-07-18T15:05:28.090Z,1752851128.090 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 7434
2025-07-18T15:05:28.102Z,1752851128.102 [DAT ThreadHandler](INFO): Handler Thread ID is 7435
2025-07-18T15:05:28.103Z,1752851128.103 [DAT](INFO): Powering up
2025-07-18T15:05:28.103Z,1752851128.103 [DAT](DEBUG): Initializing DAT.
2025-07-18T15:05:28.106Z,1752851128.106 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-07-18T15:05:28.106Z,1752851128.106 [CBIT](DEBUG): Initializing heartbeat.
2025-07-18T15:05:28.108Z,1752851128.108 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 7437
2025-07-18T15:05:28.110Z,1752851128.110 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-07-18T15:05:28.119Z,1752851128.119 [Onboard ThreadHandler](INFO): Handler Thread ID is 7438
2025-07-18T15:05:28.148Z,1752851128.148 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 7439
2025-07-18T15:05:28.166Z,1752851128.166 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 7440
2025-07-18T15:05:28.167Z,1752851128.167 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-07-18T15:05:28.171Z,1752851128.171 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 7442
2025-07-18T15:05:28.174Z,1752851128.174 [WetLabsBB2FL](INFO): Powering up
2025-07-18T15:05:28.175Z,1752851128.175 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 7444
2025-07-18T15:05:28.178Z,1752851128.178 [CBIT](DEBUG): Deactivating emergency mode.
2025-07-18T15:05:28.179Z,1752851128.179 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-07-18T15:05:28.179Z,1752851128.179 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-07-18T15:05:28.179Z,1752851128.179 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-07-18T15:05:28.179Z,1752851128.179 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-07-18T15:05:28.179Z,1752851128.179 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-07-18T15:05:28.179Z,1752851128.179 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-07-18T15:05:28.179Z,1752851128.179 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-07-18T15:05:28.180Z,1752851128.180 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-07-18T15:05:28.218Z,1752851128.218 [CBIT](DEBUG): Backplane powered.
2025-07-18T15:05:28.218Z,1752851128.218 [GFScanner](DEBUG): Initializing GFScanner
2025-07-18T15:05:28.218Z,1752851128.218 [GFScanner](DEBUG): Deactivating GF circuits.
2025-07-18T15:05:28.223Z,1752851128.223 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-07-18T15:05:28.224Z,1752851128.224 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-07-18T15:05:28.224Z,1752851128.224 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-07-18T15:05:28.225Z,1752851128.225 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-07-18T15:05:28.286Z,1752851128.286 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Startup">
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="StartupSatComms">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix />
        </ReadDatum>
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Mission>

2025-07-18T15:05:28.311Z,1752851128.311 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-07-18T15:05:28.335Z,1752851128.335 [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 Startup {
  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate StartupSatComms {
    run in sequence

    readDatum {
      timeout duration=P1M

      Universal:latitude_fix
    }

    readDatum {
      timeout duration=P1M

      Universal:platform_communications
    }
  }
}


2025-07-18T15:05:28.336Z,1752851128.336 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-07-18T15:05:28.336Z,1752851128.336 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-07-18T15:05:28.337Z,1752851128.337 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-07-18T15:05:28.550Z,1752851128.550 [Radio_Surface](INFO): Powering up
2025-07-18T15:05:28.666Z,1752851128.666 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Default">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>13</Value>
        </Setting>
    </Guidance:Wait>
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P4H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            Default mission has been running for 
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-07-18T15:05:28.688Z,1752851128.688 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-07-18T15:05:28.689Z,1752851128.689 [Default:A.Wait](DEBUG): Construct Wait.
2025-07-18T15:05:28.691Z,1752851128.691 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-07-18T15:05:28.728Z,1752851128.728 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-07-18T15:05:28.747Z,1752851128.747 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-07-18T15:05:28.753Z,1752851128.753 [Default:E.Execute](DEBUG): Construct Execute.
2025-07-18T15:05:28.772Z,1752851128.772 [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 Default {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute
  }

  behavior Guidance:Wait {
    """
    Wait a moment to see if the scheduler starts a new mission before
    starting to actually run Default.
    """

    run in sequence

    set duration = 13 second
  }

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

    readDatum id="Read_Iridium" {
      timeout duration=P4H {
        behavior Guidance:Execute {
          run in sequence

          set command = "Burn on"
        }

        syslog critical "Dropped weight due to communications timeout."
      }

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

    syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
  }

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-07-18T15:05:28.777Z,1752851128.777 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,
2025-07-18T15:05:28.800Z,1752851128.800 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-07-18T15:05:28.859Z,1752851128.859 [Depth_Keller](INFO): Initializing.
2025-07-18T15:05:28.860Z,1752851128.860 [Power24vConverter](INFO): Powering up.
2025-07-18T15:05:28.861Z,1752851128.861 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-07-18T15:05:28.866Z,1752851128.866 [Sonardyne_Nano](INFO): Initializing.
2025-07-18T15:05:28.910Z,1752851128.910 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-07-18T15:05:28.936Z,1752851128.936 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-07-18T15:05:28.942Z,1752851128.942 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-07-18T15:05:28.943Z,1752851128.943 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-07-18T15:05:28.950Z,1752851128.950 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-07-18T15:05:28.951Z,1752851128.951 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-07-18T15:05:28.958Z,1752851128.958 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-07-18T15:05:28.959Z,1752851128.959 [MassServo](DEBUG): Initializing EZServoServo.
2025-07-18T15:05:28.966Z,1752851128.966 [MassServo](DEBUG): Initializing MassServo.
2025-07-18T15:05:28.967Z,1752851128.967 [RudderServo](DEBUG): Initializing EZServoServo.
2025-07-18T15:05:28.974Z,1752851128.974 [RudderServo](DEBUG): Initializing RudderServo.
2025-07-18T15:05:28.975Z,1752851128.975 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-07-18T15:05:28.983Z,1752851128.983 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-07-18T15:05:30.314Z,1752851130.314 [WetLabsBB2FL](INFO): Powering down
2025-07-18T15:05:30.804Z,1752851130.804 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-07-18T15:05:32.450Z,1752851132.450 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2207
2025-07-18T15:05:34.699Z,1752851134.699 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-07-18T15:05:40.199Z,1752851140.199 [DAT](INFO): DAT read: 

