2025-04-10T11:56:20.486Z,1744286180.486 [CommandExec](IMPORTANT): got command restart logs
2025-04-10T11:56:29.630Z,1744286189.630 [NAL9602](INFO): SBD MO Status=0, MOMSN=19279, MT Status=0, MTMSN=0
2025-04-10T11:56:29.630Z,1744286189.630 [NAL9602](INFO): No messages in MT queue
2025-04-10T11:56:32.455Z,1744286192.455 [DataOverHttps](INFO): Sending 363 bytes from file Logs/20250409T215620/Express0065.lzma
2025-04-10T11:56:33.455Z,1744286193.455 [DataOverHttps](INFO): Moved sent file to Logs/20250409T215620/Express0065.lzma.bak
2025-04-10T11:56:33.455Z,1744286193.455 [DataOverHttps](INFO): SBD MOMSN=24606881
2025-04-10T11:56:51.753Z,1744286211.753 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20250409T215620/Courier0067.lzma
2025-04-10T11:56:52.751Z,1744286212.751 [DataOverHttps](INFO): Moved sent file to Logs/20250409T215620/Courier0067.lzma.bak
2025-04-10T11:56:52.751Z,1744286212.751 [DataOverHttps](INFO): SBD MOMSN=24606894
2025-04-10T11:57:00.374Z,1744286220.374 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T11:57:10.916Z,1744286230.916 [DataOverHttps](INFO): Sending 118 bytes from file Logs/20250409T215620/Express0069.lzma
2025-04-10T11:57:11.919Z,1744286231.919 [DataOverHttps](INFO): Moved sent file to Logs/20250409T215620/Express0069.lzma.bak
2025-04-10T11:57:11.919Z,1744286231.919 [DataOverHttps](INFO): SBD MOMSN=24606896
2025-04-10T11:57:13.273Z,1744286233.273 [keepstation:NeedComms:D] Stopped
2025-04-10T11:57:13.274Z,1744286233.274 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T11:57:13.660Z,1744286233.660 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-10T11:57:15.298Z,1744286235.298 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,115714.00,A,3647.26981,N,12150.78219,W,0.816,356.95,100425,,,D*7F
2025-04-10T11:57:15.300Z,1744286235.300 [NAL9602](INFO): GPS fix at 20250410T115714: (36.787830, -121.846370)
2025-04-10T11:57:15.324Z,1744286235.324 [keepstation:NeedComms:E] Stopped
2025-04-10T11:57:15.341Z,1744286235.341 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T11:57:15.341Z,1744286235.341 [keepstation:NeedComms] Stopped
2025-04-10T11:57:15.341Z,1744286235.341 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T11:57:15.342Z,1744286235.342 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T11:57:15.342Z,1744286235.342 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T11:57:15.716Z,1744286235.716 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-04-10T11:57:15.716Z,1744286235.716 [keepstation:StartingMission] Stopped
2025-04-10T11:57:15.721Z,1744286235.721 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-04-10T11:57:15.721Z,1744286235.721 [keepstation:TransitToStation] Running Loop=1
2025-04-10T11:57:15.721Z,1744286235.721 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-04-10T11:57:15.721Z,1744286235.721 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-04-10T11:57:15.721Z,1744286235.721 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-10T11:57:15.721Z,1744286235.721 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-04-10T11:57:15.721Z,1744286235.721 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-04-10T11:57:15.721Z,1744286235.721 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-04-10T11:57:15.721Z,1744286235.721 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-04-10T11:57:15.722Z,1744286235.722 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-04-10T11:57:15.722Z,1744286235.722 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-04-10T11:57:15.723Z,1744286235.723 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-04-10T11:57:16.119Z,1744286236.119 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-04-10T11:57:16.120Z,1744286236.120 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-04-10T11:57:16.120Z,1744286236.120 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-04-10T11:57:16.145Z,1744286236.145 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-04-10T11:57:40.321Z,1744286260.321 [NAL9602](INFO): SBD MO Status=2, MOMSN=19280, MT Status=2, MTMSN=0
2025-04-10T11:57:40.322Z,1744286260.322 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T11:57:47.603Z,1744286267.603 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.75 m/s, pitch 30.00 deg, mass-position 11.90 mm (1 active estimators).
2025-04-10T11:58:13.441Z,1744286293.441 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T11:59:33.306Z,1744286373.306 [DVL_micro](ERROR): Failed to parse:
:BI,+00822,+00897,+00462,+00000,A
2025-04-10T11:59:47.133Z,1744286387.133 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T11:59:52.585Z,1744286392.585 [Radio_Surface](INFO): Powering down
2025-04-10T12:00:18.261Z,1744286418.261 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T12:00:19.265Z,1744286419.265 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T12:01:27.537Z,1744286487.537 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.247070
2025-04-10T12:01:50.265Z,1744286510.265 [DVL_micro](ERROR): Failed to parse:
:WI,+00017,+00437,-00032,+00000,A
2025-04-10T12:02:16.936Z,1744286536.936 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-04-10T12:02:47.626Z,1744286567.626 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T12:03:23.616Z,1744286603.616 [DVL_micro](ERROR): Failed to parse:
:SA,-02.93,+04.90,336.3
2025-04-10T12:07:04.602Z,1744286824.602 [Sonardyne_Nano](ERROR): Failed to parse response: >VS:2213,HPR45,EXT,TILT

2025-04-10T12:14:22.135Z,1744287262.135 [DVL_micro](ERROR): DVL BIT error. See manual. Result code: 81
Device respsone is::TS,00000000000000,35.0,+11.9,0000.026,+00320,+00081,+00000,I
2025-04-10T12:14:22.138Z,1744287262.138 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-04-10T12:20:48.428Z,1744287648.428 [DVL_micro](ERROR): Failed to parse:
:SA,+02.17,+04.28,335.9
2025-04-10T12:21:29.661Z,1744287689.661 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-04-10T12:21:29.661Z,1744287689.661 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-04-10T12:21:29.661Z,1744287689.661 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-04-10T12:21:29.665Z,1744287689.665 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-04-10T12:21:29.665Z,1744287689.665 [keepstation:TransitToStation] Stopped
2025-04-10T12:21:29.665Z,1744287689.665 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-04-10T12:21:29.665Z,1744287689.665 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-04-10T12:21:29.665Z,1744287689.665 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-10T12:21:29.665Z,1744287689.665 [keepstation:TransitToStation:B.Pitch] Stopped
2025-04-10T12:21:29.665Z,1744287689.665 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-04-10T12:21:29.665Z,1744287689.665 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-04-10T12:21:29.666Z,1744287689.666 [keepstation:OnStation] Running Loop=1
2025-04-10T12:21:29.666Z,1744287689.666 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-04-10T12:21:30.067Z,1744287690.067 [keepstation:NeedComms] Running Loop=1
2025-04-10T12:21:30.067Z,1744287690.067 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T12:21:30.067Z,1744287690.067 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T12:21:30.067Z,1744287690.067 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T12:21:30.067Z,1744287690.067 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T12:21:30.068Z,1744287690.068 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T12:21:30.068Z,1744287690.068 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T12:21:30.069Z,1744287690.069 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T12:21:30.069Z,1744287690.069 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T12:21:30.070Z,1744287690.070 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T12:21:30.070Z,1744287690.070 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T12:21:30.071Z,1744287690.071 [keepstation:NeedComms:A](INFO): last time_fix was:  1744286234.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T12:21:30.071Z,1744287690.071 [keepstation:NeedComms:A] Stopped
2025-04-10T12:22:18.318Z,1744287738.318 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T12:22:18.741Z,1744287738.741 [Radio_Surface](INFO): Powering up
2025-04-10T12:22:24.705Z,1744287744.705 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T12:22:51.001Z,1744287771.001 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-04-10T12:22:51.081Z,1744287771.081 [NAL9602](ERROR): received: 
+CSQ:0