2025-07-18T15:05:40.200Z,1752851140.200 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-07-18T15:05:41.963Z,1752851141.963 [DAT](INFO): DAT read: MF Frequency Band

2025-07-18T15:05:41.964Z,1752851141.964 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-07-18T15:05:41.965Z,1752851141.965 [DAT](INFO): DAT read: Jul 18 2025 15:05:35 

2025-07-18T15:05:43.223Z,1752851143.223 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-07-18T15:05:43.224Z,1752851143.224 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-07-18T15:05:43.225Z,1752851143.225 [DAT](INFO): commRate: 600
2025-07-18T15:05:45.290Z,1752851145.290 [DAT](INFO): entering command mode
2025-07-18T15:05:45.492Z,1752851145.492 [DAT](INFO): DAT read: 

2025-07-18T15:05:45.494Z,1752851145.494 [DAT](INFO): DAT read: user:1>

2025-07-18T15:05:45.495Z,1752851145.495 [DAT](INFO): setting verbose to 3
2025-07-18T15:05:45.743Z,1752851145.743 [DAT](INFO): DAT read: user:1>

2025-07-18T15:05:45.744Z,1752851145.744 [DAT](INFO): DAT read: Verbose         | 3           

2025-07-18T15:05:45.744Z,1752851145.744 [DAT](INFO): set verbose to 3
2025-07-18T15:05:45.744Z,1752851145.744 [DAT](INFO): setting DatVerbose to 27440
2025-07-18T15:05:45.999Z,1752851145.999 [DAT](INFO): DAT read: user:2>

2025-07-18T15:05:46.001Z,1752851146.001 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-07-18T15:05:46.001Z,1752851146.001 [DAT](INFO): set DatVerbose to 27440
2025-07-18T15:05:46.001Z,1752851146.001 [DAT](INFO): setting transmit power to 8
2025-07-18T15:05:46.247Z,1752851146.247 [DAT](INFO): DAT read: user:3>

2025-07-18T15:05:46.247Z,1752851146.247 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-07-18T15:05:46.248Z,1752851146.248 [DAT](INFO): set transmit power to 8
2025-07-18T15:05:46.248Z,1752851146.248 [DAT](INFO): setting local address to 11
2025-07-18T15:05:46.500Z,1752851146.500 [DAT](INFO): DAT read: user:4>

2025-07-18T15:05:46.501Z,1752851146.501 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-07-18T15:05:46.501Z,1752851146.501 [DAT](INFO): set local address to 11
2025-07-18T15:05:46.502Z,1752851146.502 [DAT](INFO): Setting time to: 15:5:46 And date to:7/18/2025
2025-07-18T15:05:46.751Z,1752851146.751 [DAT](INFO): DAT read: user:5>

2025-07-18T15:05:46.752Z,1752851146.752 [DAT](INFO): DAT read: Fri Jul 18, 2025  15:05:46  

2025-07-18T15:05:46.752Z,1752851146.752 [DAT](INFO): Local DAT time set to Fri Jul 18, 2025  15:05:46  

2025-07-18T15:05:56.263Z,1752851156.263 [NAL9602](INFO): Powering up NAL9602
2025-07-18T15:06:07.179Z,1752851167.179 [NAL9602](INFO): NAL9602 initialized
2025-07-18T15:07:01.771Z,1752851221.771 [SBIT](IMPORTANT): Beginning Startup BIT
2025-07-18T15:07:01.780Z,1752851221.780 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-07-18T15:07:06.258Z,1752851226.258 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.001158
CHAN A1 (24V): -0.001596
CHAN A2 (12V): -0.000269
CHAN A3 (5V): 0.000067
CHAN B0 (3.3V): 0.000724
CHAN B1 (3.15aV): 0.000859
CHAN B2 (3.15bV): 0.000265
CHAN B3 (GND): 0.000467
OPEN: 0.005324
Full Scale: +/- 1 mA
2025-07-18T15:07:55.569Z,1752851275.569 [SBIT](IMPORTANT): SBIT PASSED
2025-07-18T15:07:55.569Z,1752851275.569 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-07-18T15:07:55.586Z,1752851275.586 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2025-07-18T15:07:55.587Z,1752851275.587 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute;

2025-07-18T15:07:55.587Z,1752851275.587 [SBIT](IMPORTANT): ESPComponent.simulateHardware=0 bool;

2025-07-18T15:07:55.587Z,1752851275.587 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 15.000000 meter;

2025-07-18T15:07:55.587Z,1752851275.587 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=159.857109 cubic_centimeter;

2025-07-18T15:07:55.587Z,1752851275.587 [SBIT](IMPORTANT): VerticalControl.massDefault=18.418426 millimeter;

2025-07-18T15:07:55.987Z,1752851275.987 [MissionManager](IMPORTANT): Started mission Startup
2025-07-18T15:07:55.987Z,1752851275.987 [Startup] Running Loop=1
2025-07-18T15:07:55.987Z,1752851275.987 [Startup](DEBUG): Aggregate::initialize Startup
2025-07-18T15:07:55.987Z,1752851275.987 [Startup:A.GoToSurface] Running Loop=1
2025-07-18T15:07:55.987Z,1752851275.987 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-18T15:07:55.988Z,1752851275.988 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-07-18T15:07:55.988Z,1752851275.988 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-07-18T15:07:55.989Z,1752851275.989 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-07-18T15:07:55.989Z,1752851275.989 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-07-18T15:07:55.989Z,1752851275.989 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-18T15:07:56.014Z,1752851276.014 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-18T15:07:56.016Z,1752851276.016 [Startup:StartupSatComms] Running Loop=1
2025-07-18T15:07:56.016Z,1752851276.016 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-07-18T15:07:56.016Z,1752851276.016 [Startup:StartupSatComms:A] Running Loop=1
2025-07-18T15:07:56.397Z,1752851276.397 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-07-18T15:08:16.188Z,1752851296.188 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004423
2025-07-18T15:08:28.329Z,1752851308.329 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-07-18T15:08:28.334Z,1752851308.334 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-07-18T15:08:28.349Z,1752851308.349 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-07-18T15:08:28.740Z,1752851308.740 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-07-18T15:08:28.740Z,1752851308.740 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-07-18T15:08:56.204Z,1752851336.204 [Startup:StartupSatComms:A](INFO): Timed out from 2025-07-18T15:07:56.0Z
2025-07-18T15:08:56.204Z,1752851336.204 [Startup:StartupSatComms:A] Stopped
2025-07-18T15:08:56.204Z,1752851336.204 [Startup:StartupSatComms:B] Running Loop=1
2025-07-18T15:08:56.568Z,1752851336.568 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-07-18T15:09:03.153Z,1752851343.153 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250718T052352/Courier0046.lzma
2025-07-18T15:09:04.156Z,1752851344.156 [DataOverHttps](INFO): Moved sent file to Logs/20250718T052352/Courier0046.lzma.bak
2025-07-18T15:09:04.156Z,1752851344.156 [DataOverHttps](INFO): SBD MOMSN=25545408
2025-07-18T15:09:20.093Z,1752851360.093 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250718T052352/Courier0049.lzma
2025-07-18T15:09:21.096Z,1752851361.096 [DataOverHttps](INFO): Moved sent file to Logs/20250718T052352/Courier0049.lzma.bak
2025-07-18T15:09:21.096Z,1752851361.096 [DataOverHttps](INFO): SBD MOMSN=25545410
2025-07-18T15:09:36.866Z,1752851376.866 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250718T150516/Courier0000.lzma
2025-07-18T15:09:37.868Z,1752851377.868 [DataOverHttps](INFO): Moved sent file to Logs/20250718T150516/Courier0000.lzma.bak
2025-07-18T15:09:37.868Z,1752851377.868 [DataOverHttps](INFO): SBD MOMSN=25545412
2025-07-18T15:09:53.834Z,1752851393.834 [DataOverHttps](INFO): Sending 145 bytes from file Logs/20250718T052352/Express0047.lzma
2025-07-18T15:09:54.836Z,1752851394.836 [DataOverHttps](INFO): Moved sent file to Logs/20250718T052352/Express0047.lzma.bak
2025-07-18T15:09:54.836Z,1752851394.836 [DataOverHttps](INFO): SBD MOMSN=25545415
2025-07-18T15:09:56.396Z,1752851396.396 [Startup:StartupSatComms:B](INFO): Timed out from 2025-07-18T15:08:56.2Z
2025-07-18T15:09:56.396Z,1752851396.396 [Startup:StartupSatComms:B] Stopped
2025-07-18T15:09:56.396Z,1752851396.396 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-07-18T15:09:56.396Z,1752851396.396 [Startup:StartupSatComms] Stopped
2025-07-18T15:09:56.396Z,1752851396.396 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-07-18T15:09:56.397Z,1752851396.397 [Startup](INFO): Completed Startup
2025-07-18T15:09:56.397Z,1752851396.397 [MissionManager](INFO): Startup is completed.
2025-07-18T15:09:56.397Z,1752851396.397 [MissionManager](INFO): Uninitializing Mission Startup
2025-07-18T15:09:56.397Z,1752851396.397 [Startup] Stopped
2025-07-18T15:09:56.397Z,1752851396.397 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-07-18T15:09:56.398Z,1752851396.398 [Startup:A.GoToSurface] Stopped
2025-07-18T15:09:56.398Z,1752851396.398 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-18T15:09:56.769Z,1752851396.769 [MissionManager](IMPORTANT): Started mission Default
2025-07-18T15:09:56.769Z,1752851396.769 [Default] Running Loop=1
2025-07-18T15:09:56.770Z,1752851396.770 [Default](DEBUG): Aggregate::initialize Default
2025-07-18T15:09:56.770Z,1752851396.770 [Default:B.GoToSurface] Running Loop=1
2025-07-18T15:09:56.770Z,1752851396.770 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-18T15:09:56.770Z,1752851396.770 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-07-18T15:09:56.770Z,1752851396.770 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-07-18T15:09:56.771Z,1752851396.771 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-07-18T15:09:56.771Z,1752851396.771 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-07-18T15:09:56.771Z,1752851396.771 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-18T15:09:56.772Z,1752851396.772 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-18T15:09:56.772Z,1752851396.772 [Default:A.Wait] Running Loop=1
2025-07-18T15:09:56.772Z,1752851396.772 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-07-18T15:10:10.123Z,1752851410.123 [Default:A.Wait](INFO): Done Waiting.
2025-07-18T15:10:10.123Z,1752851410.123 [Default:A.Wait] Stopped
2025-07-18T15:10:10.123Z,1752851410.123 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-07-18T15:10:10.501Z,1752851410.501 [Default:CheckIn] Running Loop=1
2025-07-18T15:10:10.501Z,1752851410.501 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-07-18T15:10:10.501Z,1752851410.501 [Default:CheckIn:Read_GPS] Running Loop=1
2025-07-18T15:10:10.908Z,1752851410.908 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-07-18T15:10:33.522Z,1752851433.522 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-07-18T15:10:37.981Z,1752851437.981 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250718T052352/Express0050.lzma
2025-07-18T15:10:38.984Z,1752851438.984 [DataOverHttps](INFO): Moved sent file to Logs/20250718T052352/Express0050.lzma.bak
2025-07-18T15:10:38.984Z,1752851438.984 [DataOverHttps](INFO): SBD MOMSN=25545419
2025-07-18T15:11:10.279Z,1752851470.279 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-18T15:11:11.505Z,1752851471.505 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,151110.00,A,3647.08754,N,12151.81788,W,0.447,10.28,180725,,,D*49
2025-07-18T15:11:11.512Z,1752851471.512 [NAL9602](INFO): GPS fix at 20250718T151110: (36.784792, -121.863631)
2025-07-18T15:11:11.536Z,1752851471.536 [Default:CheckIn:Read_GPS] Stopped
2025-07-18T15:11:11.537Z,1752851471.537 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-07-18T15:11:11.949Z,1752851471.949 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-07-18T15:11:23.290Z,1752851483.290 [DataOverHttps](INFO): Sending 222 bytes from file Logs/20250718T150516/Courier0004.lzma
2025-07-18T15:11:24.296Z,1752851484.296 [DataOverHttps](INFO): Moved sent file to Logs/20250718T150516/Courier0004.lzma.bak
2025-07-18T15:11:24.296Z,1752851484.296 [DataOverHttps](INFO): SBD MOMSN=25545421
2025-07-18T15:11:41.552Z,1752851501.552 [DataOverHttps](INFO): Sending 883 bytes from file Logs/20250718T150516/Express0001.lzma
2025-07-18T15:11:42.552Z,1752851502.552 [DataOverHttps](INFO): Moved sent file to Logs/20250718T150516/Express0001.lzma.bak
2025-07-18T15:11:42.552Z,1752851502.552 [DataOverHttps](INFO): SBD MOMSN=25545424
2025-07-18T15:11:43.615Z,1752851503.615 [NAL9602](INFO): Not Powering down - fast GPS
2025-07-18T15:11:59.050Z,1752851519.050 [DataOverHttps](INFO): Sending 411 bytes from file Logs/20250718T150516/Express0005.lzma
2025-07-18T15:12:00.052Z,1752851520.052 [DataOverHttps](INFO): Moved sent file to Logs/20250718T150516/Express0005.lzma.bak
2025-07-18T15:12:00.052Z,1752851520.052 [DataOverHttps](INFO): SBD MOMSN=25545444
2025-07-18T15:12:01.463Z,1752851521.463 [Default:CheckIn:Read_Iridium] Stopped
2025-07-18T15:12:01.464Z,1752851521.464 [Default:CheckIn:C.Wait] Running Loop=1
2025-07-18T15:12:01.464Z,1752851521.464 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-07-18T15:14:31.851Z,1752851671.851 [DataOverHttps](IMPORTANT): SBD MTMSN=20250718T151430
2025-07-18T15:14:39.446Z,1752851679.446 [DataOverHttps](INFO): Received command: schedule clear;schedule resume
2025-07-18T15:14:39.461Z,1752851679.461 [CommandExec](IMPORTANT): got command schedule clear
2025-07-18T15:14:39.461Z,1752851679.461 [CommandExec](IMPORTANT): Cleared 0 scheduled commands.
2025-07-18T15:14:39.461Z,1752851679.461 [CommandExec](IMPORTANT): got command schedule resume
2025-07-18T15:15:52.153Z,1752851752.153 [DataOverHttps](IMPORTANT): SBD MTMSN=20250718T151551
2025-07-18T15:15:59.734Z,1752851759.734 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 1 h;set keepstation.NeedCommsTime 15 min;set keepstation.Latitude 36.78343 degree;set keepstation.Longitude -121.8649 degree;run
2025-07-18T15:15:59.846Z,1752851759.846 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-07-18T15:15:59.847Z,1752851759.847 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-07-18T15:15:59.847Z,1752851759.847 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-07-18T15:15:59.849Z,1752851759.849 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-07-18T15:16:01.115Z,1752851761.115 [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="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</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="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="TransitToStation">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="StationKeep">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="OnStation">
        <False />
    </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" PriorityHere="false" />
        <Aggregate Id="setTransit">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Arg Name="OnStation" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="TransitToStation" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setStation">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Not>
                        <Arg Name="OnStation" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="StationKeep" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToTransit">
                    <Sequence />
                    <Break>
                        <Arg Name="OnStation" />
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="TransitToStation" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToStation">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="OnStation" />
                        </Not>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="StationKeep" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TransitToStation">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="TransitToStation" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <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>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="StationKeep">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="StationKeep" />
                </Eq>
            </While>
            <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 Id="TransitToStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="StationKeep" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="OnStation" />
            <True />
        </Assign>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" PriorityHere="false" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-07-18T15:16:01.124Z,1752851761.124 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-07-18T15:16:01.127Z,1752851761.127 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-07-18T15:16:01.147Z,1752851761.147 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-07-18T15:16:01.149Z,1752851761.149 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-07-18T15:16:01.157Z,1752851761.157 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-07-18T15:16:01.164Z,1752851761.164 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-07-18T15:16:01.175Z,1752851761.175 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-07-18T15:16:01.189Z,1752851761.189 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-07-18T15:16:01.201Z,1752851761.201 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-07-18T15:16:01.204Z,1752851761.204 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2025-07-18T15:16:01.219Z,1752851761.219 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2025-07-18T15:16:01.226Z,1752851761.226 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2025-07-18T15:16:01.229Z,1752851761.229 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-07-18T15:16:01.236Z,1752851761.236 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-07-18T15:16:01.240Z,1752851761.240 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2025-07-18T15:16:01.256Z,1752851761.256 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2025-07-18T15:16:01.268Z,1752851761.268 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2025-07-18T15:16:01.275Z,1752851761.275 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2025-07-18T15:16:01.282Z,1752851761.282 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2025-07-18T15:16:01.290Z,1752851761.290 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2025-07-18T15:16:01.291Z,1752851761.291 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-07-18T15:16:01.291Z,1752851761.291 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-07-18T15:16:01.292Z,1752851761.292 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-07-18T15:16:01.657Z,1752851761.657 [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>