OK280, 2, 0, 0, 0

OK
2025-04-10T12:22:54.837Z,1744287774.837 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T12:23:09.587Z,1744287789.587 [NAL9602](INFO): SBD MO Status=0, MOMSN=19280, MT Status=0, MTMSN=0
2025-04-10T12:23:09.588Z,1744287789.588 [NAL9602](INFO): No messages in MT queue
2025-04-10T12:23:10.813Z,1744287790.813 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,122310.00,A,3647.88389,N,12150.76830,W,0.292,44.03,100425,,,A*4E
2025-04-10T12:23:10.817Z,1744287790.817 [NAL9602](INFO): GPS fix at 20250410T122310: (36.798065, -121.846138)
2025-04-10T12:23:10.875Z,1744287790.875 [UniversalFixResidualReporter](INFO): Fix residual: 11.0 %DT, over the last 1144.0 m. Residual distance 126.2 m at bearing -133.1 degrees. Fix at (36.7981, -121.8461) with 1138.2 m made good.
2025-04-10T12:23:10.888Z,1744287790.888 [keepstation:NeedComms:C] Stopped
2025-04-10T12:23:10.889Z,1744287790.889 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T12:23:25.961Z,1744287805.961 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T12:23:29.491Z,1744287809.491 [NAL9602](INFO): SBD MO Status=1, MOMSN=19281, MT Status=0, MTMSN=0
2025-04-10T12:23:29.545Z,1744287809.545 [NAL9602](INFO): Sent 326 bytes from file Logs/20250410T115620/Courier0003.lzma
2025-04-10T12:23:29.545Z,1744287809.545 [NAL9602](INFO): Packets left to send: 0
2025-04-10T12:23:45.776Z,1744287825.776 [NAL9602](INFO): SBD MO Status=2, MOMSN=19282, MT Status=2, MTMSN=0
2025-04-10T12:23:45.777Z,1744287825.777 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T12:23:57.085Z,1744287837.085 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T12:24:10.242Z,1744287850.242 [NAL9602](INFO): SBD MO Status=1, MOMSN=19282, MT Status=0, MTMSN=0
2025-04-10T12:24:10.293Z,1744287850.293 [NAL9602](INFO): Sent 332 bytes from file Logs/20250410T115620/Express0004.lzma
2025-04-10T12:24:10.293Z,1744287850.293 [NAL9602](INFO): Packets left to send: 2
2025-04-10T12:24:22.428Z,1744287862.428 [NAL9602](INFO): SBD MO Status=1, MOMSN=19283, MT Status=0, MTMSN=0
2025-04-10T12:24:22.485Z,1744287862.485 [NAL9602](INFO): Sent 332 bytes from file Logs/20250410T115620/Express0004.lzma
2025-04-10T12:24:22.485Z,1744287862.485 [NAL9602](INFO): Packets left to send: 1
2025-04-10T12:24:28.209Z,1744287868.209 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T12:24:33.557Z,1744287873.557 [NAL9602](INFO): SBD MO Status=1, MOMSN=19284, MT Status=0, MTMSN=0
2025-04-10T12:24:33.607Z,1744287873.607 [NAL9602](INFO): Sent 129 bytes from file Logs/20250410T115620/Express0004.lzma
2025-04-10T12:24:33.608Z,1744287873.608 [NAL9602](INFO): Packets left to send: 0
2025-04-10T12:24:39.337Z,1744287879.337 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003176
2025-04-10T12:24:40.773Z,1744287880.773 [keepstation:NeedComms:D] Stopped
2025-04-10T12:24:40.774Z,1744287880.774 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T12:24:43.553Z,1744287883.553 [NAL9602](INFO): SBD MO Status=0, MOMSN=19285, MT Status=0, MTMSN=0
2025-04-10T12:24:44.770Z,1744287884.770 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,122444.00,A,3647.88914,N,12150.75525,W,0.855,94.40,100425,,,A*47
2025-04-10T12:24:44.777Z,1744287884.777 [NAL9602](INFO): GPS fix at 20250410T122444: (36.798152, -121.845921)
2025-04-10T12:24:44.825Z,1744287884.825 [keepstation:NeedComms:E] Stopped
2025-04-10T12:24:44.826Z,1744287884.826 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T12:24:44.826Z,1744287884.826 [keepstation:NeedComms] Stopped
2025-04-10T12:24:44.826Z,1744287884.826 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T12:24:44.826Z,1744287884.826 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T12:24:44.827Z,1744287884.827 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T12:24:45.186Z,1744287885.186 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-04-10T12:24:45.186Z,1744287885.186 [keepstation:OnStation] Stopped
2025-04-10T12:24:45.186Z,1744287885.186 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-04-10T12:24:45.186Z,1744287885.186 [keepstation:KeepStation] Running Loop=1
2025-04-10T12:24:45.186Z,1744287885.186 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-04-10T12:24:45.186Z,1744287885.186 [keepstation:KeepStation:A] Running Loop=1
2025-04-10T12:24:45.186Z,1744287885.186 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-04-10T12:24:45.186Z,1744287885.186 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-04-10T12:24:45.187Z,1744287885.187 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-04-10T12:24:45.187Z,1744287885.187 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-04-10T12:24:45.187Z,1744287885.187 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-04-10T12:24:45.187Z,1744287885.187 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-04-10T12:24:45.594Z,1744287885.594 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-04-10T12:24:45.594Z,1744287885.594 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-04-10T12:24:45.594Z,1744287885.594 [keepstation:KeepStation:A] Running Loop=1
2025-04-10T12:24:51.251Z,1744287891.251 [DVL_micro](ERROR): Failed to parse:
:SA,-03.50,+00.98,269.6
2025-04-10T12:24:52.415Z,1744287892.415 [DVL_micro](ERROR): Failed to parse:
:SA,-02.74,+08.68,273.4
2025-04-10T12:25:17.095Z,1744287917.095 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T12:25:30.856Z,1744287930.856 [DVL_micro](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BI,-00530,+00286,+0000,A
2025-04-10T12:25:30.856Z,1744287930.856 [DVL_micro](ERROR): Failed to parse:
:BI,-00530,+00286,+0000,A
2025-04-10T12:26:31.027Z,1744287991.027 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:4.620000m. At depth:1.879635m.
2025-04-10T12:26:41.985Z,1744288001.985 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T12:27:13.117Z,1744288033.117 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T12:27:16.149Z,1744288036.149 [Radio_Surface](INFO): Powering down
2025-04-10T12:27:44.258Z,1744288064.258 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T12:27:45.261Z,1744288065.261 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T12:28:50.534Z,1744288130.534 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.756454
2025-04-10T12:35:48.106Z,1744288548.106 [DVL_micro](ERROR): Failed to parse:
:BI,-00412,+01187,+00440,+00000,A
2025-04-10T12:42:07.070Z,1744288927.070 [DVL_micro](ERROR): Failed to parse:
:WI,-00024,-00144,+00023,+00000,A
2025-04-10T12:43:13.729Z,1744288993.729 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-04-10T12:43:13.731Z,1744288993.731 [BPC1](INFO): Received data from all battery sticks.
2025-04-10T12:45:40.783Z,1744289140.783 [DVL_micro](ERROR): Failed to parse:
:BI,-00109,-00157,-00007,+00000,I
2025-04-10T12:47:21.792Z,1744289241.792 [DVL_micro](ERROR): only read 2 of 4 data items for beam range. Device response is::RD,+9,+9999.99
2025-04-10T12:47:21.792Z,1744289241.792 [DVL_micro](ERROR): Failed to parse:
:RD,+9,+9999.99
2025-04-10T12:47:37.553Z,1744289257.553 [DVL_micro](ERROR): Failed to parse:
:SA,-02.43,+02.81,299.5
2025-04-10T12:54:29.218Z,1744289669.218 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-04-10T13:03:46.740Z,1744290226.740 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-04-10T13:05:01.076Z,1744290301.076 [DVL_micro](ERROR): Failed to parse:
:WI,+00000,+00000,+00000,+00000,I
2025-04-10T13:09:26.110Z,1744290566.110 [DVL_micro](ERROR): Failed to parse:
:SA,-03.44,+02.81,107.8
2025-04-10T13:15:20.821Z,1744290920.821 [DVL_micro](ERROR): Failed to parse:
:SA,-03.88,+02.83,151.4
2025-04-10T13:24:08.090Z,1744291448.090 [DVL_micro](ERROR): only read 3 of 4 data items for beam range. Device response is::RD,+9999.99,+9999.99,+9999..99
2025-04-10T13:24:08.090Z,1744291448.090 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999..99
2025-04-10T13:24:44.807Z,1744291484.807 [keepstation:NeedComms] Running Loop=1
2025-04-10T13:24:44.807Z,1744291484.807 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T13:24:44.807Z,1744291484.807 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T13:24:44.807Z,1744291484.807 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T13:24:44.807Z,1744291484.807 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T13:24:44.808Z,1744291484.808 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T13:24:44.808Z,1744291484.808 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T13:24:44.809Z,1744291484.809 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T13:24:44.809Z,1744291484.809 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T13:24:44.810Z,1744291484.810 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T13:24:44.810Z,1744291484.810 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T13:24:44.812Z,1744291484.812 [keepstation:NeedComms:A](INFO): last time_fix was:  1744287884.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T13:24:44.812Z,1744291484.812 [keepstation:NeedComms:A] Stopped
2025-04-10T13:26:25.315Z,1744291585.315 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T13:26:25.713Z,1744291585.713 [Radio_Surface](INFO): Powering up
2025-04-10T13:26:31.953Z,1744291591.953 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T13:26:55.686Z,1744291615.686 [NAL9602](INFO): SBD MO Status=0, MOMSN=19286, MT Status=0, MTMSN=0
2025-04-10T13:26:55.687Z,1744291615.687 [NAL9602](INFO): No messages in MT queue
2025-04-10T13:26:56.897Z,1744291616.897 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,132656.00,A,3647.82353,N,12150.77214,W,0.389,144.19,100425,,,A*79
2025-04-10T13:26:56.899Z,1744291616.899 [NAL9602](INFO): GPS fix at 20250410T132656: (36.797059, -121.846202)
2025-04-10T13:26:56.912Z,1744291616.912 [keepstation:NeedComms:C] Stopped
2025-04-10T13:26:56.912Z,1744291616.912 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T13:27:02.074Z,1744291622.074 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T13:27:33.197Z,1744291653.197 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T13:27:41.010Z,1744291661.010 [NAL9602](INFO): SBD MO Status=1, MOMSN=19287, MT Status=0, MTMSN=0
2025-04-10T13:27:41.069Z,1744291661.069 [NAL9602](INFO): Sent 206 bytes from file Logs/20250410T115620/Courier0006.lzma
2025-04-10T13:27:41.069Z,1744291661.069 [NAL9602](INFO): Packets left to send: 0
2025-04-10T13:28:04.150Z,1744291684.150 [NAL9602](INFO): SBD MO Status=2, MOMSN=19288, MT Status=2, MTMSN=0
2025-04-10T13:28:04.150Z,1744291684.150 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T13:28:04.325Z,1744291684.325 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T13:28:35.461Z,1744291715.461 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T13:28:44.181Z,1744291724.181 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003188
2025-04-10T13:28:45.100Z,1744291725.100 [NAL9602](INFO): SBD MO Status=1, MOMSN=19288, MT Status=0, MTMSN=0
2025-04-10T13:28:45.161Z,1744291725.161 [NAL9602](INFO): Sent 332 bytes from file Logs/20250410T115620/Express0007.lzma
2025-04-10T13:28:45.161Z,1744291725.161 [NAL9602](INFO): Packets left to send: 1
2025-04-10T13:28:51.958Z,1744291731.958 [DataOverHttps](INFO): Sending 526 bytes from file Logs/20250410T115620/Express0007.lzma
2025-04-10T13:28:52.958Z,1744291732.958 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0007.lzma.bak
2025-04-10T13:28:52.959Z,1744291732.959 [DataOverHttps](INFO): SBD MOMSN=24607581
2025-04-10T13:28:54.403Z,1744291734.403 [keepstation:NeedComms:D] Stopped
2025-04-10T13:28:54.403Z,1744291734.403 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T13:28:56.404Z,1744291736.404 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,132856.00,A,3647.82161,N,12150.75263,W,0.292,74.12,100425,,,A*44
2025-04-10T13:28:56.406Z,1744291736.406 [NAL9602](INFO): GPS fix at 20250410T132856: (36.797027, -121.845877)
2025-04-10T13:28:56.449Z,1744291736.449 [keepstation:NeedComms:E] Stopped
2025-04-10T13:28:56.450Z,1744291736.450 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T13:28:56.450Z,1744291736.450 [keepstation:NeedComms] Stopped
2025-04-10T13:28:56.450Z,1744291736.450 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T13:28:56.451Z,1744291736.451 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T13:28:56.451Z,1744291736.451 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T13:29:29.130Z,1744291769.130 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T13:30:56.181Z,1744291856.181 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T13:31:25.161Z,1744291885.161 [Radio_Surface](INFO): Powering down
2025-04-10T13:31:27.305Z,1744291887.305 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T13:31:28.309Z,1744291888.309 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T13:33:03.697Z,1744291983.697 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.734741
2025-04-10T13:46:51.051Z,1744292811.051 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-04-10T13:50:51.030Z,1744293051.030 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-04-10T13:50:51.034Z,1744293051.034 [BPC1](INFO): Received data from all battery sticks.
2025-04-10T14:08:16.983Z,1744294096.983 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2025-04-10T14:17:40.573Z,1744294660.573 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,0000.20,000.00
2025-04-10T14:17:41.775Z,1744294661.775 [DVL_micro](ERROR): Failed to parse:
:BI,-00141,+00000,+00000,+00000,I
2025-04-10T14:17:47.867Z,1744294667.867 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.770000m. At depth:34.121471m.
2025-04-10T14:20:17.341Z,1744294817.341 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-04-10T14:20:17.715Z,1744294817.715 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position 11.90 mm (2 active estimators).
2025-04-10T14:28:00.388Z,1744295280.388 [DVL_micro](ERROR): Failed to parse:
:SA,-00.49,+04.16,205.0
2025-04-10T14:28:01.150Z,1744295281.150 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,0000.20,000.00
2025-04-10T14:29:33.272Z,1744295373.272 [keepstation:NeedComms] Running Loop=1
2025-04-10T14:29:33.272Z,1744295373.272 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T14:29:33.272Z,1744295373.272 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T14:29:33.272Z,1744295373.272 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T14:29:33.272Z,1744295373.272 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T14:29:33.273Z,1744295373.273 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T14:29:33.273Z,1744295373.273 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T14:29:33.274Z,1744295373.274 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T14:29:33.274Z,1744295373.274 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T14:29:33.274Z,1744295373.274 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T14:29:33.275Z,1744295373.275 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T14:29:33.277Z,1744295373.277 [keepstation:NeedComms:A](INFO): last time_fix was:  1744291736.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T14:29:33.277Z,1744295373.277 [keepstation:NeedComms:A] Stopped
2025-04-10T14:31:08.743Z,1744295468.743 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T14:31:09.169Z,1744295469.169 [Radio_Surface](INFO): Powering up
2025-04-10T14:31:15.117Z,1744295475.117 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T14:31:23.730Z,1744295483.730 [NAL9602](INFO): SBD MO Status=0, MOMSN=19289, MT Status=0, MTMSN=0
2025-04-10T14:31:23.730Z,1744295483.730 [NAL9602](INFO): No messages in MT queue
2025-04-10T14:31:24.941Z,1744295484.941 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,143124.00,A,3647.71522,N,12150.75205,W,0.583,123.61,100425,,,A*71
2025-04-10T14:31:24.943Z,1744295484.943 [NAL9602](INFO): GPS fix at 20250410T143124: (36.795254, -121.845867)
2025-04-10T14:31:24.955Z,1744295484.955 [UniversalFixResidualReporter](INFO): Fix residual: 11.0 %DT, over the last 985.5 m. Residual distance 107.9 m at bearing -22.9 degrees. Fix at (36.7953, -121.8459) with 197.2 m made good.
2025-04-10T14:31:24.956Z,1744295484.956 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-04-10T14:31:24.959Z,1744295484.959 [keepstation:NeedComms:C] Stopped
2025-04-10T14:31:24.959Z,1744295484.959 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T14:31:25.360Z,1744295485.360 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-04-10T14:31:35.907Z,1744295495.907 [NAL9602](INFO): SBD MO Status=1, MOMSN=19290, MT Status=0, MTMSN=0
2025-04-10T14:31:35.961Z,1744295495.961 [NAL9602](INFO): Sent 97 bytes from file Logs/20250410T115620/Courier0009.lzma
2025-04-10T14:31:35.961Z,1744295495.961 [NAL9602](INFO): Packets left to send: 0
2025-04-10T14:31:45.237Z,1744295505.237 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T14:31:48.144Z,1744295508.144 [NAL9602](INFO): SBD MO Status=1, MOMSN=19291, MT Status=0, MTMSN=0
2025-04-10T14:31:48.201Z,1744295508.201 [NAL9602](INFO): Sent 332 bytes from file Logs/20250410T115620/Express0010.lzma
2025-04-10T14:31:48.201Z,1744295508.201 [NAL9602](INFO): Packets left to send: 1
2025-04-10T14:31:59.546Z,1744295519.546 [NAL9602](INFO): SBD MO Status=1, MOMSN=19292, MT Status=0, MTMSN=0
2025-04-10T14:31:59.605Z,1744295519.605 [NAL9602](INFO): Sent 160 bytes from file Logs/20250410T115620/Express0010.lzma
2025-04-10T14:31:59.605Z,1744295519.605 [NAL9602](INFO): Packets left to send: 0
2025-04-10T14:32:12.470Z,1744295532.470 [NAL9602](INFO): SBD MO Status=0, MOMSN=19293, MT Status=0, MTMSN=0
2025-04-10T14:32:12.567Z,1744295532.567 [keepstation:NeedComms:D] Stopped
2025-04-10T14:32:12.567Z,1744295532.567 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T14:32:14.912Z,1744295534.912 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,143214.00,A,3647.70937,N,12150.74010,W,0.136,86.40,100425,,,A*48
2025-04-10T14:32:14.914Z,1744295534.914 [NAL9602](INFO): GPS fix at 20250410T143214: (36.795156, -121.845668)
2025-04-10T14:32:14.928Z,1744295534.928 [keepstation:NeedComms:E] Stopped
2025-04-10T14:32:14.929Z,1744295534.929 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T14:32:14.929Z,1744295534.929 [keepstation:NeedComms] Stopped
2025-04-10T14:32:14.929Z,1744295534.929 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T14:32:14.929Z,1744295534.929 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T14:32:14.929Z,1744295534.929 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T14:32:16.362Z,1744295536.362 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T14:32:47.306Z,1744295567.306 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T14:32:47.486Z,1744295567.486 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T14:33:18.637Z,1744295598.637 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T14:33:46.005Z,1744295626.005 [Radio_Surface](INFO): Powering down
2025-04-10T14:33:49.761Z,1744295629.761 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T14:33:50.765Z,1744295630.765 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T14:35:03.617Z,1744295703.617 [ElevatorServo](FAULT): Overload Error
2025-04-10T14:35:03.617Z,1744295703.617 [ElevatorServo] Hardware Fault, FailCount= 1
2025-04-10T14:35:03.617Z,1744295703.617 [ElevatorServo](ERROR): Hardware Fault
2025-04-10T14:35:03.780Z,1744295703.780 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-04-10T14:35:03.972Z,1744295703.972 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-04-10T14:35:03.972Z,1744295703.972 [ElevatorServo](INFO): Powering down
2025-04-10T14:35:04.791Z,1744295704.791 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-04-10T14:35:04.906Z,1744295704.906 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-04-10T14:35:04.926Z,1744295704.926 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-04-10T14:35:04.926Z,1744295704.926 [ElevatorServo] No Fault, FailCount= 1
2025-04-10T14:35:27.802Z,1744295727.802 [DVL_micro](ERROR): Failed to parse::SA,-17.20,+04.11,310.3
2025-04-10T14:39:54.048Z,1744295994.048 [DVL_micro](ERROR): Failed to parse::RD,+0000.32,+9999.99,+0000.34,+0001.95
2025-04-10T14:39:55.250Z,1744295995.250 [DVL_micro](ERROR): Failed to parse::RD,+0000.32,+9999.99,+0000.34,+0001.69
2025-04-10T14:43:08.794Z,1744296188.794 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-04-10T14:52:19.434Z,1744296739.434 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.32,+0004.18,+0000.34,+9999.99
2025-04-10T14:52:20.642Z,1744296740.642 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,0000.20,000.00
2025-04-10T14:56:46.873Z,1744297006.873 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.32,+0001.69,+0000.34,+9999.99
2025-04-10T14:58:29.490Z,1744297109.490 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-04-10T14:58:29.493Z,1744297109.493 [BPC1](INFO): Received data from all battery sticks.
2025-04-10T15:05:04.212Z,1744297504.212 [DVL_micro](ERROR): Failed to parse::SA,+01.27,+02.44,113.3
2025-04-10T15:18:20.514Z,1744298300.514 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-04-10T15:25:55.001Z,1744298755.001 [DVL_micro](ERROR): Failed to parse:
:SA,-02.51,+05.49,107.1
2025-04-10T15:27:14.592Z,1744298834.592 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-04-10T15:28:01.868Z,1744298881.868 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+10.3,0000.0,1489.0,000
2025-04-10T15:29:35.998Z,1744298975.998 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,0000.20,000.00
2025-04-10T15:29:37.194Z,1744298977.194 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2025-04-10T15:33:19.394Z,1744299199.394 [DVL_micro](ERROR): Failed to parse:
:SA,-05.84,+02.79,121.9
2025-04-10T15:34:34.952Z,1744299274.952 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2025-04-10T15:35:23.830Z,1744299323.830 [DVL_micro](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BI,-00230,-00192,.99,000.00
2025-04-10T15:35:23.830Z,1744299323.830 [DVL_micro](ERROR): Failed to parse:
:BI,-00230,-00192,.99,000.00
2025-04-10T15:36:43.829Z,1744299403.829 [keepstation:NeedComms] Running Loop=1
2025-04-10T15:36:43.830Z,1744299403.830 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T15:36:43.830Z,1744299403.830 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T15:36:43.830Z,1744299403.830 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T15:36:43.830Z,1744299403.830 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T15:36:43.830Z,1744299403.830 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T15:36:43.831Z,1744299403.831 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T15:36:43.831Z,1744299403.831 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T15:36:43.832Z,1744299403.832 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T15:36:43.832Z,1744299403.832 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T15:36:43.849Z,1744299403.849 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T15:36:43.851Z,1744299403.851 [keepstation:NeedComms:A](INFO): last time_fix was:  1744295534.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T15:36:43.851Z,1744299403.851 [keepstation:NeedComms:A] Stopped
2025-04-10T15:37:50.488Z,1744299470.488 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-04-10T15:38:07.840Z,1744299487.840 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T15:38:08.449Z,1744299488.449 [Radio_Surface](INFO): Powering up
2025-04-10T15:38:13.711Z,1744299493.711 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T15:38:34.147Z,1744299514.147 [NAL9602](INFO): SBD MO Status=0, MOMSN=19294, MT Status=0, MTMSN=0
2025-04-10T15:38:34.147Z,1744299514.147 [NAL9602](INFO): No messages in MT queue
2025-04-10T15:38:35.424Z,1744299515.424 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153834.00,A,3647.98468,N,12150.44874,W,1.050,133.11,100425,,,A*72
2025-04-10T15:38:35.426Z,1744299515.426 [NAL9602](INFO): GPS fix at 20250410T153834: (36.799745, -121.840812)
2025-04-10T15:38:35.438Z,1744299515.438 [UniversalFixResidualReporter](INFO): Fix residual: 43.2 %DT, over the last 1265.1 m. Residual distance 546.0 m at bearing -139.8 degrees. Fix at (36.7997, -121.8408) with 668.8 m made good.
2025-04-10T15:38:35.442Z,1744299515.442 [keepstation:NeedComms:C] Stopped
2025-04-10T15:38:35.443Z,1744299515.443 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T15:38:43.829Z,1744299523.829 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T15:38:59.687Z,1744299539.687 [NAL9602](INFO): SBD MO Status=2, MOMSN=19295, MT Status=2, MTMSN=0
2025-04-10T15:38:59.687Z,1744299539.687 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T15:39:12.438Z,1744299552.438 [NAL9602](INFO): SBD MO Status=1, MOMSN=19295, MT Status=0, MTMSN=0
2025-04-10T15:39:12.497Z,1744299552.497 [NAL9602](INFO): Sent 96 bytes from file Logs/20250410T115620/Courier0012.lzma
2025-04-10T15:39:12.497Z,1744299552.497 [NAL9602](INFO): Packets left to send: 0
2025-04-10T15:39:14.961Z,1744299554.961 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T15:39:26.621Z,1744299566.621 [NAL9602](INFO): SBD MO Status=1, MOMSN=19296, MT Status=0, MTMSN=0
2025-04-10T15:39:26.673Z,1744299566.673 [NAL9602](INFO): Sent 332 bytes from file Logs/20250410T115620/Express0013.lzma
2025-04-10T15:39:26.673Z,1744299566.673 [NAL9602](INFO): Packets left to send: 1
2025-04-10T15:39:34.371Z,1744299574.371 [NAL9602](INFO): SBD MO Status=1, MOMSN=19297, MT Status=0, MTMSN=0
2025-04-10T15:39:34.433Z,1744299574.433 [NAL9602](INFO): Sent 274 bytes from file Logs/20250410T115620/Express0013.lzma
2025-04-10T15:39:34.433Z,1744299574.433 [NAL9602](INFO): Packets left to send: 0
2025-04-10T15:39:46.097Z,1744299586.097 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T15:39:46.478Z,1744299586.478 [NAL9602](INFO): SBD MO Status=0, MOMSN=19298, MT Status=0, MTMSN=0
2025-04-10T15:39:46.562Z,1744299586.562 [keepstation:NeedComms:D] Stopped
2025-04-10T15:39:46.562Z,1744299586.562 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T15:39:48.921Z,1744299588.921 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153948.00,A,3647.97618,N,12150.43425,W,0.194,114.82,100425,,,A*7A
2025-04-10T15:39:48.924Z,1744299588.924 [NAL9602](INFO): GPS fix at 20250410T153948: (36.799603, -121.840571)
2025-04-10T15:39:48.938Z,1744299588.938 [keepstation:NeedComms:E] Stopped
2025-04-10T15:39:48.939Z,1744299588.939 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T15:39:48.939Z,1744299588.939 [keepstation:NeedComms] Stopped
2025-04-10T15:39:48.939Z,1744299588.939 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T15:39:48.939Z,1744299588.939 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T15:39:48.939Z,1744299588.939 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T15:40:17.225Z,1744299617.225 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T15:40:21.291Z,1744299621.291 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T15:40:26.713Z,1744299626.713 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003123
2025-04-10T15:41:18.917Z,1744299678.917 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T15:41:49.489Z,1744299709.489 [Radio_Surface](INFO): Powering down
2025-04-10T15:41:50.041Z,1744299710.041 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T15:41:51.045Z,1744299711.045 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T15:43:27.455Z,1744299807.455 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.744812
2025-04-10T15:50:55.790Z,1744300255.790 [DVL_micro](ERROR): Failed to parse:
:WI,+00000,+00000,+00000,+00000,I
2025-04-10T15:52:24.286Z,1744300344.286 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:2.850000m. At depth:29.811304m.
2025-04-10T15:52:39.211Z,1744300359.211 [DVL_micro](ERROR): Failed to parse:
:SA,+20.02,+05.51,244.4
2025-04-10T15:56:32.978Z,1744300592.978 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-04-10T15:56:37.466Z,1744300597.466 [GFScanner](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.002000
CHAN A1 (24V): 0.006290
CHAN A2 (12V): -0.017971
CHAN A3 (5V): -0.045769
CHAN B0 (3.3V): -0.010492
CHAN B1 (3.15aV): -0.003357
CHAN B2 (3.15bV): -0.004807
CHAN B3 (GND): 0.001391
OPEN: 0.012412
Full Scale: +/- 1 mA
2025-04-10T16:00:19.569Z,1744300819.569 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-04-10T16:00:19.980Z,1744300819.980 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.75 m/s, pitch 30.00 deg, mass-position 11.90 mm.
2025-04-10T16:04:31.272Z,1744301071.272 [DVL_micro](ERROR): Failed to parse:
:SA,-04.67,+03.05,308.2
2025-04-10T16:06:03.789Z,1744301163.789 [BPC1](INFO): Calculating totals. Valid battery stick count: 52. Valid reserve battery stick count: 6.
2025-04-10T16:06:03.792Z,1744301163.792 [BPC1](INFO): Received data from all battery sticks.
2025-04-10T16:09:39.502Z,1744301379.502 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00099
2025-04-10T16:09:39.502Z,1744301379.502 [DVL_micro](ERROR): Failed to parse:
:TS,00099
2025-04-10T16:12:27.969Z,1744301547.969 [DVL_micro](ERROR): Failed to parse:
:BI,-00130,+00423,+00164,+00000,A
2025-04-10T16:34:32.294Z,1744302872.294 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+10.4,0000.0,1489.0,000
2025-04-10T16:48:50.384Z,1744303730.384 [DVL_micro](ERROR): Failed to parse:

2025-04-10T16:49:49.023Z,1744303789.023 [keepstation:NeedComms] Running Loop=1
2025-04-10T16:49:49.023Z,1744303789.023 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T16:49:49.023Z,1744303789.023 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T16:49:49.023Z,1744303789.023 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T16:49:49.023Z,1744303789.023 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T16:49:49.024Z,1744303789.024 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T16:49:49.024Z,1744303789.024 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T16:49:49.029Z,1744303789.029 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T16:49:49.029Z,1744303789.029 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T16:49:49.030Z,1744303789.030 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T16:49:49.030Z,1744303789.030 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T16:49:49.032Z,1744303789.032 [keepstation:NeedComms:A](INFO): last time_fix was:  1744299588.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T16:49:49.032Z,1744303789.032 [keepstation:NeedComms:A] Stopped
2025-04-10T16:51:12.179Z,1744303872.179 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T16:51:12.733Z,1744303872.733 [Radio_Surface](INFO): Powering up
2025-04-10T16:51:18.452Z,1744303878.452 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T16:51:48.585Z,1744303908.585 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T16:52:19.710Z,1744303939.710 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T16:52:33.494Z,1744303953.494 [NAL9602](INFO): SBD MO Status=2, MOMSN=19299, MT Status=2, MTMSN=0
2025-04-10T16:52:33.494Z,1744303953.494 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T16:52:50.833Z,1744303970.833 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T16:52:59.752Z,1744303979.752 [NAL9602](INFO): SBD MO Status=2, MOMSN=19299, MT Status=2, MTMSN=0
2025-04-10T16:52:59.752Z,1744303979.752 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T16:53:11.473Z,1744303991.473 [NAL9602](INFO): SBD MO Status=0, MOMSN=19299, MT Status=0, MTMSN=0
2025-04-10T16:53:11.473Z,1744303991.473 [NAL9602](INFO): No messages in MT queue
2025-04-10T16:53:12.680Z,1744303992.680 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165312.00,A,3647.80968,N,12150.78154,W,0.447,175.76,100425,,,A*78
2025-04-10T16:53:12.683Z,1744303992.683 [NAL9602](INFO): GPS fix at 20250410T165312: (36.796828, -121.846359)
2025-04-10T16:53:12.694Z,1744303992.694 [UniversalFixResidualReporter](INFO): Fix residual: 10.6 %DT, over the last 1209.9 m. Residual distance 127.8 m at bearing -104.9 degrees. Fix at (36.7968, -121.8464) with 600.7 m made good.
2025-04-10T16:53:12.698Z,1744303992.698 [keepstation:NeedComms:C] Stopped
2025-04-10T16:53:12.698Z,1744303992.698 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T16:53:21.957Z,1744304001.957 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T16:53:30.617Z,1744304010.617 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003126
2025-04-10T16:53:38.594Z,1744304018.594 [NAL9602](INFO): SBD MO Status=1, MOMSN=19300, MT Status=0, MTMSN=0
2025-04-10T16:53:38.649Z,1744304018.649 [NAL9602](INFO): Sent 96 bytes from file Logs/20250410T115620/Courier0015.lzma
2025-04-10T16:53:38.649Z,1744304018.649 [NAL9602](INFO): Packets left to send: 0
2025-04-10T16:53:39.066Z,1744304019.066 [DataOverHttps](INFO): Sending 802 bytes from file Logs/20250410T115620/Express0016.lzma
2025-04-10T16:53:39.946Z,1744304019.946 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0016.lzma.bak
2025-04-10T16:53:39.947Z,1744304019.947 [DataOverHttps](INFO): SBD MOMSN=24609063
2025-04-10T16:53:41.044Z,1744304021.044 [keepstation:NeedComms:D] Stopped
2025-04-10T16:53:41.044Z,1744304021.044 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T16:53:43.032Z,1744304023.032 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165342.00,A,3647.80686,N,12150.78076,W,0.758,200.65,100425,,,A*7D
2025-04-10T16:53:43.038Z,1744304023.038 [NAL9602](INFO): GPS fix at 20250410T165342: (36.796781, -121.846346)
2025-04-10T16:53:43.099Z,1744304023.099 [keepstation:NeedComms:E] Stopped
2025-04-10T16:53:43.113Z,1744304023.113 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T16:53:43.113Z,1744304023.113 [keepstation:NeedComms] Stopped
2025-04-10T16:53:43.113Z,1744304023.113 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T16:53:43.113Z,1744304023.113 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T16:53:43.114Z,1744304023.114 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T16:54:15.350Z,1744304055.350 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T16:55:43.186Z,1744304143.186 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T16:56:12.225Z,1744304172.225 [Radio_Surface](INFO): Powering down
2025-04-10T16:56:14.313Z,1744304174.313 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T16:56:15.313Z,1744304175.313 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T16:57:50.713Z,1744304270.713 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.737976
2025-04-10T17:01:03.807Z,1744304463.807 [DVL_micro](ERROR): Failed to parse:
:SA,+00.64,+02.72,201.5
2025-04-10T17:13:38.083Z,1744305218.083 [BPC1](INFO): Calculating totals. Valid battery stick count: 52. Valid reserve battery stick count: 6.
2025-04-10T17:13:38.086Z,1744305218.086 [BPC1](INFO): Received data from all battery sticks.
2025-04-10T17:25:29.923Z,1744305929.923 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-04-10T17:30:06.255Z,1744306206.255 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00000000000000,35.0,+10.7,0000
2025-04-10T17:30:06.255Z,1744306206.255 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+10.7,0000
2025-04-10T17:56:02.093Z,1744307762.093 [keepstation](INFO): Timed out from 2025-04-10T11:56:01.7Z
2025-04-10T17:56:02.093Z,1744307762.093 [MissionManager](INFO): keepstation is completed.
2025-04-10T17:56:02.094Z,1744307762.094 [MissionManager](INFO): Uninitializing Mission keepstation
2025-04-10T17:56:02.094Z,1744307762.094 [keepstation] Stopped
2025-04-10T17:56:02.094Z,1744307762.094 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-04-10T17:56:02.094Z,1744307762.094 [keepstation:StandardEnvelopes] Stopped
2025-04-10T17:56:02.094Z,1744307762.094 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-04-10T17:56:02.094Z,1744307762.094 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-10T17:56:02.094Z,1744307762.094 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-10T17:56:02.094Z,1744307762.094 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-10T17:56:02.094Z,1744307762.094 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-10T17:56:02.094Z,1744307762.094 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-10T17:56:02.094Z,1744307762.094 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-10T17:56:02.095Z,1744307762.095 [keepstation:BackseatDriver] Stopped
2025-04-10T17:56:02.095Z,1744307762.095 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-04-10T17:56:02.095Z,1744307762.095 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-04-10T17:56:02.095Z,1744307762.095 [keepstation:PowerOnly] Stopped
2025-04-10T17:56:02.095Z,1744307762.095 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-04-10T17:56:02.095Z,1744307762.095 [keepstation:PowerOnly:E.Wait] Stopped
2025-04-10T17:56:02.095Z,1744307762.095 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T17:56:02.095Z,1744307762.095 [keepstation:H.Pitch] Stopped
2025-04-10T17:56:02.095Z,1744307762.095 [keepstation:KeepStation] Stopped
2025-04-10T17:56:02.095Z,1744307762.095 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-04-10T17:56:02.095Z,1744307762.095 [keepstation:KeepStation:A] Stopped
2025-04-10T17:56:02.095Z,1744307762.095 [keepstation:KeepStation:B.Pitch] Stopped
2025-04-10T17:56:02.095Z,1744307762.095 [keepstation:KeepStation:C.KeepStation] Stopped
2025-04-10T17:56:02.095Z,1744307762.095 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-04-10T17:56:02.096Z,1744307762.096 [keepstation:KeepStation:D.Wait] Stopped
2025-04-10T17:56:02.096Z,1744307762.096 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T17:56:02.467Z,1744307762.467 [MissionManager](IMPORTANT): Started mission Default
2025-04-10T17:56:02.468Z,1744307762.468 [Default] Running Loop=1
2025-04-10T17:56:02.468Z,1744307762.468 [Default](DEBUG): Aggregate::initialize Default
2025-04-10T17:56:02.468Z,1744307762.468 [Default:B.GoToSurface] Running Loop=1
2025-04-10T17:56:02.468Z,1744307762.468 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T17:56:02.469Z,1744307762.469 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-10T17:56:02.469Z,1744307762.469 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-10T17:56:02.469Z,1744307762.469 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-10T17:56:02.470Z,1744307762.470 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-10T17:56:02.470Z,1744307762.470 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T17:56:02.470Z,1744307762.470 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T17:56:02.471Z,1744307762.471 [Default:A.Wait] Running Loop=1
2025-04-10T17:56:02.471Z,1744307762.471 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-10T17:56:02.872Z,1744307762.872 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (2 active estimators).
2025-04-10T17:56:03.046Z,1744307763.046 [Radio_Surface](INFO): Powering up
2025-04-10T17:56:09.242Z,1744307769.242 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T17:56:15.505Z,1744307775.505 [Default:A.Wait](INFO): Done Waiting.
2025-04-10T17:56:15.506Z,1744307775.506 [Default:A.Wait] Stopped
2025-04-10T17:56:15.506Z,1744307775.506 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T17:56:39.378Z,1744307799.378 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T17:57:09.610Z,1744307829.610 [Default:CheckIn] Running Loop=1
2025-04-10T17:57:09.611Z,1744307829.611 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-10T17:57:09.611Z,1744307829.611 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-10T17:57:10.525Z,1744307830.525 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T17:57:41.649Z,1744307861.649 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T17:57:55.659Z,1744307875.659 [NAL9602](INFO): SBD MO Status=2, MOMSN=19301, MT Status=2, MTMSN=0
2025-04-10T17:57:55.660Z,1744307875.660 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T17:58:12.777Z,1744307892.777 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T17:58:16.260Z,1744307896.260 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=19301, MT Status=1, MTMSN=4263
2025-04-10T17:58:16.260Z,1744307896.260 [NAL9602](INFO): Data available in MT queue
2025-04-10T17:58:16.961Z,1744307896.961 [NAL9602](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 1 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.DepthDeadband .5 m;run
2025-04-10T17:58:17.068Z,1744307897.068 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-04-10T17:58:17.077Z,1744307897.077 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-04-10T17:58:17.077Z,1744307897.077 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-04-10T17:58:17.080Z,1744307897.080 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-04-10T17:58:17.898Z,1744307897.898 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175817.00,A,3647.71533,N,12150.76632,W,0.505,169.46,100425,,,D*7E
2025-04-10T17:58:17.900Z,1744307897.900 [NAL9602](INFO): GPS fix at 20250410T175817: (36.795256, -121.846105)
2025-04-10T17:58:19.259Z,1744307899.259 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="ApproachDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:KeepStation>
            <Parallel />
            <Setting>
                <Guidance:KeepStation.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.radius />
                <Arg Name="Radius" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:KeepStation>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-04-10T17:58:19.273Z,1744307899.273 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-04-10T17:58:19.275Z,1744307899.275 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-04-10T17:58:19.299Z,1744307899.299 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-04-10T17:58:19.306Z,1744307899.306 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-04-10T17:58:19.308Z,1744307899.308 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-04-10T17:58:19.314Z,1744307899.314 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-04-10T17:58:19.321Z,1744307899.321 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-04-10T17:58:19.323Z,1744307899.323 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-04-10T17:58:19.354Z,1744307899.354 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-04-10T17:58:19.356Z,1744307899.356 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-04-10T17:58:19.367Z,1744307899.367 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-04-10T17:58:19.367Z,1744307899.367 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-10T17:58:19.367Z,1744307899.367 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-10T17:58:19.381Z,1744307899.381 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-10T17:58:19.988Z,1744307899.988 [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>

2025-04-10T17:58:20.009Z,1744307900.009 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-04-10T17:58:20.011Z,1744307900.011 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-10T17:58:20.045Z,1744307900.045 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-10T17:58:20.048Z,1744307900.048 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-04-10T17:58:20.055Z,1744307900.055 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-10T17:58:20.066Z,1744307900.066 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-10T17:58:20.068Z,1744307900.068 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-04-10T17:58:20.083Z,1744307900.083 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-04-10T17:58:20.111Z,1744307900.111 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-10T17:58:20.174Z,1744307900.174 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-10T17:58:20.175Z,1744307900.175 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-10T17:58:20.176Z,1744307900.176 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-10T17:58:20.374Z,1744307900.374 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-04-10T17:58:20.402Z,1744307900.402 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-10T17:58:20.404Z,1744307900.404 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-10T17:58:20.411Z,1744307900.411 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-10T17:58:20.417Z,1744307900.417 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-10T17:58:20.418Z,1744307900.418 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-10T17:58:20.439Z,1744307900.439 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-10T17:58:20.476Z,1744307900.476 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-10T17:58:20.508Z,1744307900.508 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-10T17:58:20.508Z,1744307900.508 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-10T17:58:20.514Z,1744307900.514 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-10T17:58:20.562Z,1744307900.562 [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>

2025-04-10T17:58:20.569Z,1744307900.569 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-04-10T17:58:20.571Z,1744307900.571 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-10T17:58:20.578Z,1744307900.578 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-10T17:58:20.578Z,1744307900.578 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-10T17:58:20.579Z,1744307900.579 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-10T17:58:20.801Z,1744307900.801 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175820.00,A,3647.71550,N,12150.76645,W,1.089,169.46,100425,,,D*7F
2025-04-10T17:58:20.803Z,1744307900.803 [NAL9602](INFO): GPS fix at 20250410T175820: (36.795258, -121.846108)
2025-04-10T17:58:20.957Z,1744307900.957 [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>

2025-04-10T17:58:20.965Z,1744307900.965 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-04-10T17:58:20.967Z,1744307900.967 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-04-10T17:58:20.973Z,1744307900.973 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-04-10T17:58:20.975Z,1744307900.975 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-04-10T17:58:20.982Z,1744307900.982 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-10T17:58:20.997Z,1744307900.997 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-10T17:58:20.999Z,1744307900.999 [keepstation:H.Pitch](DEBUG): Construct.
2025-04-10T17:58:21.043Z,1744307901.043 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-10T17:58:21.050Z,1744307901.050 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-04-10T17:58:21.058Z,1744307901.058 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-04-10T17:58:21.071Z,1744307901.071 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-04-10T17:58:21.088Z,1744307901.088 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-04-10T17:58:21.096Z,1744307901.096 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-04-10T17:58:21.138Z,1744307901.138 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-04-10T17:58:21.181Z,1744307901.181 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  call id="StartingMission" refId="NeedComms"

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

    run in sequence

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = ApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:KeepStation {
      run in parallel