2025-07-18T15:16:01.666Z,1752851761.666 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-07-18T15:16:01.669Z,1752851761.669 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-07-18T15:16:01.673Z,1752851761.673 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-07-18T15:16:01.676Z,1752851761.676 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-07-18T15:16:01.679Z,1752851761.679 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-07-18T15:16:01.682Z,1752851761.682 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-07-18T15:16:01.685Z,1752851761.685 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-07-18T15:16:01.688Z,1752851761.688 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-07-18T15:16:01.695Z,1752851761.695 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-07-18T15:16:01.740Z,1752851761.740 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-07-18T15:16:01.740Z,1752851761.740 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-07-18T15:16:01.741Z,1752851761.741 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-07-18T15:16:01.925Z,1752851761.925 [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>1.5</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>

2025-07-18T15:16:01.933Z,1752851761.933 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-07-18T15:16:01.947Z,1752851761.947 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-07-18T15:16:01.952Z,1752851761.952 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-07-18T15:16:01.955Z,1752851761.955 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-07-18T15:16:01.956Z,1752851761.956 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-07-18T15:16:01.973Z,1752851761.973 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-07-18T15:16:01.999Z,1752851761.999 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-07-18T15:16:02.015Z,1752851762.015 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-07-18T15:16:02.016Z,1752851762.016 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-07-18T15:16:02.017Z,1752851762.017 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-07-18T15:16:02.056Z,1752851762.056 [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>

2025-07-18T15:16:02.061Z,1752851762.061 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-07-18T15:16:02.064Z,1752851762.064 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-07-18T15:16:02.068Z,1752851762.068 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-07-18T15:16:02.068Z,1752851762.068 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-07-18T15:16:02.069Z,1752851762.069 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-07-18T15:16:02.329Z,1752851762.329 [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>