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

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

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-04-10T17:58:21.182Z,1744307901.182 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-04-10T17:58:21.201Z,1744307901.201 [Default:CheckIn:Read_GPS] Stopped
2025-04-10T17:58:21.201Z,1744307901.201 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-10T17:58:25.189Z,1744307905.189 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003120
2025-04-10T17:58:27.805Z,1744307907.805 [DVL_micro](ERROR): Failed to parse:
:SA,-03.63,-02.16,159.8
2025-04-10T17:58:37.538Z,1744307917.538 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=19302, MT Status=1, MTMSN=4264
2025-04-10T17:58:37.593Z,1744307917.593 [NAL9602](INFO): Sent 87 bytes from file Logs/20250410T115620/Courier0018.lzma
2025-04-10T17:58:37.594Z,1744307917.594 [NAL9602](INFO): Packets left to send: 0
2025-04-10T17:58:38.253Z,1744307918.253 [NAL9602](INFO): Received command: sched "load Transport/keepstation.tl;set keepstation.MissionTimeout 1 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 50 m" 4kbnd 1 2
2025-04-10T17:58:38.550Z,1744307918.550 [DataOverHttps](INFO): Sending 570 bytes from file Logs/20250410T115620/Express0019.lzma
2025-04-10T17:58:39.378Z,1744307919.378 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0019.lzma.bak
2025-04-10T17:58:39.379Z,1744307919.379 [DataOverHttps](INFO): SBD MOMSN=24609496
2025-04-10T17:58:40.839Z,1744307920.839 [Default:CheckIn:Read_Iridium] Stopped
2025-04-10T17:58:40.839Z,1744307920.839 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-10T17:58:40.840Z,1744307920.839 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-10T17:58:57.200Z,1744307937.200 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 1 hour
2025-04-10T17:58:57.211Z,1744307937.211 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-04-10T17:58:57.212Z,1744307937.212 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-04-10T17:58:57.213Z,1744307937.213 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-04-10T17:58:57.214Z,1744307937.214 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband .5 meter
2025-04-10T17:58:57.214Z,1744307937.214 [CommandExec](IMPORTANT): got command run
2025-04-10T17:58:57.217Z,1744307937.217 [CommandExec](IMPORTANT): Running 
2025-04-10T17:58:57.232Z,1744307937.232 [CommandExec](IMPORTANT): got command schedule "load Transport/keepstation.tl;set keepstation.MissionTimeout 1 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 50 m" 4kbnd 1 2.000000
2025-04-10T17:58:57.233Z,1744307937.233 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4kbnd
2025-04-10T17:58:57.234Z,1744307937.234 [CommandExec](IMPORTANT): Scheduled #4 (#1 of 2 with id='4kbnd'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 1 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 50 m", AFTER MISSION
2025-04-10T17:58:57.389Z,1744307937.389 [Default] Stopped
2025-04-10T17:58:57.389Z,1744307937.389 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-10T17:58:57.390Z,1744307937.390 [Default:B.GoToSurface] Stopped
2025-04-10T17:58:57.390Z,1744307937.390 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T17:58:57.390Z,1744307937.390 [Default:CheckIn] Stopped
2025-04-10T17:58:57.390Z,1744307937.390 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-10T17:58:57.390Z,1744307937.390 [Default:CheckIn:C.Wait] Stopped
2025-04-10T17:58:57.390Z,1744307937.390 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T17:58:57.390Z,1744307937.390 [MissionManager](IMPORTANT): Started mission keepstation
2025-04-10T17:58:57.391Z,1744307937.391 [keepstation] Running Loop=1
2025-04-10T17:58:57.391Z,1744307937.391 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-04-10T17:58:57.391Z,1744307937.391 [keepstation:StandardEnvelopes] Running Loop=1
2025-04-10T17:58:57.391Z,1744307937.391 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-04-10T17:58:57.391Z,1744307937.391 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-10T17:58:57.391Z,1744307937.391 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-10T17:58:57.392Z,1744307937.392 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-10T17:58:57.393Z,1744307937.393 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-10T17:58:57.394Z,1744307937.394 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-10T17:58:57.394Z,1744307937.394 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-10T17:58:57.395Z,1744307937.395 [keepstation:BackseatDriver] Running Loop=1
2025-04-10T17:58:57.395Z,1744307937.395 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-04-10T17:58:57.396Z,1744307937.396 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-10T17:58:57.397Z,1744307937.397 [keepstation:PowerOnly] Running Loop=1
2025-04-10T17:58:57.397Z,1744307937.397 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-04-10T17:58:57.398Z,1744307937.398 [keepstation:PowerOnly:A] Running Loop=1
2025-04-10T17:58:57.398Z,1744307937.398 [keepstation:PowerOnly:B] Running Loop=1
2025-04-10T17:58:57.398Z,1744307937.398 [keepstation:PowerOnly:C] Running Loop=1
2025-04-10T17:58:57.398Z,1744307937.398 [keepstation:PowerOnly:D] Running Loop=1
2025-04-10T17:58:57.398Z,1744307937.398 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-04-10T17:58:57.398Z,1744307937.398 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-10T17:58:57.398Z,1744307937.398 [keepstation:H.Pitch] Running Loop=1
2025-04-10T17:58:57.398Z,1744307937.398 [keepstation:H.Pitch](DEBUG): Initialize.
2025-04-10T17:58:57.399Z,1744307937.399 [keepstation:B] Running Loop=1
2025-04-10T17:58:57.400Z,1744307937.400 [keepstation:H.Pitch] Running Loop=1
2025-04-10T17:58:57.400Z,1744307937.400 [keepstation:PowerOnly] Running Loop=1
2025-04-10T17:58:57.401Z,1744307937.401 [keepstation:PowerOnly:D] Stopped
2025-04-10T17:58:57.401Z,1744307937.401 [keepstation:PowerOnly:C] Stopped
2025-04-10T17:58:57.401Z,1744307937.401 [keepstation:PowerOnly:B] Stopped
2025-04-10T17:58:57.401Z,1744307937.401 [keepstation:PowerOnly:A] Stopped
2025-04-10T17:58:57.401Z,1744307937.401 [keepstation:BackseatDriver] Running Loop=1
2025-04-10T17:58:57.402Z,1744307937.402 [keepstation:StandardEnvelopes] Running Loop=1
2025-04-10T17:58:57.402Z,1744307937.402 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-10T17:58:57.402Z,1744307937.402 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-10T17:58:57.403Z,1744307937.403 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-10T17:58:57.403Z,1744307937.403 [keepstation:B] Stopped
2025-04-10T17:58:57.404Z,1744307937.404 [keepstation:D] Running Loop=1
2025-04-10T17:58:57.771Z,1744307937.771 [keepstation:D] Stopped
2025-04-10T17:58:57.771Z,1744307937.771 [keepstation:E] Running Loop=1
2025-04-10T17:58:58.170Z,1744307938.170 [keepstation:E] Stopped
2025-04-10T17:58:58.170Z,1744307938.170 [keepstation:StartingMission] Running Loop=1
2025-04-10T17:58:58.170Z,1744307938.170 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-04-10T17:58:58.605Z,1744307938.605 [keepstation:NeedComms] Running Loop=1
2025-04-10T17:58:58.605Z,1744307938.605 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T17:58:58.605Z,1744307938.605 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T17:58:58.605Z,1744307938.605 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T17:58:58.606Z,1744307938.606 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T17:58:58.606Z,1744307938.606 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T17:58:58.606Z,1744307938.606 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T17:58:58.607Z,1744307938.607 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T17:58:58.607Z,1744307938.607 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T17:58:58.607Z,1744307938.607 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T17:58:58.608Z,1744307938.608 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T17:58:58.613Z,1744307938.613 [keepstation:NeedComms:A](INFO): last time_fix was:  1744307900.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T17:58:58.613Z,1744307938.613 [keepstation:NeedComms:A] Stopped
2025-04-10T17:58:58.970Z,1744307938.970 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T17:58:59.374Z,1744307939.374 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-10T17:58:59.793Z,1744307939.793 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.620000m. At depth:0.159976m.
2025-04-10T17:59:00.977Z,1744307940.977 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175900.00,A,3647.71114,N,12150.76890,W,1.089,202.31,100425,,,D*70
2025-04-10T17:59:00.979Z,1744307940.979 [NAL9602](INFO): GPS fix at 20250410T175900: (36.795186, -121.846148)
2025-04-10T17:59:00.991Z,1744307940.991 [keepstation:NeedComms:C] Stopped
2025-04-10T17:59:00.992Z,1744307940.992 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T17:59:01.426Z,1744307941.426 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-10T17:59:08.704Z,1744307948.704 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250410T115620/Courier0021.lzma
2025-04-10T17:59:09.706Z,1744307949.706 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Courier0021.lzma.bak
2025-04-10T17:59:09.707Z,1744307949.707 [DataOverHttps](INFO): SBD MOMSN=24609547
2025-04-10T17:59:26.382Z,1744307966.382 [DataOverHttps](INFO): Sending 515 bytes from file Logs/20250410T115620/Express0022.lzma
2025-04-10T17:59:27.382Z,1744307967.382 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0022.lzma.bak
2025-04-10T17:59:27.383Z,1744307967.383 [DataOverHttps](INFO): SBD MOMSN=24609550
2025-04-10T17:59:28.492Z,1744307968.492 [keepstation:NeedComms:D] Stopped
2025-04-10T17:59:28.492Z,1744307968.492 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T17:59:28.862Z,1744307968.862 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-10T17:59:30.493Z,1744307970.493 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175930.00,A,3647.70985,N,12150.77129,W,0.544,234.17,100425,,,D*7C
2025-04-10T17:59:30.495Z,1744307970.495 [NAL9602](INFO): GPS fix at 20250410T175930: (36.795164, -121.846188)
2025-04-10T17:59:30.550Z,1744307970.550 [keepstation:NeedComms:E] Stopped
2025-04-10T17:59:30.551Z,1744307970.551 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T17:59:30.551Z,1744307970.551 [keepstation:NeedComms] Stopped
2025-04-10T17:59:30.551Z,1744307970.551 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T17:59:30.551Z,1744307970.551 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T17:59:30.551Z,1744307970.551 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T17:59:30.954Z,1744307970.954 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-04-10T17:59:30.954Z,1744307970.954 [keepstation:StartingMission] Stopped
2025-04-10T17:59:30.954Z,1744307970.954 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-04-10T17:59:30.954Z,1744307970.954 [keepstation:TransitToStation] Running Loop=1
2025-04-10T17:59:30.954Z,1744307970.954 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-04-10T17:59:30.954Z,1744307970.954 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-04-10T17:59:30.954Z,1744307970.954 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-10T17:59:30.955Z,1744307970.955 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-04-10T17:59:30.955Z,1744307970.955 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-04-10T17:59:30.955Z,1744307970.955 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-04-10T17:59:30.955Z,1744307970.955 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-04-10T17:59:30.955Z,1744307970.955 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-04-10T17:59:30.955Z,1744307970.955 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-04-10T17:59:30.956Z,1744307970.956 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-04-10T17:59:31.469Z,1744307971.469 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-04-10T17:59:31.470Z,1744307971.470 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-04-10T17:59:31.470Z,1744307971.470 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-04-10T17:59:31.470Z,1744307971.470 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-04-10T18:00:03.502Z,1744308003.502 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T18:02:11.012Z,1744308131.012 [DVL_micro](ERROR): only read 1 of 4 data items for beam range. Device response is::RD,.58
2025-04-10T18:02:11.012Z,1744308131.012 [DVL_micro](ERROR): Failed to parse:
:RD,.58
2025-04-10T18:03:24.961Z,1744308204.961 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.75 m/s, pitch 30.00 deg, mass-position 11.90 mm (3 active estimators).
2025-04-10T18:03:32.349Z,1744308212.349 [ElevatorServo](ERROR): getPosition uart error serial timeout
2025-04-10T18:03:32.349Z,1744308212.349 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2025-04-10T18:03:32.349Z,1744308212.349 [ElevatorServo] Communications Fault, FailCount= 1
2025-04-10T18:03:32.349Z,1744308212.349 [ElevatorServo](ERROR): Communications Fault
2025-04-10T18:03:32.368Z,1744308212.368 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2025-04-10T18:03:32.684Z,1744308212.684 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-04-10T18:03:32.696Z,1744308212.696 [ElevatorServo](INFO): Powering down
2025-04-10T18:03:33.481Z,1744308213.481 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-04-10T18:03:33.608Z,1744308213.608 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-04-10T18:03:33.688Z,1744308213.688 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-04-10T18:03:33.688Z,1744308213.688 [ElevatorServo] No Fault, FailCount= 1
2025-04-10T18:04:02.849Z,1744308242.849 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T18:04:25.365Z,1744308265.365 [Radio_Surface](INFO): Powering down
2025-04-10T18:04:33.981Z,1744308273.981 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T18:04:34.985Z,1744308274.985 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T18:05:29.154Z,1744308329.154 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-10T18:05:29.154Z,1744308329.154 [ThrusterHE](INFO): Powering down
2025-04-10T18:05:29.960Z,1744308329.960 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-10T18:05:30.081Z,1744308330.081 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-10T18:05:35.245Z,1744308335.245 [ElevatorServo](FAULT): Overload Error
2025-04-10T18:05:35.245Z,1744308335.245 [ElevatorServo] Hardware Fault, FailCount= 1
2025-04-10T18:05:35.245Z,1744308335.245 [ElevatorServo](ERROR): Hardware Fault
2025-04-10T18:05:35.380Z,1744308335.380 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-04-10T18:05:35.533Z,1744308335.533 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-04-10T18:05:35.533Z,1744308335.533 [ElevatorServo](INFO): Powering down
2025-04-10T18:05:36.319Z,1744308336.319 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-04-10T18:05:36.449Z,1744308336.449 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-04-10T18:05:36.468Z,1744308336.468 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-04-10T18:05:36.468Z,1744308336.468 [ElevatorServo] No Fault, FailCount= 1
2025-04-10T18:06:11.405Z,1744308371.405 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.783279
2025-04-10T18:07:24.590Z,1744308444.590 [DVL_micro](ERROR): Failed to parse::WI,+00000,+00000,+00000,+00000,I
2025-04-10T18:07:26.632Z,1744308446.632 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-04-10T18:07:26.632Z,1744308446.632 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-04-10T18:07:26.632Z,1744308446.632 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-04-10T18:07:26.634Z,1744308446.634 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-04-10T18:07:26.634Z,1744308446.634 [keepstation:TransitToStation] Stopped
2025-04-10T18:07:26.634Z,1744308446.634 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-04-10T18:07:26.634Z,1744308446.634 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-04-10T18:07:26.634Z,1744308446.634 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-10T18:07:26.634Z,1744308446.634 [keepstation:TransitToStation:B.Pitch] Stopped
2025-04-10T18:07:26.634Z,1744308446.634 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-04-10T18:07:26.634Z,1744308446.634 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-04-10T18:07:26.634Z,1744308446.634 [keepstation:OnStation] Running Loop=1
2025-04-10T18:07:26.634Z,1744308446.634 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-04-10T18:07:27.026Z,1744308447.026 [keepstation:NeedComms] Running Loop=1
2025-04-10T18:07:27.026Z,1744308447.026 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T18:07:27.026Z,1744308447.026 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T18:07:27.026Z,1744308447.026 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T18:07:27.027Z,1744308447.027 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T18:07:27.027Z,1744308447.027 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T18:07:27.027Z,1744308447.027 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T18:07:27.028Z,1744308447.028 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T18:07:27.028Z,1744308447.028 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T18:07:27.028Z,1744308447.028 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T18:07:27.029Z,1744308447.029 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T18:07:27.030Z,1744308447.030 [keepstation:NeedComms:A](INFO): last time_fix was:  1744307970.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T18:07:27.030Z,1744308447.030 [keepstation:NeedComms:A] Stopped
2025-04-10T18:08:13.102Z,1744308493.102 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T18:08:13.645Z,1744308493.645 [Radio_Surface](INFO): Powering up
2025-04-10T18:08:14.863Z,1744308494.863 [DVL_micro](ERROR): Failed to parse:
:WI,+00000,+00000,+00000,+00000,I
2025-04-10T18:08:18.941Z,1744308498.941 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T18:08:49.077Z,1744308529.077 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T18:09:19.569Z,1744308559.569 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=19303, MT Status=1, MTMSN=4265
2025-04-10T18:09:19.569Z,1744308559.569 [NAL9602](INFO): Data available in MT queue
2025-04-10T18:09:20.141Z,1744308560.141 [NAL9602](INFO): Received command: sched "set keepstation.DepthDeadband 30 m;set keepstation.MaxDepth 90 m;run" 4kbnd 2 2
2025-04-10T18:09:20.179Z,1744308560.179 [CommandExec](IMPORTANT): got command schedule "set keepstation.DepthDeadband 30 m;set keepstation.MaxDepth 90 m;run" 4kbnd 2 2.000000
2025-04-10T18:09:20.179Z,1744308560.179 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4kbnd
2025-04-10T18:09:20.180Z,1744308560.180 [CommandExec](IMPORTANT): Scheduled #5 (#2 of 2 with id='4kbnd'): "set keepstation.DepthDeadband 30 m;set keepstation.MaxDepth 90 m;run", AFTER MISSION
2025-04-10T18:09:20.201Z,1744308560.201 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T18:09:21.171Z,1744308561.171 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180920.00,A,3647.81561,N,12150.81519,W,0.719,244.15,100425,,,A*7B
2025-04-10T18:09:21.173Z,1744308561.173 [NAL9602](INFO): GPS fix at 20250410T180920: (36.796927, -121.846920)
2025-04-10T18:09:21.185Z,1744308561.185 [UniversalFixResidualReporter](INFO): Fix residual: 15.9 %DT, over the last 787.3 m. Residual distance 125.5 m at bearing -66.1 degrees. Fix at (36.7969, -121.8469) with 206.5 m made good.
2025-04-10T18:09:21.187Z,1744308561.187 [keepstation:NeedComms:C] Stopped
2025-04-10T18:09:21.187Z,1744308561.187 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T18:09:40.258Z,1744308580.258 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=19304, MT Status=1, MTMSN=4266
2025-04-10T18:09:40.313Z,1744308580.313 [NAL9602](INFO): Sent 84 bytes from file Logs/20250410T115620/Courier0024.lzma
2025-04-10T18:09:40.313Z,1744308580.313 [NAL9602](INFO): Packets left to send: 0
2025-04-10T18:09:40.765Z,1744308580.765 [NAL9602](INFO): Received command: schedule resume
2025-04-10T18:09:40.806Z,1744308580.806 [CommandExec](IMPORTANT): got command schedule resume
2025-04-10T18:09:51.342Z,1744308591.342 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T18:09:59.330Z,1744308599.330 [NAL9602](INFO): SBD MO Status=1, MOMSN=19305, MT Status=0, MTMSN=0
2025-04-10T18:09:59.389Z,1744308599.389 [NAL9602](INFO): Sent 332 bytes from file Logs/20250410T115620/Express0025.lzma
2025-04-10T18:09:59.389Z,1744308599.389 [NAL9602](INFO): Packets left to send: 1
2025-04-10T18:10:07.462Z,1744308607.462 [NAL9602](INFO): SBD MO Status=1, MOMSN=19306, MT Status=0, MTMSN=0
2025-04-10T18:10:07.509Z,1744308607.509 [NAL9602](INFO): Sent 330 bytes from file Logs/20250410T115620/Express0025.lzma
2025-04-10T18:10:07.509Z,1744308607.509 [NAL9602](INFO): Packets left to send: 0
2025-04-10T18:10:14.758Z,1744308614.758 [NAL9602](INFO): SBD MO Status=0, MOMSN=19307, MT Status=0, MTMSN=0
2025-04-10T18:10:22.473Z,1744308622.473 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T18:10:31.209Z,1744308631.209 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003090
2025-04-10T18:10:38.260Z,1744308638.260 [NAL9602](INFO): SBD MO Status=1, MOMSN=19308, MT Status=0, MTMSN=0
2025-04-10T18:10:38.313Z,1744308638.313 [NAL9602](INFO): Sent 40 bytes from file Logs/20250410T115620/Courier0027.lzma
2025-04-10T18:10:38.313Z,1744308638.313 [NAL9602](INFO): Packets left to send: 0
2025-04-10T18:10:39.348Z,1744308639.348 [DataOverHttps](INFO): Sending 156 bytes from file Logs/20250410T115620/Express0028.lzma
2025-04-10T18:10:40.307Z,1744308640.307 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0028.lzma.bak
2025-04-10T18:10:40.307Z,1744308640.307 [DataOverHttps](INFO): SBD MOMSN=24609655
2025-04-10T18:10:41.516Z,1744308641.516 [keepstation:NeedComms:D] Stopped
2025-04-10T18:10:41.516Z,1744308641.516 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T18:10:43.517Z,1744308643.517 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,181043.00,A,3647.81125,N,12150.82331,W,0.350,213.56,100425,,,A*71
2025-04-10T18:10:43.519Z,1744308643.519 [NAL9602](INFO): GPS fix at 20250410T181043: (36.796854, -121.847055)
2025-04-10T18:10:43.559Z,1744308643.559 [keepstation:NeedComms:E] Stopped
2025-04-10T18:10:43.565Z,1744308643.565 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T18:10:43.565Z,1744308643.565 [keepstation:NeedComms] Stopped
2025-04-10T18:10:43.565Z,1744308643.565 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T18:10:43.565Z,1744308643.565 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T18:10:43.565Z,1744308643.565 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T18:10:43.974Z,1744308643.974 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-04-10T18:10:43.974Z,1744308643.974 [keepstation:OnStation] Stopped
2025-04-10T18:10:43.974Z,1744308643.974 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-04-10T18:10:43.974Z,1744308643.974 [keepstation:KeepStation] Running Loop=1
2025-04-10T18:10:43.974Z,1744308643.974 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-04-10T18:10:43.974Z,1744308643.974 [keepstation:KeepStation:A] Running Loop=1
2025-04-10T18:10:43.974Z,1744308643.974 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-04-10T18:10:43.974Z,1744308643.974 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-04-10T18:10:43.974Z,1744308643.974 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-04-10T18:10:43.975Z,1744308643.975 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-04-10T18:10:43.975Z,1744308643.975 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-04-10T18:10:43.975Z,1744308643.975 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-04-10T18:10:44.376Z,1744308644.376 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-04-10T18:10:44.405Z,1744308644.405 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-04-10T18:10:44.406Z,1744308644.406 [keepstation:KeepStation:A] Running Loop=1
2025-04-10T18:11:16.277Z,1744308676.277 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T18:12:18.452Z,1744308738.452 [DVL_micro](ERROR): Failed to parse:
:WI,+00000,+00000,+00000,+00000,I
2025-04-10T18:13:44.809Z,1744308824.809 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T18:14:15.937Z,1744308855.937 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T18:14:17.349Z,1744308857.349 [Radio_Surface](INFO): Powering down
2025-04-10T18:14:47.061Z,1744308887.061 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T18:14:48.065Z,1744308888.065 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T18:15:21.202Z,1744308921.202 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.623672
2025-04-10T18:15:28.746Z,1744308928.746 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2025-04-10T18:19:15.870Z,1744309155.870 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00000000000000,35.0,+12.6,0000.0,1+00025,+00000,I
2025-04-10T18:19:15.870Z,1744309155.870 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+12.6,0000.0,1+00025,+00000,I
2025-04-10T18:21:17.406Z,1744309277.406 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-04-10T18:21:17.408Z,1744309277.408 [BPC1](INFO): Received data from all battery sticks.
2025-04-10T18:23:02.447Z,1744309382.447 [DVL_micro](ERROR): Failed to parse:
:BI,-01227,+01384,+00463,+00000,A
2025-04-10T18:23:03.661Z,1744309383.661 [DVL_micro](ERROR): Failed to parse:
:WI,+00000,+00000,+00000,+00000,I
2025-04-10T18:29:18.580Z,1744309758.580 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,0000.20,000.00
2025-04-10T18:29:19.777Z,1744309759.777 [DVL_micro](ERROR): Failed to parse:
:BI,+00290,-00418,-00211,+00000,A
2025-04-10T18:29:20.635Z,1744309760.635 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.430000m. At depth:30.705566m.
2025-04-10T18:40:23.566Z,1744310423.566 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+10.5,0000.0,1489.0,000
2025-04-10T18:42:15.076Z,1744310535.076 [DVL_micro](ERROR): Failed to parse:
:SA,-00.91,+02.60,103.3
2025-04-10T18:58:57.398Z,1744311537.398 [keepstation](INFO): Timed out from 2025-04-10T17:58:57.4Z
2025-04-10T18:58:57.398Z,1744311537.398 [MissionManager](INFO): keepstation is completed.
2025-04-10T18:58:57.398Z,1744311537.398 [MissionManager](INFO): Uninitializing Mission keepstation
2025-04-10T18:58:57.398Z,1744311537.398 [keepstation] Stopped
2025-04-10T18:58:57.398Z,1744311537.398 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-04-10T18:58:57.398Z,1744311537.398 [keepstation:StandardEnvelopes] Stopped
2025-04-10T18:58:57.398Z,1744311537.398 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-04-10T18:58:57.398Z,1744311537.398 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-10T18:58:57.398Z,1744311537.398 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-10T18:58:57.398Z,1744311537.398 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-10T18:58:57.399Z,1744311537.399 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-10T18:58:57.399Z,1744311537.399 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-10T18:58:57.399Z,1744311537.399 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-10T18:58:57.399Z,1744311537.399 [keepstation:BackseatDriver] Stopped
2025-04-10T18:58:57.399Z,1744311537.399 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-04-10T18:58:57.399Z,1744311537.399 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-04-10T18:58:57.399Z,1744311537.399 [keepstation:PowerOnly] Stopped
2025-04-10T18:58:57.399Z,1744311537.399 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-04-10T18:58:57.399Z,1744311537.399 [keepstation:PowerOnly:E.Wait] Stopped
2025-04-10T18:58:57.399Z,1744311537.399 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T18:58:57.399Z,1744311537.399 [keepstation:H.Pitch] Stopped
2025-04-10T18:58:57.399Z,1744311537.399 [keepstation:KeepStation] Stopped
2025-04-10T18:58:57.400Z,1744311537.400 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-04-10T18:58:57.400Z,1744311537.400 [keepstation:KeepStation:A] Stopped
2025-04-10T18:58:57.400Z,1744311537.400 [keepstation:KeepStation:B.Pitch] Stopped
2025-04-10T18:58:57.400Z,1744311537.400 [keepstation:KeepStation:C.KeepStation] Stopped
2025-04-10T18:58:57.400Z,1744311537.400 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-04-10T18:58:57.400Z,1744311537.400 [keepstation:KeepStation:D.Wait] Stopped
2025-04-10T18:58:57.400Z,1744311537.400 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T18:58:57.467Z,1744311537.467 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-04-10T18:58:57.467Z,1744311537.467 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-04-10T18:58:57.468Z,1744311537.468 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-04-10T18:58:57.473Z,1744311537.473 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-04-10T18:58:58.367Z,1744311538.367 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="ApproachDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:KeepStation>
            <Parallel />
            <Setting>
                <Guidance:KeepStation.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.radius />
                <Arg Name="Radius" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:KeepStation>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-04-10T18:58:58.376Z,1744311538.376 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-04-10T18:58:58.380Z,1744311538.380 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-04-10T18:58:58.382Z,1744311538.382 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-04-10T18:58:58.385Z,1744311538.385 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-04-10T18:58:58.387Z,1744311538.387 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-04-10T18:58:58.389Z,1744311538.389 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-04-10T18:58:58.391Z,1744311538.391 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-04-10T18:58:58.394Z,1744311538.394 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-04-10T18:58:58.396Z,1744311538.396 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-04-10T18:58:58.399Z,1744311538.399 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-04-10T18:58:58.401Z,1744311538.401 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-04-10T18:58:58.401Z,1744311538.401 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-10T18:58:58.402Z,1744311538.402 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-10T18:58:58.403Z,1744311538.403 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-10T18:58:58.713Z,1744311538.713 [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>

2025-04-10T18:58:58.718Z,1744311538.718 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-04-10T18:58:58.721Z,1744311538.721 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-10T18:58:58.723Z,1744311538.723 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-10T18:58:58.726Z,1744311538.726 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-04-10T18:58:58.728Z,1744311538.728 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-10T18:58:58.730Z,1744311538.730 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-10T18:58:58.758Z,1744311538.758 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-04-10T18:58:58.766Z,1744311538.766 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-04-10T18:58:58.791Z,1744311538.791 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-10T18:58:58.839Z,1744311538.839 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-10T18:58:58.839Z,1744311538.839 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-10T18:58:58.841Z,1744311538.841 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-10T18:58:58.931Z,1744311538.931 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-04-10T18:58:58.935Z,1744311538.935 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-10T18:58:58.937Z,1744311538.937 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-10T18:58:58.939Z,1744311538.939 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-10T18:58:58.942Z,1744311538.942 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-10T18:58:58.943Z,1744311538.943 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-10T18:58:59.005Z,1744311539.005 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-10T18:58:59.016Z,1744311539.016 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-10T18:58:59.040Z,1744311539.040 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-10T18:58:59.040Z,1744311539.040 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-10T18:58:59.045Z,1744311539.045 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-10T18:58:59.101Z,1744311539.101 [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>

2025-04-10T18:58:59.114Z,1744311539.114 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-04-10T18:58:59.121Z,1744311539.121 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-10T18:58:59.123Z,1744311539.123 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-10T18:58:59.123Z,1744311539.123 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-10T18:58:59.129Z,1744311539.129 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-10T18:58:59.247Z,1744311539.247 [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>

2025-04-10T18:58:59.251Z,1744311539.251 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-04-10T18:58:59.253Z,1744311539.253 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-04-10T18:58:59.255Z,1744311539.255 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-04-10T18:58:59.257Z,1744311539.257 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-04-10T18:58:59.260Z,1744311539.260 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-10T18:58:59.267Z,1744311539.267 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-10T18:58:59.268Z,1744311539.268 [keepstation:H.Pitch](DEBUG): Construct.
2025-04-10T18:58:59.299Z,1744311539.299 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-10T18:58:59.306Z,1744311539.306 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-04-10T18:58:59.317Z,1744311539.317 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-04-10T18:58:59.319Z,1744311539.319 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-04-10T18:58:59.333Z,1744311539.333 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-04-10T18:58:59.337Z,1744311539.337 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-04-10T18:58:59.342Z,1744311539.342 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-04-10T18:58:59.355Z,1744311539.355 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  call id="StartingMission" refId="NeedComms"

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

    run in sequence

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = ApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:KeepStation {
      run in parallel