2025-07-18T15:16:02.344Z,1752851762.344 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-07-18T15:16:02.352Z,1752851762.352 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-07-18T15:16:02.356Z,1752851762.356 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-07-18T15:16:02.368Z,1752851762.368 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-07-18T15:16:02.376Z,1752851762.376 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-07-18T15:16:02.401Z,1752851762.401 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-07-18T15:16:02.408Z,1752851762.408 [keepstation:H.Pitch](DEBUG): Construct.
2025-07-18T15:16:02.471Z,1752851762.471 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-07-18T15:16:02.479Z,1752851762.479 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-07-18T15:16:02.488Z,1752851762.488 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-07-18T15:16:02.520Z,1752851762.520 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-07-18T15:16:02.529Z,1752851762.529 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2025-07-18T15:16:02.559Z,1752851762.559 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2025-07-18T15:16:02.615Z,1752851762.615 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2025-07-18T15:16:02.625Z,1752851762.625 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2025-07-18T15:16:02.667Z,1752851762.667 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-07-18T15:16:02.720Z,1752851762.720 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2025-07-18T15:16:02.776Z,1752851762.776 [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.
      """

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

    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.
      """

    SurfaceSink = 1 count
      """
      Mission variable (don't change). The mission will run in this mode
      when sinking from the surface using only buoyancy.
      """

    TransitToStation = 2 count
      """
      Mission variable (don't change). The mission will run in this mode
      when performing the transit to station
      """

    StationKeep = 3 count
      """
      Mission variable (don't change). The mission will run in this mode
      when keeping station
      """

    OnStation = false
      """
      Mission variable (don't change). Determines last mode (Transit or StationKeep)
      to resume after needcomms
      """
  }

  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 priorityHere=false refId="NeedComms"

    aggregate setTransit {
      run in sequence

      break if (
        SinkOffSurface
        or OnStation
      )

      assign in sequence DiveMode = TransitToStation
    }

    aggregate setStation {
      run in sequence

      break if (
        SinkOffSurface
        or not OnStation
      )

      assign in sequence DiveMode = StationKeep
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

  call id="StartingMission" priorityHere=false refId="SurfaceComms"

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

          timeout duration=SinkDepthTimeout {
            syslog important "Timed out while trying to reach target sink depth at current depth of "
                 + Universal:depth~meter
          }

          set depth = SinkDepth
        }

        # Once we've sunk, either resume transit or station keeping depths and speeds
        aggregate sinkToTransit {
          run in sequence

          break if ( OnStation )

          assign in sequence DiveMode = TransitToStation
        }

        aggregate sinkToStation {
          run in sequence

          break if ( not OnStation )

          assign in sequence DiveMode = StationKeep
        }
      }
    }

    aggregate TransitToStation {
      run while ( DiveMode == TransitToStation )

      aggregate dive {
        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
        }
      }
    }

    aggregate StationKeep {
      run while ( DiveMode == StationKeep )

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

    run in sequence

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

      call priorityHere=false refId="DiveCmd"
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }

    assign in sequence DiveMode = StationKeep
    assign in sequence OnStation = true
  }

  call id="OnStation" priorityHere=false refId="NeedComms"

  aggregate KeepStation {
    run in sequence

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

      call priorityHere=false 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
    }
  }
}


2025-07-18T15:16:02.776Z,1752851762.776 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-07-18T15:16:16.073Z,1752851776.073 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 1 hour
2025-07-18T15:16:16.074Z,1752851776.074 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 15 minute
2025-07-18T15:16:16.075Z,1752851776.075 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.78343 degree
2025-07-18T15:16:16.075Z,1752851776.075 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.8649 degree
2025-07-18T15:16:16.076Z,1752851776.076 [CommandExec](IMPORTANT): got command run
2025-07-18T15:16:16.078Z,1752851776.078 [CommandExec](IMPORTANT): Running 
2025-07-18T15:16:16.331Z,1752851776.331 [Default] Stopped
2025-07-18T15:16:16.331Z,1752851776.331 [Default](DEBUG): Aggregate::uninitialize Default
2025-07-18T15:16:16.331Z,1752851776.331 [Default:B.GoToSurface] Stopped
2025-07-18T15:16:16.331Z,1752851776.331 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-18T15:16:16.331Z,1752851776.331 [Default:CheckIn] Stopped
2025-07-18T15:16:16.331Z,1752851776.331 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-07-18T15:16:16.331Z,1752851776.331 [Default:CheckIn:C.Wait] Stopped
2025-07-18T15:16:16.331Z,1752851776.331 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-07-18T15:16:16.331Z,1752851776.331 [MissionManager](IMPORTANT): Started mission keepstation
2025-07-18T15:16:16.332Z,1752851776.332 [keepstation] Running Loop=1
2025-07-18T15:16:16.332Z,1752851776.332 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-07-18T15:16:16.332Z,1752851776.332 [keepstation:StandardEnvelopes] Running Loop=1
2025-07-18T15:16:16.332Z,1752851776.332 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-07-18T15:16:16.332Z,1752851776.332 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-07-18T15:16:16.332Z,1752851776.332 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-07-18T15:16:16.332Z,1752851776.332 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-07-18T15:16:16.332Z,1752851776.332 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-07-18T15:16:16.333Z,1752851776.333 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-07-18T15:16:16.333Z,1752851776.333 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-07-18T15:16:16.333Z,1752851776.333 [keepstation:BackseatDriver] Running Loop=1
2025-07-18T15:16:16.333Z,1752851776.333 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-07-18T15:16:16.333Z,1752851776.333 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-07-18T15:16:16.333Z,1752851776.333 [keepstation:PowerOnly] Running Loop=1
2025-07-18T15:16:16.333Z,1752851776.333 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-07-18T15:16:16.333Z,1752851776.333 [keepstation:PowerOnly:A] Running Loop=1
2025-07-18T15:16:16.333Z,1752851776.333 [keepstation:PowerOnly:B] Running Loop=1
2025-07-18T15:16:16.333Z,1752851776.333 [keepstation:PowerOnly:C] Running Loop=1
2025-07-18T15:16:16.333Z,1752851776.333 [keepstation:PowerOnly:D] Running Loop=1
2025-07-18T15:16:16.334Z,1752851776.334 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-07-18T15:16:16.334Z,1752851776.334 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-07-18T15:16:16.334Z,1752851776.334 [keepstation:H.Pitch] Running Loop=1
2025-07-18T15:16:16.334Z,1752851776.334 [keepstation:H.Pitch](DEBUG): Initialize.
2025-07-18T15:16:16.334Z,1752851776.334 [keepstation:B] Running Loop=1
2025-07-18T15:16:16.335Z,1752851776.335 [keepstation:H.Pitch] Running Loop=1
2025-07-18T15:16:16.336Z,1752851776.336 [keepstation:PowerOnly] Running Loop=1
2025-07-18T15:16:16.336Z,1752851776.336 [keepstation:PowerOnly:D] Stopped
2025-07-18T15:16:16.336Z,1752851776.336 [keepstation:PowerOnly:C] Stopped
2025-07-18T15:16:16.336Z,1752851776.336 [keepstation:PowerOnly:B] Stopped
2025-07-18T15:16:16.336Z,1752851776.336 [keepstation:PowerOnly:A] Stopped
2025-07-18T15:16:16.336Z,1752851776.336 [keepstation:BackseatDriver] Running Loop=1
2025-07-18T15:16:16.337Z,1752851776.337 [keepstation:StandardEnvelopes] Running Loop=1
2025-07-18T15:16:16.337Z,1752851776.337 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-07-18T15:16:16.337Z,1752851776.337 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-07-18T15:16:16.338Z,1752851776.338 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-07-18T15:16:16.339Z,1752851776.339 [keepstation:B] Stopped
2025-07-18T15:16:16.339Z,1752851776.339 [keepstation:D] Running Loop=1
2025-07-18T15:16:16.767Z,1752851776.767 [keepstation:D] Stopped
2025-07-18T15:16:16.767Z,1752851776.767 [keepstation:E] Running Loop=1
2025-07-18T15:16:17.149Z,1752851777.149 [keepstation:E] Stopped
2025-07-18T15:16:17.149Z,1752851777.149 [keepstation:StartingMission] Running Loop=1
2025-07-18T15:16:17.149Z,1752851777.149 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-07-18T15:16:17.547Z,1752851777.547 [keepstation:SurfaceComms] Running Loop=1
2025-07-18T15:16:17.547Z,1752851777.547 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2025-07-18T15:16:17.547Z,1752851777.547 [keepstation:SurfaceComms:A] Running Loop=1
2025-07-18T15:16:17.547Z,1752851777.547 [keepstation:SurfaceComms:A] Stopped
2025-07-18T15:16:17.547Z,1752851777.547 [keepstation:SurfaceComms:B] Running Loop=1
2025-07-18T15:16:17.548Z,1752851777.548 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2025-07-18T15:16:17.944Z,1752851777.944 [keepstation:NeedComms] Running Loop=1
2025-07-18T15:16:17.944Z,1752851777.944 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-07-18T15:16:17.945Z,1752851777.945 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-07-18T15:16:17.945Z,1752851777.945 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-18T15:16:17.945Z,1752851777.945 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-07-18T15:16:17.945Z,1752851777.945 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-07-18T15:16:17.946Z,1752851777.946 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-07-18T15:16:17.946Z,1752851777.946 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-07-18T15:16:17.947Z,1752851777.947 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-18T15:16:17.947Z,1752851777.947 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-18T15:16:17.947Z,1752851777.947 [keepstation:NeedComms:A] Running Loop=1
2025-07-18T15:16:17.949Z,1752851777.949 [keepstation:NeedComms:A](INFO): last time_fix was:  1752851470.000000 second since 1970/01/01T00:00:00Z 
2025-07-18T15:16:17.949Z,1752851777.949 [keepstation:NeedComms:A] Stopped
2025-07-18T15:16:18.365Z,1752851778.365 [keepstation:NeedComms:C] Running Loop=1
2025-07-18T15:16:18.791Z,1752851778.791 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-07-18T15:16:20.358Z,1752851780.358 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,151619.00,A,3647.11603,N,12151.80048,W,0.233,9.64,180725,,,D*73
2025-07-18T15:16:20.361Z,1752851780.361 [NAL9602](INFO): GPS fix at 20250718T151619: (36.785267, -121.863341)
2025-07-18T15:16:20.403Z,1752851780.403 [keepstation:NeedComms:C] Stopped
2025-07-18T15:16:20.403Z,1752851780.403 [keepstation:NeedComms:D] Running Loop=1
2025-07-18T15:16:20.817Z,1752851780.817 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-07-18T15:16:27.665Z,1752851787.665 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250718T150516/Courier0007.lzma
2025-07-18T15:16:28.680Z,1752851788.680 [DataOverHttps](INFO): Moved sent file to Logs/20250718T150516/Courier0007.lzma.bak
2025-07-18T15:16:28.681Z,1752851788.681 [DataOverHttps](INFO): SBD MOMSN=25545470
2025-07-18T15:16:45.215Z,1752851805.215 [DataOverHttps](INFO): Sending 447 bytes from file Logs/20250718T150516/Express0008.lzma
2025-07-18T15:16:46.216Z,1752851806.216 [DataOverHttps](INFO): Moved sent file to Logs/20250718T150516/Express0008.lzma.bak
2025-07-18T15:16:46.216Z,1752851806.216 [DataOverHttps](INFO): SBD MOMSN=25545473
2025-07-18T15:16:47.444Z,1752851807.444 [keepstation:NeedComms:D] Stopped
2025-07-18T15:16:47.445Z,1752851807.445 [keepstation:NeedComms:E] Running Loop=1
2025-07-18T15:16:47.843Z,1752851807.843 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-07-18T15:16:51.063Z,1752851811.063 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-07-18T15:16:51.138Z,1752851811.138 [NAL9602](ERROR): received: 
+CSQ:0