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

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

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-04-10T18:58:59.356Z,1744311539.356 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-04-10T18:58:59.465Z,1744311539.465 [MissionManager](IMPORTANT): Started mission Default
2025-04-10T18:58:59.465Z,1744311539.465 [Default] Running Loop=1
2025-04-10T18:58:59.465Z,1744311539.465 [Default](DEBUG): Aggregate::initialize Default
2025-04-10T18:58:59.465Z,1744311539.465 [Default:B.GoToSurface] Running Loop=1
2025-04-10T18:58:59.465Z,1744311539.465 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T18:58:59.466Z,1744311539.466 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-10T18:58:59.466Z,1744311539.466 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-10T18:58:59.466Z,1744311539.466 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-10T18:58:59.467Z,1744311539.467 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-10T18:58:59.467Z,1744311539.467 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T18:58:59.467Z,1744311539.467 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T18:58:59.467Z,1744311539.467 [Default:A.Wait] Running Loop=1
2025-04-10T18:58:59.468Z,1744311539.468 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-10T18:58:59.969Z,1744311539.969 [Radio_Surface](INFO): Powering up
2025-04-10T18:59:05.333Z,1744311545.333 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T18:59:12.828Z,1744311552.828 [Default:A.Wait](INFO): Done Waiting.
2025-04-10T18:59:12.832Z,1744311552.832 [Default:A.Wait] Stopped
2025-04-10T18:59:12.833Z,1744311552.833 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T18:59:25.882Z,1744311565.882 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 1 hour
2025-04-10T18:59:25.882Z,1744311565.882 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-04-10T18:59:25.883Z,1744311565.883 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-04-10T18:59:25.884Z,1744311565.884 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-04-10T18:59:25.885Z,1744311565.885 [CommandExec](IMPORTANT): got command set keepstation.Depth 50 meter
2025-04-10T18:59:35.453Z,1744311575.453 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T18:59:36.564Z,1744311576.564 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 30 meter
2025-04-10T18:59:36.565Z,1744311576.565 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 90 meter
2025-04-10T18:59:36.565Z,1744311576.565 [CommandExec](IMPORTANT): got command run
2025-04-10T18:59:36.567Z,1744311576.567 [CommandExec](IMPORTANT): Running 
2025-04-10T18:59:36.671Z,1744311576.671 [Default] Stopped
2025-04-10T18:59:36.671Z,1744311576.671 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-10T18:59:36.671Z,1744311576.671 [Default:B.GoToSurface] Stopped
2025-04-10T18:59:36.671Z,1744311576.671 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T18:59:36.671Z,1744311576.671 [MissionManager](IMPORTANT): Started mission keepstation
2025-04-10T18:59:36.671Z,1744311576.671 [keepstation] Running Loop=1
2025-04-10T18:59:36.672Z,1744311576.672 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-04-10T18:59:36.672Z,1744311576.672 [keepstation:StandardEnvelopes] Running Loop=1
2025-04-10T18:59:36.672Z,1744311576.672 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-04-10T18:59:36.672Z,1744311576.672 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-10T18:59:36.672Z,1744311576.672 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-10T18:59:36.672Z,1744311576.672 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-10T18:59:36.672Z,1744311576.672 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-10T18:59:36.673Z,1744311576.673 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-10T18:59:36.673Z,1744311576.673 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-10T18:59:36.673Z,1744311576.673 [keepstation:BackseatDriver] Running Loop=1
2025-04-10T18:59:36.673Z,1744311576.673 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-04-10T18:59:36.673Z,1744311576.673 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-10T18:59:36.673Z,1744311576.673 [keepstation:PowerOnly] Running Loop=1
2025-04-10T18:59:36.673Z,1744311576.673 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-04-10T18:59:36.673Z,1744311576.673 [keepstation:PowerOnly:A] Running Loop=1
2025-04-10T18:59:36.673Z,1744311576.673 [keepstation:PowerOnly:B] Running Loop=1
2025-04-10T18:59:36.674Z,1744311576.674 [keepstation:PowerOnly:C] Running Loop=1
2025-04-10T18:59:36.674Z,1744311576.674 [keepstation:PowerOnly:D] Running Loop=1
2025-04-10T18:59:36.674Z,1744311576.674 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-04-10T18:59:36.674Z,1744311576.674 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-10T18:59:36.674Z,1744311576.674 [keepstation:H.Pitch] Running Loop=1
2025-04-10T18:59:36.674Z,1744311576.674 [keepstation:H.Pitch](DEBUG): Initialize.
2025-04-10T18:59:36.674Z,1744311576.674 [keepstation:B] Running Loop=1
2025-04-10T18:59:36.675Z,1744311576.675 [keepstation:H.Pitch] Running Loop=1
2025-04-10T18:59:36.675Z,1744311576.675 [keepstation:PowerOnly] Running Loop=1
2025-04-10T18:59:36.675Z,1744311576.675 [keepstation:PowerOnly:D] Stopped
2025-04-10T18:59:36.676Z,1744311576.676 [keepstation:PowerOnly:C] Stopped
2025-04-10T18:59:36.676Z,1744311576.676 [keepstation:PowerOnly:B] Stopped
2025-04-10T18:59:36.676Z,1744311576.676 [keepstation:PowerOnly:A] Stopped
2025-04-10T18:59:36.676Z,1744311576.676 [keepstation:BackseatDriver] Running Loop=1
2025-04-10T18:59:36.676Z,1744311576.676 [keepstation:StandardEnvelopes] Running Loop=1
2025-04-10T18:59:36.676Z,1744311576.676 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-10T18:59:36.676Z,1744311576.676 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-10T18:59:36.677Z,1744311576.677 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-10T18:59:36.677Z,1744311576.677 [keepstation:B] Stopped
2025-04-10T18:59:36.677Z,1744311576.677 [keepstation:D] Running Loop=1
2025-04-10T18:59:37.100Z,1744311577.100 [keepstation:D] Stopped
2025-04-10T18:59:37.100Z,1744311577.100 [keepstation:E] Running Loop=1
2025-04-10T18:59:37.478Z,1744311577.478 [keepstation:E] Stopped
2025-04-10T18:59:37.478Z,1744311577.478 [keepstation:StartingMission] Running Loop=1
2025-04-10T18:59:37.478Z,1744311577.478 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-04-10T18:59:37.906Z,1744311577.906 [keepstation:NeedComms] Running Loop=1
2025-04-10T18:59:37.906Z,1744311577.906 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T18:59:37.906Z,1744311577.906 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T18:59:37.906Z,1744311577.906 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T18:59:37.907Z,1744311577.907 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T18:59:37.907Z,1744311577.907 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T18:59:37.908Z,1744311577.908 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T18:59:37.908Z,1744311577.908 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T18:59:37.929Z,1744311577.929 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T18:59:37.929Z,1744311577.929 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T18:59:37.930Z,1744311577.930 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T18:59:37.931Z,1744311577.931 [keepstation:NeedComms:A](INFO): last time_fix was:  1744308643.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T18:59:37.931Z,1744311577.931 [keepstation:NeedComms:A] Stopped
2025-04-10T19:00:06.577Z,1744311606.577 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T19:00:12.692Z,1744311612.692 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T19:00:13.081Z,1744311613.081 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-10T19:00:26.794Z,1744311626.794 [NAL9602](INFO): SBD MO Status=0, MOMSN=19309, MT Status=0, MTMSN=0
2025-04-10T19:00:26.795Z,1744311626.795 [NAL9602](INFO): No messages in MT queue
2025-04-10T19:00:28.010Z,1744311628.010 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190027.00,A,3647.76452,N,12150.83180,W,0.836,79.74,100425,,,A*42
2025-04-10T19:00:28.012Z,1744311628.012 [NAL9602](INFO): GPS fix at 20250410T190027: (36.796075, -121.847197)
2025-04-10T19:00:28.024Z,1744311628.024 [keepstation:NeedComms:C] Stopped
2025-04-10T19:00:28.024Z,1744311628.024 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T19:00:28.437Z,1744311628.437 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-10T19:00:37.375Z,1744311637.375 [NAL9602](INFO): SBD MO Status=1, MOMSN=19310, MT Status=0, MTMSN=0
2025-04-10T19:00:37.425Z,1744311637.425 [NAL9602](INFO): Sent 88 bytes from file Logs/20250410T115620/Courier0030.lzma
2025-04-10T19:00:37.425Z,1744311637.425 [NAL9602](INFO): Packets left to send: 0
2025-04-10T19:00:37.701Z,1744311637.701 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T19:00:51.191Z,1744311651.191 [NAL9602](INFO): SBD MO Status=1, MOMSN=19311, MT Status=0, MTMSN=0
2025-04-10T19:00:51.245Z,1744311651.245 [NAL9602](INFO): Sent 332 bytes from file Logs/20250410T115620/Express0031.lzma
2025-04-10T19:00:51.245Z,1744311651.245 [NAL9602](INFO): Packets left to send: 2
2025-04-10T19:01:08.849Z,1744311668.849 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T19:01:14.313Z,1744311674.313 [NAL9602](INFO): SBD MO Status=2, MOMSN=19312, MT Status=2, MTMSN=0
2025-04-10T19:01:14.313Z,1744311674.313 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T19:01:17.745Z,1744311677.745 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003086
2025-04-10T19:01:25.282Z,1744311685.282 [DataOverHttps](INFO): Sending 672 bytes from file Logs/20250410T115620/Express0031.lzma
2025-04-10T19:01:26.283Z,1744311686.283 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0031.lzma.bak
2025-04-10T19:01:26.283Z,1744311686.283 [DataOverHttps](INFO): SBD MOMSN=24610002
2025-04-10T19:01:26.554Z,1744311686.554 [NAL9602](INFO): SBD MO Status=1, MOMSN=19312, MT Status=0, MTMSN=0
2025-04-10T19:01:26.609Z,1744311686.609 [NAL9602](INFO): Sent 332 bytes from file Logs/20250410T115620/Express0031.lzma
2025-04-10T19:01:26.609Z,1744311686.609 [NAL9602](INFO): Packets left to send: 1
2025-04-10T19:01:27.383Z,1744311687.383 [keepstation:NeedComms:D] Stopped
2025-04-10T19:01:27.383Z,1744311687.383 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T19:01:27.759Z,1744311687.759 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-10T19:01:29.374Z,1744311689.374 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190128.00,A,3647.76309,N,12150.83078,W,0.194,205.83,100425,,,A*73
2025-04-10T19:01:29.381Z,1744311689.381 [NAL9602](INFO): GPS fix at 20250410T190128: (36.796051, -121.847180)
2025-04-10T19:01:29.426Z,1744311689.426 [keepstation:NeedComms:E] Stopped
2025-04-10T19:01:29.427Z,1744311689.427 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T19:01:29.427Z,1744311689.427 [keepstation:NeedComms] Stopped
2025-04-10T19:01:29.427Z,1744311689.427 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T19:01:29.427Z,1744311689.427 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T19:01:29.427Z,1744311689.427 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T19:01:29.872Z,1744311689.872 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-04-10T19:01:29.872Z,1744311689.872 [keepstation:StartingMission] Stopped
2025-04-10T19:01:29.872Z,1744311689.872 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-04-10T19:01:29.872Z,1744311689.872 [keepstation:TransitToStation] Running Loop=1
2025-04-10T19:01:29.872Z,1744311689.872 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-04-10T19:01:29.872Z,1744311689.872 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-04-10T19:01:29.877Z,1744311689.877 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-10T19:01:29.877Z,1744311689.877 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-04-10T19:01:29.877Z,1744311689.877 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-04-10T19:01:29.877Z,1744311689.877 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-04-10T19:01:29.877Z,1744311689.877 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-04-10T19:01:29.877Z,1744311689.877 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-04-10T19:01:29.877Z,1744311689.877 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-04-10T19:01:29.878Z,1744311689.878 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-04-10T19:01:30.194Z,1744311690.194 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position 11.90 mm.
2025-04-10T19:01:30.204Z,1744311690.204 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-04-10T19:01:30.209Z,1744311690.209 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-04-10T19:01:30.209Z,1744311690.209 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-04-10T19:01:30.209Z,1744311690.209 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-04-10T19:02:01.868Z,1744311721.868 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T19:02:34.155Z,1744311754.155 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position 11.90 mm (3 active estimators).
2025-04-10T19:03:29.933Z,1744311809.933 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T19:03:34.421Z,1744311814.421 [Radio_Surface](INFO): Powering down
2025-04-10T19:04:01.057Z,1744311841.057 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T19:04:02.061Z,1744311842.061 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T19:04:41.078Z,1744311881.078 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-04-10T19:04:41.078Z,1744311881.078 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-04-10T19:04:41.078Z,1744311881.078 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-04-10T19:04:41.082Z,1744311881.082 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-04-10T19:04:41.082Z,1744311881.082 [keepstation:TransitToStation] Stopped
2025-04-10T19:04:41.082Z,1744311881.082 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-04-10T19:04:41.082Z,1744311881.082 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-04-10T19:04:41.082Z,1744311881.082 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-10T19:04:41.083Z,1744311881.083 [keepstation:TransitToStation:B.Pitch] Stopped
2025-04-10T19:04:41.083Z,1744311881.083 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-04-10T19:04:41.083Z,1744311881.083 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-04-10T19:04:41.083Z,1744311881.083 [keepstation:OnStation] Running Loop=1
2025-04-10T19:04:41.083Z,1744311881.083 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-04-10T19:04:41.446Z,1744311881.446 [keepstation:NeedComms] Running Loop=1
2025-04-10T19:04:41.446Z,1744311881.446 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T19:04:41.446Z,1744311881.446 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T19:04:41.446Z,1744311881.446 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T19:04:41.447Z,1744311881.447 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T19:04:41.447Z,1744311881.447 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T19:04:41.447Z,1744311881.447 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T19:04:41.448Z,1744311881.448 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T19:04:41.448Z,1744311881.448 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T19:04:41.449Z,1744311881.449 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T19:04:41.449Z,1744311881.449 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T19:04:41.451Z,1744311881.451 [keepstation:NeedComms:A](INFO): last time_fix was:  1744311688.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T19:04:41.451Z,1744311881.451 [keepstation:NeedComms:A] Stopped
2025-04-10T19:05:21.217Z,1744311921.217 [DVL_micro](ERROR): DVL uart error: serial timeout
2025-04-10T19:05:21.217Z,1744311921.217 [DVL_micro] Communications Fault, FailCount= 1
2025-04-10T19:05:21.217Z,1744311921.217 [DVL_micro](ERROR): Communications Fault
2025-04-10T19:05:21.217Z,1744311921.217 [DVL_micro](ERROR): Failed to parse:
2025-04-10T19:05:21.412Z,1744311921.412 [CBIT](ERROR): Communications Fault in component: DVL_micro
2025-04-10T19:05:21.645Z,1744311921.645 [DVL_micro](INFO): Powering down
2025-04-10T19:05:22.469Z,1744311922.469 [CBIT](INFO): Clearing failed state for component DVL_micro
2025-04-10T19:05:22.469Z,1744311922.469 [DVL_micro] No Fault, FailCount= 1
2025-04-10T19:05:24.397Z,1744311924.397 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.743317
2025-04-10T19:05:30.863Z,1744311930.863 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T19:05:31.629Z,1744311931.629 [Radio_Surface](INFO): Powering up
2025-04-10T19:05:37.449Z,1744311937.449 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T19:05:46.616Z,1744311946.616 [NAL9602](INFO): SBD MO Status=2, MOMSN=19313, MT Status=2, MTMSN=0
2025-04-10T19:05:46.616Z,1744311946.616 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T19:06:07.569Z,1744311967.569 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T19:06:10.441Z,1744311970.441 [DVL_micro](ERROR): Failed to parse:
:SA,+21.99,+05.13,291.2
2025-04-10T19:06:35.114Z,1744311995.114 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.680000m. At depth:0.146962m.
2025-04-10T19:06:38.693Z,1744311998.693 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T19:06:55.297Z,1744312015.297 [NAL9602](INFO): SBD MO Status=2, MOMSN=19313, MT Status=2, MTMSN=0
2025-04-10T19:06:55.298Z,1744312015.298 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T19:07:09.817Z,1744312029.817 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T19:07:15.483Z,1744312035.483 [NAL9602](INFO): SBD MO Status=0, MOMSN=19313, MT Status=0, MTMSN=0
2025-04-10T19:07:15.483Z,1744312035.483 [NAL9602](INFO): No messages in MT queue
2025-04-10T19:07:16.697Z,1744312036.697 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190716.00,A,3647.84621,N,12150.86672,W,0.544,265.95,100425,,,A*7B
2025-04-10T19:07:16.699Z,1744312036.699 [NAL9602](INFO): GPS fix at 20250410T190716: (36.797437, -121.847779)
2025-04-10T19:07:16.714Z,1744312036.714 [keepstation:NeedComms:C] Stopped
2025-04-10T19:07:16.714Z,1744312036.714 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T19:07:32.942Z,1744312052.942 [NAL9602](INFO): SBD MO Status=1, MOMSN=19314, MT Status=0, MTMSN=0
2025-04-10T19:07:32.995Z,1744312052.995 [NAL9602](INFO): Sent 74 bytes from file Logs/20250410T115620/Courier0033.lzma
2025-04-10T19:07:32.995Z,1744312052.995 [NAL9602](INFO): Packets left to send: 0
2025-04-10T19:07:40.945Z,1744312060.945 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T19:07:49.685Z,1744312069.685 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003107
2025-04-10T19:07:49.953Z,1744312069.953 [NAL9602](INFO): SBD MO Status=1, MOMSN=19315, MT Status=0, MTMSN=0
2025-04-10T19:07:49.997Z,1744312069.997 [NAL9602](INFO): Sent 330 bytes from file Logs/20250410T115620/Express0034.lzma
2025-04-10T19:07:49.997Z,1744312069.997 [NAL9602](INFO): Packets left to send: 0
2025-04-10T19:07:50.800Z,1744312070.800 [keepstation:NeedComms:D] Stopped
2025-04-10T19:07:50.801Z,1744312070.801 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T19:07:52.774Z,1744312072.774 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190752.00,A,3647.84469,N,12150.87111,W,0.253,198.50,100425,,,A*7F
2025-04-10T19:07:52.791Z,1744312072.791 [NAL9602](INFO): GPS fix at 20250410T190752: (36.797412, -121.847852)
2025-04-10T19:07:52.819Z,1744312072.819 [keepstation:NeedComms:E] Stopped
2025-04-10T19:07:52.820Z,1744312072.820 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T19:07:52.820Z,1744312072.820 [keepstation:NeedComms] Stopped
2025-04-10T19:07:52.820Z,1744312072.820 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T19:07:52.824Z,1744312072.824 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T19:07:52.825Z,1744312072.825 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T19:07:53.237Z,1744312073.237 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-04-10T19:07:53.237Z,1744312073.237 [keepstation:OnStation] Stopped
2025-04-10T19:07:53.238Z,1744312073.238 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-04-10T19:07:53.238Z,1744312073.238 [keepstation:KeepStation] Running Loop=1
2025-04-10T19:07:53.238Z,1744312073.238 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-04-10T19:07:53.238Z,1744312073.238 [keepstation:KeepStation:A] Running Loop=1
2025-04-10T19:07:53.238Z,1744312073.238 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-04-10T19:07:53.238Z,1744312073.238 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-04-10T19:07:53.238Z,1744312073.238 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-04-10T19:07:53.238Z,1744312073.238 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-04-10T19:07:53.239Z,1744312073.239 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-04-10T19:07:53.239Z,1744312073.239 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-04-10T19:07:53.602Z,1744312073.602 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-04-10T19:07:53.602Z,1744312073.602 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-04-10T19:07:53.603Z,1744312073.603 [keepstation:KeepStation:A] Running Loop=1
2025-04-10T19:08:25.090Z,1744312105.090 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T19:10:23.145Z,1744312223.145 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T19:10:38.677Z,1744312238.677 [Radio_Surface](INFO): Powering down
2025-04-10T19:10:54.277Z,1744312254.277 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T19:10:55.281Z,1744312255.281 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T19:11:59.577Z,1744312319.577 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.351318
2025-04-10T19:24:56.111Z,1744313096.111 [DVL_micro](ERROR): Failed to parse:
:WI,+00000,+00000,+00000,+00000,I
2025-04-10T19:25:08.249Z,1744313108.249 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-04-10T19:28:56.924Z,1744313336.924 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-04-10T19:28:56.927Z,1744313336.927 [BPC1](INFO): Received data from all battery sticks.
2025-04-10T19:33:33.293Z,1744313613.293 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-04-10T19:50:43.068Z,1744314643.068 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.32,+9999.99,+0000.34,+0009.09
2025-04-10T19:55:22.242Z,1744314922.242 [DVL_micro](ERROR): Failed to parse:
:SA,-05.20,+02.80,083.8
2025-04-10T19:57:18.998Z,1744315038.998 [Sonardyne_Nano](ERROR): Failed to parse response: >VS:2213,HPR45,EXT,TILT

2025-04-10T19:59:36.761Z,1744315176.761 [keepstation](INFO): Timed out from 2025-04-10T18:59:36.7Z
2025-04-10T19:59:36.761Z,1744315176.761 [MissionManager](INFO): keepstation is completed.
2025-04-10T19:59:36.761Z,1744315176.761 [MissionManager](INFO): Uninitializing Mission keepstation
2025-04-10T19:59:36.761Z,1744315176.761 [keepstation] Stopped
2025-04-10T19:59:36.761Z,1744315176.761 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-04-10T19:59:36.762Z,1744315176.762 [keepstation:StandardEnvelopes] Stopped
2025-04-10T19:59:36.762Z,1744315176.762 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-04-10T19:59:36.762Z,1744315176.762 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-10T19:59:36.762Z,1744315176.762 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-10T19:59:36.762Z,1744315176.762 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-10T19:59:36.762Z,1744315176.762 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-10T19:59:36.762Z,1744315176.762 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-10T19:59:36.762Z,1744315176.762 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-10T19:59:36.762Z,1744315176.762 [keepstation:BackseatDriver] Stopped
2025-04-10T19:59:36.762Z,1744315176.762 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-04-10T19:59:36.762Z,1744315176.762 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-04-10T19:59:36.762Z,1744315176.762 [keepstation:PowerOnly] Stopped
2025-04-10T19:59:36.763Z,1744315176.763 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-04-10T19:59:36.763Z,1744315176.763 [keepstation:PowerOnly:E.Wait] Stopped
2025-04-10T19:59:36.763Z,1744315176.763 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T19:59:36.763Z,1744315176.763 [keepstation:H.Pitch] Stopped
2025-04-10T19:59:36.763Z,1744315176.763 [keepstation:KeepStation] Stopped
2025-04-10T19:59:36.763Z,1744315176.763 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-04-10T19:59:36.763Z,1744315176.763 [keepstation:KeepStation:A] Stopped
2025-04-10T19:59:36.763Z,1744315176.763 [keepstation:KeepStation:B.Pitch] Stopped
2025-04-10T19:59:36.763Z,1744315176.763 [keepstation:KeepStation:C.KeepStation] Stopped
2025-04-10T19:59:36.763Z,1744315176.763 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-04-10T19:59:36.763Z,1744315176.763 [keepstation:KeepStation:D.Wait] Stopped
2025-04-10T19:59:36.763Z,1744315176.763 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T19:59:37.175Z,1744315177.175 [MissionManager](IMPORTANT): Started mission Default
2025-04-10T19:59:37.175Z,1744315177.175 [Default] Running Loop=1
2025-04-10T19:59:37.175Z,1744315177.175 [Default](DEBUG): Aggregate::initialize Default
2025-04-10T19:59:37.175Z,1744315177.175 [Default:B.GoToSurface] Running Loop=1
2025-04-10T19:59:37.176Z,1744315177.176 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T19:59:37.176Z,1744315177.176 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-10T19:59:37.176Z,1744315177.176 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-10T19:59:37.177Z,1744315177.177 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-10T19:59:37.177Z,1744315177.177 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-10T19:59:37.178Z,1744315177.178 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T19:59:37.178Z,1744315177.178 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T19:59:37.179Z,1744315177.179 [Default:A.Wait] Running Loop=1
2025-04-10T19:59:37.179Z,1744315177.179 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-10T19:59:37.789Z,1744315177.789 [Radio_Surface](INFO): Powering up
2025-04-10T19:59:43.557Z,1744315183.557 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T19:59:50.527Z,1744315190.527 [Default:A.Wait](INFO): Done Waiting.
2025-04-10T19:59:50.527Z,1744315190.527 [Default:A.Wait] Stopped
2025-04-10T19:59:50.527Z,1744315190.527 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T20:00:13.679Z,1744315213.679 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T20:00:44.801Z,1744315244.801 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T20:01:15.925Z,1744315275.925 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T20:01:24.247Z,1744315284.247 [Default:CheckIn] Running Loop=1
2025-04-10T20:01:24.247Z,1744315284.247 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-10T20:01:24.248Z,1744315284.248 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-10T20:01:47.073Z,1744315307.073 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T20:01:54.544Z,1744315314.544 [NAL9602](INFO): SBD MO Status=0, MOMSN=19316, MT Status=0, MTMSN=0
2025-04-10T20:01:54.544Z,1744315314.544 [NAL9602](INFO): No messages in MT queue
2025-04-10T20:01:55.769Z,1744315315.769 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,200155.00,A,3647.82743,N,12150.48219,W,0.486,3.74,100425,,,A*7A
2025-04-10T20:01:55.772Z,1744315315.772 [NAL9602](INFO): GPS fix at 20250410T200155: (36.797124, -121.841370)
2025-04-10T20:01:55.784Z,1744315315.784 [UniversalFixResidualReporter](INFO): Fix residual: 30.8 %DT, over the last 864.7 m. Residual distance 266.6 m at bearing -87.7 degrees. Fix at (36.7971, -121.8414) with 578.0 m made good.
2025-04-10T20:01:55.785Z,1744315315.785 [Default:CheckIn:Read_GPS] Stopped
2025-04-10T20:01:55.785Z,1744315315.785 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-10T20:01:56.013Z,1744315316.013 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003105
2025-04-10T20:02:04.165Z,1744315324.165 [DataOverHttps](INFO): Sending 96 bytes from file Logs/20250410T115620/Courier0036.lzma
2025-04-10T20:02:05.167Z,1744315325.167 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Courier0036.lzma.bak
2025-04-10T20:02:05.167Z,1744315325.167 [DataOverHttps](INFO): SBD MOMSN=24610457
2025-04-10T20:02:21.893Z,1744315341.893 [DataOverHttps](INFO): Sending 446 bytes from file Logs/20250410T115620/Express0037.lzma
2025-04-10T20:02:22.895Z,1744315342.895 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0037.lzma.bak
2025-04-10T20:02:22.895Z,1744315342.895 [DataOverHttps](INFO): SBD MOMSN=24610461
2025-04-10T20:02:24.049Z,1744315344.049 [Default:CheckIn:Read_Iridium] Stopped
2025-04-10T20:02:24.049Z,1744315344.049 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-10T20:02:24.049Z,1744315344.049 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-10T20:02:28.071Z,1744315348.071 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T20:07:24.673Z,1744315644.673 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-04-10T20:07:24.673Z,1744315644.673 [Default:CheckIn:C.Wait] Stopped
2025-04-10T20:07:24.673Z,1744315644.673 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T20:07:24.673Z,1744315644.673 [Default:CheckIn:D] Running Loop=1
2025-04-10T20:07:25.090Z,1744315645.090 [Default:CheckIn:D] Stopped
2025-04-10T20:07:25.090Z,1744315645.090 [Default:CheckIn:E] Running Loop=1
2025-04-10T20:07:25.495Z,1744315645.495 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  7.798579 min 
2025-04-10T20:07:25.495Z,1744315645.495 [Default:CheckIn:E] Stopped
2025-04-10T20:07:25.496Z,1744315645.496 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-04-10T20:07:25.496Z,1744315645.496 [Default:CheckIn] Stopped
2025-04-10T20:07:25.496Z,1744315645.496 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-10T20:07:25.496Z,1744315645.496 [Default:CheckIn](INFO): Running loop #2
2025-04-10T20:07:25.496Z,1744315645.496 [Default:CheckIn] Running Loop=2
2025-04-10T20:07:25.496Z,1744315645.496 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-10T20:07:25.496Z,1744315645.496 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-10T20:07:27.491Z,1744315647.491 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,200727.00,A,3647.83894,N,12150.49285,W,0.389,165.01,100425,,,A*72
2025-04-10T20:07:27.493Z,1744315647.493 [NAL9602](INFO): GPS fix at 20250410T200727: (36.797316, -121.841548)
2025-04-10T20:07:27.503Z,1744315647.503 [Default:CheckIn:Read_GPS] Stopped
2025-04-10T20:07:27.503Z,1744315647.503 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-10T20:07:37.992Z,1744315657.992 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250410T115620/Courier0039.lzma
2025-04-10T20:07:38.995Z,1744315658.995 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Courier0039.lzma.bak
2025-04-10T20:07:38.995Z,1744315658.995 [DataOverHttps](INFO): SBD MOMSN=24610467
2025-04-10T20:07:40.847Z,1744315660.847 [NAL9602](INFO): SBD MO Status=0, MOMSN=19317, MT Status=0, MTMSN=0
2025-04-10T20:07:40.847Z,1744315660.847 [NAL9602](INFO): No messages in MT queue
2025-04-10T20:07:55.349Z,1744315675.349 [DataOverHttps](INFO): Sending 224 bytes from file Logs/20250410T115620/Express0040.lzma
2025-04-10T20:07:56.351Z,1744315676.351 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0040.lzma.bak
2025-04-10T20:07:56.351Z,1744315676.351 [DataOverHttps](INFO): SBD MOMSN=24610471
2025-04-10T20:07:57.470Z,1744315677.470 [Default:CheckIn:Read_Iridium] Stopped
2025-04-10T20:07:57.470Z,1744315677.470 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-10T20:07:57.470Z,1744315677.470 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-10T20:08:11.557Z,1744315691.557 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T20:09:39.551Z,1744315779.551 [DataOverHttps](IMPORTANT): SBD MTMSN=20250410T200938
2025-04-10T20:09:47.369Z,1744315787.369 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 1 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 50 m" 4kinj 1 2
2025-04-10T20:09:47.397Z,1744315787.397 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 1 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 50 m" 4kinj 1 2.000000
2025-04-10T20:09:47.398Z,1744315787.398 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4kinj
2025-04-10T20:09:47.399Z,1744315787.399 [CommandExec](IMPORTANT): Scheduled #6 (#1 of 2 with id='4kinj'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 1 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 50 m", ASAP
2025-04-10T20:09:48.370Z,1744315788.370 [DataOverHttps](IMPORTANT): SBD MTMSN=20250410T200947
2025-04-10T20:09:56.117Z,1744315796.117 [DataOverHttps](INFO): Received command: sched asap "set keepstation.DepthDeadband 15 m;set keepstation.MaxDepth 90 m;run" 4kinj 2 2
2025-04-10T20:09:56.140Z,1744315796.140 [CommandExec](IMPORTANT): got command schedule asap "set keepstation.DepthDeadband 15 m;set keepstation.MaxDepth 90 m;run" 4kinj 2 2.000000
2025-04-10T20:09:56.140Z,1744315796.140 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4kinj
2025-04-10T20:09:56.141Z,1744315796.141 [CommandExec](IMPORTANT): Scheduled #7 (#2 of 2 with id='4kinj'): "set keepstation.DepthDeadband 15 m;set keepstation.MaxDepth 90 m;run", ASAP
2025-04-10T20:09:56.257Z,1744315796.257 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-04-10T20:09:56.258Z,1744315796.258 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-04-10T20:09:56.258Z,1744315796.258 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-04-10T20:09:56.259Z,1744315796.259 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-04-10T20:09:57.181Z,1744315797.181 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="ApproachDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:KeepStation>
            <Parallel />
            <Setting>
                <Guidance:KeepStation.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.radius />
                <Arg Name="Radius" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:KeepStation>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-04-10T20:09:57.186Z,1744315797.186 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-04-10T20:09:57.189Z,1744315797.189 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-04-10T20:09:57.191Z,1744315797.191 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-04-10T20:09:57.193Z,1744315797.193 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-04-10T20:09:57.196Z,1744315797.196 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-04-10T20:09:57.199Z,1744315797.199 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-04-10T20:09:57.202Z,1744315797.202 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-04-10T20:09:57.204Z,1744315797.204 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-04-10T20:09:57.207Z,1744315797.207 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-04-10T20:09:57.235Z,1744315797.235 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-04-10T20:09:57.238Z,1744315797.238 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-04-10T20:09:57.238Z,1744315797.238 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-10T20:09:57.238Z,1744315797.238 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-10T20:09:57.240Z,1744315797.240 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-10T20:09:57.530Z,1744315797.530 [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>

2025-04-10T20:09:57.535Z,1744315797.535 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-04-10T20:09:57.537Z,1744315797.537 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-10T20:09:57.540Z,1744315797.540 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-10T20:09:57.542Z,1744315797.542 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-04-10T20:09:57.544Z,1744315797.544 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-10T20:09:57.547Z,1744315797.547 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-10T20:09:57.552Z,1744315797.552 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-04-10T20:09:57.571Z,1744315797.571 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-04-10T20:09:57.625Z,1744315797.625 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-10T20:09:57.672Z,1744315797.672 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-10T20:09:57.672Z,1744315797.672 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-10T20:09:57.677Z,1744315797.677 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-10T20:09:57.763Z,1744315797.763 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-04-10T20:09:57.767Z,1744315797.767 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-10T20:09:57.770Z,1744315797.770 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-10T20:09:57.772Z,1744315797.772 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-10T20:09:57.774Z,1744315797.774 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-10T20:09:57.775Z,1744315797.775 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-10T20:09:57.782Z,1744315797.782 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-10T20:09:57.788Z,1744315797.788 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-10T20:09:57.852Z,1744315797.852 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-10T20:09:57.852Z,1744315797.852 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-10T20:09:57.861Z,1744315797.861 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-10T20:09:57.959Z,1744315797.959 [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>

2025-04-10T20:09:57.965Z,1744315797.965 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-04-10T20:09:57.969Z,1744315797.969 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-10T20:09:57.972Z,1744315797.972 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-10T20:09:57.973Z,1744315797.973 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-10T20:09:57.975Z,1744315797.975 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-10T20:09:58.116Z,1744315798.116 [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>

2025-04-10T20:09:58.120Z,1744315798.120 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-04-10T20:09:58.123Z,1744315798.123 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-04-10T20:09:58.125Z,1744315798.125 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-04-10T20:09:58.127Z,1744315798.127 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-04-10T20:09:58.130Z,1744315798.130 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-10T20:09:58.137Z,1744315798.137 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-10T20:09:58.138Z,1744315798.138 [keepstation:H.Pitch](DEBUG): Construct.
2025-04-10T20:09:58.145Z,1744315798.145 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-10T20:09:58.148Z,1744315798.148 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-04-10T20:09:58.153Z,1744315798.153 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-04-10T20:09:58.155Z,1744315798.155 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-04-10T20:09:58.188Z,1744315798.188 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-04-10T20:09:58.196Z,1744315798.196 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-04-10T20:09:58.209Z,1744315798.209 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-04-10T20:09:58.283Z,1744315798.283 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  call id="StartingMission" refId="NeedComms"

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

    run in sequence

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = ApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:KeepStation {
      run in parallel