OK
2025-07-18T15:18:09.061Z,1752851889.061 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +96,  +46,A
2025-07-18T15:21:22.599Z,1752852082.599 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-18T15:21:23.822Z,1752852083.822 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,152123.00,A,3647.14267,N,12151.78566,W,0.505,32.14,180725,,,D*4E
2025-07-18T15:21:23.824Z,1752852083.824 [NAL9602](INFO): GPS fix at 20250718T152123: (36.785711, -121.863094)
2025-07-18T15:21:23.838Z,1752852083.838 [keepstation:NeedComms:E] Stopped
2025-07-18T15:21:23.839Z,1752852083.839 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-07-18T15:21:23.839Z,1752852083.839 [keepstation:NeedComms] Stopped
2025-07-18T15:21:23.840Z,1752852083.840 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-07-18T15:21:23.840Z,1752852083.840 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-07-18T15:21:23.840Z,1752852083.840 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-18T15:21:24.255Z,1752852084.255 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2025-07-18T15:21:24.255Z,1752852084.255 [keepstation:SurfaceComms:B] Stopped
2025-07-18T15:21:24.255Z,1752852084.255 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2025-07-18T15:21:24.256Z,1752852084.256 [keepstation:SurfaceComms:setTransit] Running Loop=1
2025-07-18T15:21:24.256Z,1752852084.256 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2025-07-18T15:21:24.256Z,1752852084.256 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2025-07-18T15:21:24.639Z,1752852084.639 [keepstation:SurfaceComms:setTransit:A] Stopped
2025-07-18T15:21:24.639Z,1752852084.639 [keepstation:SurfaceComms:setTransit](INFO): Completed keepstation:SurfaceComms:setTransit
2025-07-18T15:21:24.639Z,1752852084.639 [keepstation:SurfaceComms:setTransit] Stopped
2025-07-18T15:21:24.639Z,1752852084.639 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2025-07-18T15:21:24.639Z,1752852084.639 [keepstation:SurfaceComms:setStation] Running Loop=1
2025-07-18T15:21:24.639Z,1752852084.639 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2025-07-18T15:21:24.639Z,1752852084.639 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2025-07-18T15:21:25.062Z,1752852085.062 [keepstation:SurfaceComms:setStation] Stopped
2025-07-18T15:21:25.062Z,1752852085.062 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2025-07-18T15:21:25.062Z,1752852085.062 [keepstation:SurfaceComms:setStation:A] Stopped
2025-07-18T15:21:25.063Z,1752852085.063 [keepstation:SurfaceComms:setSink] Running Loop=1
2025-07-18T15:21:25.063Z,1752852085.063 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2025-07-18T15:21:25.063Z,1752852085.063 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2025-07-18T15:21:25.459Z,1752852085.459 [keepstation:SurfaceComms:setSink] Stopped
2025-07-18T15:21:25.459Z,1752852085.459 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2025-07-18T15:21:25.459Z,1752852085.459 [keepstation:SurfaceComms:setSink:A] Stopped
2025-07-18T15:21:25.459Z,1752852085.459 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2025-07-18T15:21:25.459Z,1752852085.459 [keepstation:SurfaceComms] Stopped
2025-07-18T15:21:25.459Z,1752852085.459 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2025-07-18T15:21:25.853Z,1752852085.853 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-07-18T15:21:25.854Z,1752852085.854 [keepstation:StartingMission] Stopped
2025-07-18T15:21:25.854Z,1752852085.854 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-07-18T15:21:25.854Z,1752852085.854 [keepstation:TransitToStation] Running Loop=1
2025-07-18T15:21:25.854Z,1752852085.854 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-07-18T15:21:25.854Z,1752852085.854 [keepstation:TransitToStation:Dive] Running Loop=1
2025-07-18T15:21:25.854Z,1752852085.854 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2025-07-18T15:21:25.854Z,1752852085.854 [keepstation:TransitToStation:Dive:A] Running Loop=1
2025-07-18T15:21:25.855Z,1752852085.855 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2025-07-18T15:21:25.855Z,1752852085.855 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-07-18T15:21:25.855Z,1752852085.855 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-07-18T15:21:25.856Z,1752852085.856 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.783428,-121.864899
2025-07-18T15:21:26.259Z,1752852086.259 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.783428,-121.864899
2025-07-18T15:21:26.260Z,1752852086.260 [keepstation:TransitToStation:Dive] Running Loop=1
2025-07-18T15:21:26.260Z,1752852086.260 [keepstation:DiveCmd] Running Loop=1
2025-07-18T15:21:26.260Z,1752852086.260 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2025-07-18T15:21:26.260Z,1752852086.260 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2025-07-18T15:21:26.260Z,1752852086.260 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2025-07-18T15:21:26.260Z,1752852086.260 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-07-18T15:21:26.261Z,1752852086.261 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2025-07-18T15:21:26.261Z,1752852086.261 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-07-18T15:21:26.261Z,1752852086.261 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-07-18T15:21:26.261Z,1752852086.261 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-07-18T15:21:26.261Z,1752852086.261 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-07-18T15:21:26.261Z,1752852086.261 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-07-18T15:21:26.261Z,1752852086.261 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2025-07-18T15:21:26.261Z,1752852086.261 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2025-07-18T15:21:26.261Z,1752852086.261 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2025-07-18T15:21:26.262Z,1752852086.262 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2025-07-18T15:21:26.262Z,1752852086.262 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2025-07-18T15:21:26.262Z,1752852086.262 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-07-18T15:21:26.262Z,1752852086.262 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2025-07-18T15:21:26.262Z,1752852086.262 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2025-07-18T15:21:26.262Z,1752852086.262 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2025-07-18T15:21:26.262Z,1752852086.262 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2025-07-18T15:21:26.262Z,1752852086.262 [keepstation:DiveCmd:StationKeep] Running Loop=1
2025-07-18T15:21:26.263Z,1752852086.263 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2025-07-18T15:21:26.263Z,1752852086.263 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2025-07-18T15:21:26.263Z,1752852086.263 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2025-07-18T15:21:26.263Z,1752852086.263 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2025-07-18T15:21:26.263Z,1752852086.263 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2025-07-18T15:21:26.263Z,1752852086.263 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-07-18T15:21:26.264Z,1752852086.264 [keepstation:DiveCmd:StationKeep] Stopped
2025-07-18T15:21:26.264Z,1752852086.264 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2025-07-18T15:21:26.264Z,1752852086.264 [keepstation:DiveCmd:StationKeep:A] Stopped
2025-07-18T15:21:26.264Z,1752852086.264 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2025-07-18T15:21:26.264Z,1752852086.264 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2025-07-18T15:21:26.264Z,1752852086.264 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-07-18T15:21:26.264Z,1752852086.264 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2025-07-18T15:21:26.264Z,1752852086.264 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2025-07-18T15:21:26.265Z,1752852086.265 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2025-07-18T15:21:26.265Z,1752852086.265 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2025-07-18T15:21:26.265Z,1752852086.265 [keepstation:DiveCmd:SurfaceSink] Stopped
2025-07-18T15:21:26.265Z,1752852086.265 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2025-07-18T15:21:26.265Z,1752852086.265 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2025-07-18T15:21:26.274Z,1752852086.274 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2025-07-18T15:21:26.274Z,1752852086.274 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-07-18T15:21:26.274Z,1752852086.274 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-07-18T15:21:26.274Z,1752852086.274 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-07-18T15:21:26.274Z,1752852086.274 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-07-18T15:21:26.274Z,1752852086.274 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2025-07-18T15:21:26.311Z,1752852086.311 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-07-18T15:21:26.311Z,1752852086.311 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-07-18T15:21:26.311Z,1752852086.311 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-07-18T15:21:56.572Z,1752852116.572 [NAL9602](INFO): Not Powering down - fast GPS
2025-07-18T15:23:11.594Z,1752852191.594 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T15:23:14.608Z,1752852194.608 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.249352
2025-07-18T15:23:38.214Z,1752852218.214 [Radio_Surface](INFO): Powering down
2025-07-18T15:23:46.734Z,1752852226.734 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T15:23:47.739Z,1752852227.739 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-07-18T15:26:59.514Z,1752852419.514 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,1187.08,   0.00,1089.47
2025-07-18T15:29:53.700Z,1752852593.700 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-07-18T15:31:11.383Z,1752852671.383 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.783428,-121.864899
2025-07-18T15:31:11.383Z,1752852671.383 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-07-18T15:31:11.383Z,1752852671.383 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-07-18T15:31:11.383Z,1752852671.383 [keepstation:TransitToStation:C] Running Loop=1
2025-07-18T15:31:11.658Z,1752852671.658 [keepstation:TransitToStation:C] Stopped
2025-07-18T15:31:11.659Z,1752852671.659 [keepstation:TransitToStation:D] Running Loop=1
2025-07-18T15:31:11.659Z,1752852671.659 [keepstation:DiveCmd:StationKeep] Running Loop=1
2025-07-18T15:31:11.659Z,1752852671.659 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2025-07-18T15:31:11.659Z,1752852671.659 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2025-07-18T15:31:11.659Z,1752852671.659 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2025-07-18T15:31:11.659Z,1752852671.659 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2025-07-18T15:31:11.660Z,1752852671.660 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2025-07-18T15:31:11.660Z,1752852671.660 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-07-18T15:31:11.660Z,1752852671.660 [keepstation:DiveCmd:StationKeep] Running Loop=1
2025-07-18T15:31:11.660Z,1752852671.660 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2025-07-18T15:31:11.661Z,1752852671.661 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2025-07-18T15:31:11.661Z,1752852671.661 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2025-07-18T15:31:11.661Z,1752852671.661 [keepstation:DiveCmd:TransitToStation] Stopped
2025-07-18T15:31:11.662Z,1752852671.662 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2025-07-18T15:31:11.662Z,1752852671.662 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2025-07-18T15:31:11.662Z,1752852671.662 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2025-07-18T15:31:11.662Z,1752852671.662 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2025-07-18T15:31:11.662Z,1752852671.662 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-07-18T15:31:11.662Z,1752852671.662 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2025-07-18T15:31:11.662Z,1752852671.662 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2025-07-18T15:31:11.662Z,1752852671.662 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2025-07-18T15:31:12.064Z,1752852672.064 [keepstation:TransitToStation:D] Stopped
2025-07-18T15:31:12.064Z,1752852672.064 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-07-18T15:31:12.064Z,1752852672.064 [keepstation:TransitToStation] Stopped
2025-07-18T15:31:12.064Z,1752852672.064 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-07-18T15:31:12.064Z,1752852672.064 [keepstation:TransitToStation:Dive] Stopped
2025-07-18T15:31:12.065Z,1752852672.065 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive
2025-07-18T15:31:12.065Z,1752852672.065 [keepstation:TransitToStation:Dive:A] Stopped
2025-07-18T15:31:12.065Z,1752852672.065 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A
2025-07-18T15:31:12.065Z,1752852672.065 [keepstation:OnStation] Running Loop=1
2025-07-18T15:31:12.065Z,1752852672.065 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-07-18T15:31:12.479Z,1752852672.479 [keepstation:NeedComms] Running Loop=1
2025-07-18T15:31:12.479Z,1752852672.479 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-07-18T15:31:12.479Z,1752852672.479 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-07-18T15:31:12.479Z,1752852672.479 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-18T15:31:12.479Z,1752852672.479 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-07-18T15:31:12.480Z,1752852672.480 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-07-18T15:31:12.480Z,1752852672.480 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-07-18T15:31:12.480Z,1752852672.480 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-07-18T15:31:12.481Z,1752852672.481 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-18T15:31:12.481Z,1752852672.481 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-18T15:31:12.481Z,1752852672.481 [keepstation:NeedComms:A] Running Loop=1
2025-07-18T15:31:12.483Z,1752852672.483 [keepstation:NeedComms:A](INFO): last time_fix was:  1752852083.000000 second since 1970/01/01T00:00:00Z 
2025-07-18T15:31:12.483Z,1752852672.483 [keepstation:NeedComms:A] Stopped
2025-07-18T15:32:13.926Z,1752852733.926 [keepstation:NeedComms:C] Running Loop=1
2025-07-18T15:32:14.534Z,1752852734.534 [Radio_Surface](INFO): Powering up
2025-07-18T15:32:19.854Z,1752852739.854 [DataOverHttps](INFO): Radio surface powered ON.
2025-07-18T15:32:46.632Z,1752852766.632 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-07-18T15:32:46.706Z,1752852766.706 [NAL9602](ERROR): received: 
+CSQ:0

OK
2025-07-18T15:32:49.974Z,1752852769.974 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T15:33:25.134Z,1752852805.134 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T15:34:00.275Z,1752852840.275 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T15:34:35.418Z,1752852875.418 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T15:34:57.387Z,1752852897.387 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003295
2025-07-18T15:35:59.079Z,1752852959.079 [DataOverHttps](IMPORTANT): SBD MTMSN=20250718T153558
2025-07-18T15:36:06.781Z,1752852966.781 [DataOverHttps](INFO): Received command: schedule clear;schedule resume;restart logs