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

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

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-04-10T20:09:58.283Z,1744315798.283 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-04-10T20:10:20.569Z,1744315820.569 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 1 hour
2025-04-10T20:10:20.570Z,1744315820.570 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-04-10T20:10:20.571Z,1744315820.571 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-04-10T20:10:20.572Z,1744315820.572 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-04-10T20:10:20.582Z,1744315820.582 [CommandExec](IMPORTANT): got command set keepstation.Depth 50 meter
2025-04-10T20:10:37.589Z,1744315837.589 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 15 meter
2025-04-10T20:10:37.590Z,1744315837.590 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 90 meter
2025-04-10T20:10:37.591Z,1744315837.591 [CommandExec](IMPORTANT): got command run
2025-04-10T20:10:37.595Z,1744315837.595 [CommandExec](IMPORTANT): Running 
2025-04-10T20:10:37.875Z,1744315837.875 [Default] Stopped
2025-04-10T20:10:37.875Z,1744315837.875 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-10T20:10:37.875Z,1744315837.875 [Default:B.GoToSurface] Stopped
2025-04-10T20:10:37.876Z,1744315837.876 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T20:10:37.876Z,1744315837.876 [Default:CheckIn] Stopped
2025-04-10T20:10:37.876Z,1744315837.876 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-10T20:10:37.876Z,1744315837.876 [Default:CheckIn:C.Wait] Stopped
2025-04-10T20:10:37.876Z,1744315837.876 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T20:10:37.876Z,1744315837.876 [MissionManager](IMPORTANT): Started mission keepstation
2025-04-10T20:10:37.876Z,1744315837.876 [keepstation] Running Loop=1
2025-04-10T20:10:37.877Z,1744315837.877 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-04-10T20:10:37.877Z,1744315837.877 [keepstation:StandardEnvelopes] Running Loop=1
2025-04-10T20:10:37.877Z,1744315837.877 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-04-10T20:10:37.877Z,1744315837.877 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-10T20:10:37.877Z,1744315837.877 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-10T20:10:37.877Z,1744315837.877 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-10T20:10:37.877Z,1744315837.877 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-10T20:10:37.877Z,1744315837.877 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-10T20:10:37.877Z,1744315837.877 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-10T20:10:37.878Z,1744315837.878 [keepstation:BackseatDriver] Running Loop=1
2025-04-10T20:10:37.878Z,1744315837.878 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-04-10T20:10:37.878Z,1744315837.878 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-10T20:10:37.878Z,1744315837.878 [keepstation:PowerOnly] Running Loop=1
2025-04-10T20:10:37.878Z,1744315837.878 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-04-10T20:10:37.878Z,1744315837.878 [keepstation:PowerOnly:A] Running Loop=1
2025-04-10T20:10:37.878Z,1744315837.878 [keepstation:PowerOnly:B] Running Loop=1
2025-04-10T20:10:37.878Z,1744315837.878 [keepstation:PowerOnly:C] Running Loop=1
2025-04-10T20:10:37.878Z,1744315837.878 [keepstation:PowerOnly:D] Running Loop=1
2025-04-10T20:10:37.878Z,1744315837.878 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-04-10T20:10:37.878Z,1744315837.878 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-10T20:10:37.879Z,1744315837.879 [keepstation:H.Pitch] Running Loop=1
2025-04-10T20:10:37.879Z,1744315837.879 [keepstation:H.Pitch](DEBUG): Initialize.
2025-04-10T20:10:37.879Z,1744315837.879 [keepstation:B] Running Loop=1
2025-04-10T20:10:37.879Z,1744315837.879 [keepstation:H.Pitch] Running Loop=1
2025-04-10T20:10:37.880Z,1744315837.880 [keepstation:PowerOnly] Running Loop=1
2025-04-10T20:10:37.880Z,1744315837.880 [keepstation:PowerOnly:D] Stopped
2025-04-10T20:10:37.880Z,1744315837.880 [keepstation:PowerOnly:C] Stopped
2025-04-10T20:10:37.880Z,1744315837.880 [keepstation:PowerOnly:B] Stopped
2025-04-10T20:10:37.880Z,1744315837.880 [keepstation:PowerOnly:A] Stopped
2025-04-10T20:10:37.880Z,1744315837.880 [keepstation:BackseatDriver] Running Loop=1
2025-04-10T20:10:37.897Z,1744315837.897 [keepstation:StandardEnvelopes] Running Loop=1
2025-04-10T20:10:37.897Z,1744315837.897 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-10T20:10:37.897Z,1744315837.897 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-10T20:10:37.897Z,1744315837.897 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-10T20:10:37.898Z,1744315837.898 [keepstation:B] Stopped
2025-04-10T20:10:37.898Z,1744315837.898 [keepstation:D] Running Loop=1
2025-04-10T20:10:38.290Z,1744315838.290 [keepstation:D] Stopped
2025-04-10T20:10:38.291Z,1744315838.291 [keepstation:E] Running Loop=1
2025-04-10T20:10:38.682Z,1744315838.682 [keepstation:E] Stopped
2025-04-10T20:10:38.682Z,1744315838.682 [keepstation:StartingMission] Running Loop=1
2025-04-10T20:10:38.682Z,1744315838.682 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-04-10T20:10:39.109Z,1744315839.109 [keepstation:NeedComms] Running Loop=1
2025-04-10T20:10:39.109Z,1744315839.109 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T20:10:39.109Z,1744315839.109 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T20:10:39.109Z,1744315839.109 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T20:10:39.109Z,1744315839.109 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T20:10:39.110Z,1744315839.110 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T20:10:39.110Z,1744315839.110 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T20:10:39.110Z,1744315839.110 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T20:10:39.111Z,1744315839.111 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T20:10:39.111Z,1744315839.111 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T20:10:39.111Z,1744315839.111 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T20:10:39.113Z,1744315839.113 [keepstation:NeedComms:A](INFO): last time_fix was:  1744315647.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T20:10:39.113Z,1744315839.113 [keepstation:NeedComms:A] Stopped
2025-04-10T20:10:39.494Z,1744315839.494 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T20:10:39.897Z,1744315839.897 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-10T20:10:41.512Z,1744315841.512 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201041.00,A,3647.84440,N,12150.49742,W,1.127,62.93,100425,,,A*42
2025-04-10T20:10:41.533Z,1744315841.533 [NAL9602](INFO): GPS fix at 20250410T201041: (36.797407, -121.841624)
2025-04-10T20:10:41.545Z,1744315841.545 [keepstation:NeedComms:C] Stopped
2025-04-10T20:10:41.545Z,1744315841.545 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T20:10:41.945Z,1744315841.945 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-10T20:10:49.552Z,1744315849.552 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250410T115620/Courier0042.lzma
2025-04-10T20:10:50.555Z,1744315850.555 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Courier0042.lzma.bak
2025-04-10T20:10:50.555Z,1744315850.555 [DataOverHttps](INFO): SBD MOMSN=24610544
2025-04-10T20:11:00.092Z,1744315860.092 [NAL9602](INFO): SBD MO Status=0, MOMSN=19318, MT Status=0, MTMSN=0
2025-04-10T20:11:00.092Z,1744315860.092 [NAL9602](INFO): No messages in MT queue
2025-04-10T20:11:06.936Z,1744315866.936 [DataOverHttps](INFO): Sending 603 bytes from file Logs/20250410T115620/Express0043.lzma
2025-04-10T20:11:07.931Z,1744315867.931 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0043.lzma.bak
2025-04-10T20:11:07.931Z,1744315867.931 [DataOverHttps](INFO): SBD MOMSN=24610547
2025-04-10T20:11:24.600Z,1744315884.600 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250410T115620/Express0046.lzma
2025-04-10T20:11:25.603Z,1744315885.603 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0046.lzma.bak
2025-04-10T20:11:25.603Z,1744315885.603 [DataOverHttps](INFO): SBD MOMSN=24610569
2025-04-10T20:11:26.771Z,1744315886.771 [keepstation:NeedComms:D] Stopped
2025-04-10T20:11:26.771Z,1744315886.771 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T20:11:27.165Z,1744315887.165 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-10T20:11:28.787Z,1744315888.787 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201128.00,A,3647.84569,N,12150.49920,W,0.641,70.58,100425,,,A*4E
2025-04-10T20:11:28.801Z,1744315888.801 [NAL9602](INFO): GPS fix at 20250410T201128: (36.797428, -121.841653)
2025-04-10T20:11:28.826Z,1744315888.826 [keepstation:NeedComms:E] Stopped
2025-04-10T20:11:28.827Z,1744315888.827 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T20:11:28.827Z,1744315888.827 [keepstation:NeedComms] Stopped
2025-04-10T20:11:28.827Z,1744315888.827 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T20:11:28.827Z,1744315888.827 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T20:11:28.827Z,1744315888.827 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T20:11:29.230Z,1744315889.230 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-04-10T20:11:29.230Z,1744315889.230 [keepstation:StartingMission] Stopped
2025-04-10T20:11:29.230Z,1744315889.230 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-04-10T20:11:29.231Z,1744315889.231 [keepstation:TransitToStation] Running Loop=1
2025-04-10T20:11:29.231Z,1744315889.231 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-04-10T20:11:29.231Z,1744315889.231 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-04-10T20:11:29.231Z,1744315889.231 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-10T20:11:29.231Z,1744315889.231 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-04-10T20:11:29.231Z,1744315889.231 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-04-10T20:11:29.231Z,1744315889.231 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-04-10T20:11:29.232Z,1744315889.232 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-04-10T20:11:29.232Z,1744315889.232 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-04-10T20:11:29.232Z,1744315889.232 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-04-10T20:11:29.237Z,1744315889.237 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-04-10T20:11:29.621Z,1744315889.621 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-04-10T20:11:29.622Z,1744315889.622 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-04-10T20:11:29.622Z,1744315889.622 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-04-10T20:11:29.623Z,1744315889.623 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-04-10T20:12:00.984Z,1744315920.984 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T20:12:58.198Z,1744315978.198 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T20:13:23.013Z,1744316003.013 [Radio_Surface](INFO): Powering down
2025-04-10T20:13:29.321Z,1744316009.321 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T20:13:30.325Z,1744316010.325 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T20:14:24.774Z,1744316064.774 [DVL_micro](ERROR): Failed to parse:
:WI,+00002,+00375,-00120,+00000,A
2025-04-10T20:15:06.729Z,1744316106.729 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.743225
2025-04-10T20:24:06.209Z,1744316646.209 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-04-10T20:24:06.209Z,1744316646.209 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-04-10T20:24:06.209Z,1744316646.209 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-04-10T20:24:06.211Z,1744316646.211 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-04-10T20:24:06.211Z,1744316646.211 [keepstation:TransitToStation] Stopped
2025-04-10T20:24:06.211Z,1744316646.211 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-04-10T20:24:06.211Z,1744316646.211 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-04-10T20:24:06.211Z,1744316646.211 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-10T20:24:06.211Z,1744316646.211 [keepstation:TransitToStation:B.Pitch] Stopped
2025-04-10T20:24:06.211Z,1744316646.211 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-04-10T20:24:06.211Z,1744316646.211 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-04-10T20:24:06.211Z,1744316646.211 [keepstation:OnStation] Running Loop=1
2025-04-10T20:24:06.211Z,1744316646.211 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-04-10T20:24:06.605Z,1744316646.605 [keepstation:NeedComms] Running Loop=1
2025-04-10T20:24:06.606Z,1744316646.606 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T20:24:06.606Z,1744316646.606 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T20:24:06.606Z,1744316646.606 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T20:24:06.606Z,1744316646.606 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T20:24:06.606Z,1744316646.606 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T20:24:06.607Z,1744316646.607 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T20:24:06.607Z,1744316646.607 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T20:24:06.607Z,1744316646.607 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T20:24:06.608Z,1744316646.608 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T20:24:06.608Z,1744316646.608 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T20:24:06.610Z,1744316646.610 [keepstation:NeedComms:A](INFO): last time_fix was:  1744315888.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T20:24:06.610Z,1744316646.610 [keepstation:NeedComms:A] Stopped
2025-04-10T20:24:57.718Z,1744316697.718 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T20:24:58.401Z,1744316698.401 [Radio_Surface](INFO): Powering up
2025-04-10T20:25:04.189Z,1744316704.189 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T20:25:34.321Z,1744316734.321 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T20:25:43.493Z,1744316743.493 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.500000m. At depth:0.363266m.
2025-04-10T20:25:46.623Z,1744316746.623 [NAL9602](INFO): SBD MO Status=2, MOMSN=19319, MT Status=2, MTMSN=0
2025-04-10T20:25:46.623Z,1744316746.623 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T20:26:05.449Z,1744316765.449 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T20:26:22.563Z,1744316782.563 [DVL_micro](ERROR): Failed to parse:
:SA,-03.43,+00.43,271.1
2025-04-10T20:26:25.395Z,1744316785.395 [NAL9602](INFO): SBD MO Status=2, MOMSN=19319, MT Status=2, MTMSN=0
2025-04-10T20:26:25.395Z,1744316785.395 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T20:26:35.086Z,1744316795.086 [NAL9602](INFO): SBD MO Status=0, MOMSN=19319, MT Status=0, MTMSN=0
2025-04-10T20:26:35.087Z,1744316795.087 [NAL9602](INFO): No messages in MT queue
2025-04-10T20:26:36.310Z,1744316796.310 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202635.00,A,3647.80094,N,12150.87104,W,0.467,254.29,100425,,,A*7D
2025-04-10T20:26:36.312Z,1744316796.312 [NAL9602](INFO): GPS fix at 20250410T202635: (36.796682, -121.847851)
2025-04-10T20:26:36.325Z,1744316796.325 [UniversalFixResidualReporter](INFO): Fix residual: 5.9 %DT, over the last 665.1 m. Residual distance 38.9 m at bearing 104.4 degrees. Fix at (36.7967, -121.8478) with 558.0 m made good.
2025-04-10T20:26:36.327Z,1744316796.327 [keepstation:NeedComms:C] Stopped
2025-04-10T20:26:36.328Z,1744316796.328 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T20:26:36.573Z,1744316796.573 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T20:26:49.232Z,1744316809.232 [DVL_micro](ERROR): only read 1 of 4 data items for beam range. Device response is::RD,+99
2025-04-10T20:26:49.233Z,1744316809.233 [DVL_micro](ERROR): Failed to parse:
:RD,+99
2025-04-10T20:27:02.205Z,1744316822.205 [NAL9602](INFO): SBD MO Status=1, MOMSN=19320, MT Status=0, MTMSN=0
2025-04-10T20:27:02.261Z,1744316822.261 [NAL9602](INFO): Sent 85 bytes from file Logs/20250410T115620/Courier0048.lzma
2025-04-10T20:27:02.261Z,1744316822.261 [NAL9602](INFO): Packets left to send: 0
2025-04-10T20:27:07.697Z,1744316827.697 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T20:27:11.574Z,1744316831.574 [NAL9602](INFO): SBD MO Status=1, MOMSN=19321, MT Status=0, MTMSN=0
2025-04-10T20:27:11.625Z,1744316831.625 [NAL9602](INFO): Sent 332 bytes from file Logs/20250410T115620/Express0049.lzma
2025-04-10T20:27:11.625Z,1744316831.625 [NAL9602](INFO): Packets left to send: 1
2025-04-10T20:27:15.662Z,1744316835.662 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.32,+9999.99,+0000.34,+9999.99
2025-04-10T20:27:16.045Z,1744316836.045 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003154
2025-04-10T20:27:22.116Z,1744316842.116 [NAL9602](INFO): SBD MO Status=1, MOMSN=19322, MT Status=0, MTMSN=0
2025-04-10T20:27:22.165Z,1744316842.165 [NAL9602](INFO): Sent 69 bytes from file Logs/20250410T115620/Express0049.lzma
2025-04-10T20:27:22.165Z,1744316842.165 [NAL9602](INFO): Packets left to send: 0
2025-04-10T20:27:23.347Z,1744316843.347 [keepstation:NeedComms:D] Stopped
2025-04-10T20:27:23.348Z,1744316843.348 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T20:27:25.355Z,1744316845.355 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202724.00,A,3647.79928,N,12150.87480,W,0.175,262.87,100425,,,A*7A
2025-04-10T20:27:25.357Z,1744316845.357 [NAL9602](INFO): GPS fix at 20250410T202724: (36.796655, -121.847913)
2025-04-10T20:27:25.369Z,1744316845.369 [keepstation:NeedComms:E] Stopped
2025-04-10T20:27:25.370Z,1744316845.370 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T20:27:25.370Z,1744316845.370 [keepstation:NeedComms] Stopped
2025-04-10T20:27:25.370Z,1744316845.370 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T20:27:25.371Z,1744316845.371 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T20:27:25.371Z,1744316845.371 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T20:27:25.785Z,1744316845.785 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-04-10T20:27:25.785Z,1744316845.785 [keepstation:OnStation] Stopped
2025-04-10T20:27:25.786Z,1744316845.786 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-04-10T20:27:25.786Z,1744316845.786 [keepstation:KeepStation] Running Loop=1
2025-04-10T20:27:25.786Z,1744316845.786 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-04-10T20:27:25.786Z,1744316845.786 [keepstation:KeepStation:A] Running Loop=1
2025-04-10T20:27:25.786Z,1744316845.786 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-04-10T20:27:25.786Z,1744316845.786 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-04-10T20:27:25.786Z,1744316845.786 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-04-10T20:27:25.786Z,1744316845.786 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-04-10T20:27:25.787Z,1744316845.787 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-04-10T20:27:25.787Z,1744316845.787 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-04-10T20:27:26.169Z,1744316846.169 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-04-10T20:27:26.170Z,1744316846.170 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-04-10T20:27:26.170Z,1744316846.170 [keepstation:KeepStation:A] Running Loop=1
2025-04-10T20:27:57.278Z,1744316877.278 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T20:29:52.491Z,1744316992.491 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-04-10T20:30:56.489Z,1744317056.489 [ElevatorServo](FAULT): Overload Error
2025-04-10T20:30:56.489Z,1744317056.489 [ElevatorServo] Hardware Fault, FailCount= 1
2025-04-10T20:30:56.489Z,1744317056.489 [ElevatorServo](ERROR): Hardware Fault
2025-04-10T20:30:56.700Z,1744317056.700 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-04-10T20:30:56.812Z,1744317056.812 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-04-10T20:30:56.812Z,1744317056.812 [ElevatorServo](INFO): Powering down
2025-04-10T20:30:57.629Z,1744317057.629 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-04-10T20:30:57.750Z,1744317057.750 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-04-10T20:30:57.852Z,1744317057.852 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-04-10T20:30:57.852Z,1744317057.852 [ElevatorServo] No Fault, FailCount= 1
2025-04-10T20:30:58.177Z,1744317058.177 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T20:31:23.057Z,1744317083.057 [Radio_Surface](INFO): Powering down
2025-04-10T20:31:29.302Z,1744317089.302 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T20:31:30.305Z,1744317090.305 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T20:33:13.741Z,1744317193.741 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.743362
2025-04-10T20:36:35.828Z,1744317395.828 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-04-10T20:36:35.831Z,1744317395.831 [BPC1](INFO): Received data from all battery sticks.
2025-04-10T20:39:33.592Z,1744317573.592 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-04-10T20:44:55.975Z,1744317895.975 [DVL_micro](ERROR): Failed to parse:
:WI,+00000,+00000,+00000,+00000,I
2025-04-10T20:57:20.140Z,1744318640.140 [Sonardyne_Nano](INFO): Battery at maximum, disabling charging
2025-04-10T21:10:36.025Z,1744319436.025 [DVL_micro](ERROR): Failed to parse:
:WI,-00084,-00108,-00028,+00000,A
2025-04-10T21:10:38.050Z,1744319438.050 [keepstation](INFO): Timed out from 2025-04-10T20:10:37.9Z
2025-04-10T21:10:38.050Z,1744319438.050 [MissionManager](INFO): keepstation is completed.
2025-04-10T21:10:38.050Z,1744319438.050 [MissionManager](INFO): Uninitializing Mission keepstation
2025-04-10T21:10:38.051Z,1744319438.051 [keepstation] Stopped
2025-04-10T21:10:38.051Z,1744319438.051 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-04-10T21:10:38.051Z,1744319438.051 [keepstation:StandardEnvelopes] Stopped
2025-04-10T21:10:38.051Z,1744319438.051 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-04-10T21:10:38.051Z,1744319438.051 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-10T21:10:38.051Z,1744319438.051 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-10T21:10:38.051Z,1744319438.051 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-10T21:10:38.051Z,1744319438.051 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-10T21:10:38.051Z,1744319438.051 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-10T21:10:38.051Z,1744319438.051 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-10T21:10:38.051Z,1744319438.051 [keepstation:BackseatDriver] Stopped
2025-04-10T21:10:38.051Z,1744319438.051 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-04-10T21:10:38.052Z,1744319438.052 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-04-10T21:10:38.052Z,1744319438.052 [keepstation:PowerOnly] Stopped
2025-04-10T21:10:38.052Z,1744319438.052 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-04-10T21:10:38.052Z,1744319438.052 [keepstation:PowerOnly:E.Wait] Stopped
2025-04-10T21:10:38.052Z,1744319438.052 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T21:10:38.052Z,1744319438.052 [keepstation:H.Pitch] Stopped
2025-04-10T21:10:38.052Z,1744319438.052 [keepstation:KeepStation] Stopped
2025-04-10T21:10:38.052Z,1744319438.052 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-04-10T21:10:38.052Z,1744319438.052 [keepstation:KeepStation:A] Stopped
2025-04-10T21:10:38.052Z,1744319438.052 [keepstation:KeepStation:B.Pitch] Stopped
2025-04-10T21:10:38.052Z,1744319438.052 [keepstation:KeepStation:C.KeepStation] Stopped
2025-04-10T21:10:38.053Z,1744319438.053 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-04-10T21:10:38.053Z,1744319438.053 [keepstation:KeepStation:D.Wait] Stopped
2025-04-10T21:10:38.053Z,1744319438.053 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T21:10:38.468Z,1744319438.468 [MissionManager](IMPORTANT): Started mission Default
2025-04-10T21:10:38.469Z,1744319438.469 [Default] Running Loop=1
2025-04-10T21:10:38.469Z,1744319438.469 [Default](DEBUG): Aggregate::initialize Default
2025-04-10T21:10:38.469Z,1744319438.469 [Default:B.GoToSurface] Running Loop=1
2025-04-10T21:10:38.469Z,1744319438.469 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T21:10:38.469Z,1744319438.469 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-10T21:10:38.469Z,1744319438.469 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-10T21:10:38.470Z,1744319438.470 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-10T21:10:38.470Z,1744319438.470 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-10T21:10:38.470Z,1744319438.470 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T21:10:38.471Z,1744319438.471 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T21:10:38.471Z,1744319438.471 [Default:A.Wait] Running Loop=1
2025-04-10T21:10:38.471Z,1744319438.471 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-10T21:10:39.193Z,1744319439.193 [Radio_Surface](INFO): Powering up
2025-04-10T21:10:44.917Z,1744319444.917 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T21:10:51.851Z,1744319451.851 [Default:A.Wait](INFO): Done Waiting.
2025-04-10T21:10:51.851Z,1744319451.851 [Default:A.Wait] Stopped
2025-04-10T21:10:51.852Z,1744319451.852 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T21:11:15.037Z,1744319475.037 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T21:11:46.165Z,1744319506.165 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T21:12:17.289Z,1744319537.289 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T21:12:42.542Z,1744319562.542 [Default:CheckIn] Running Loop=1
2025-04-10T21:12:42.542Z,1744319562.542 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-10T21:12:42.542Z,1744319562.542 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-10T21:12:48.413Z,1744319568.413 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T21:12:55.048Z,1744319575.048 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2025-04-10T21:13:17.266Z,1744319597.266 [NAL9602](INFO): SBD MO Status=0, MOMSN=19323, MT Status=0, MTMSN=0
2025-04-10T21:13:17.266Z,1744319597.266 [NAL9602](INFO): No messages in MT queue
2025-04-10T21:13:18.496Z,1744319598.496 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211318.00,A,3647.81187,N,12150.53991,W,0.369,60.90,100425,,,A*44
2025-04-10T21:13:18.500Z,1744319598.500 [NAL9602](INFO): GPS fix at 20250410T211318: (36.796864, -121.842332)
2025-04-10T21:13:18.521Z,1744319598.521 [UniversalFixResidualReporter](INFO): Fix residual: 19.6 %DT, over the last 1007.2 m. Residual distance 197.4 m at bearing -111.7 degrees. Fix at (36.7969, -121.8423) with 497.5 m made good.
2025-04-10T21:13:18.522Z,1744319598.522 [Default:CheckIn:Read_GPS] Stopped
2025-04-10T21:13:18.523Z,1744319598.523 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-10T21:13:19.545Z,1744319599.545 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T21:13:28.033Z,1744319608.033 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003105
2025-04-10T21:13:29.928Z,1744319609.928 [NAL9602](INFO): SBD MO Status=1, MOMSN=19324, MT Status=0, MTMSN=0
2025-04-10T21:13:29.981Z,1744319609.981 [NAL9602](INFO): Sent 98 bytes from file Logs/20250410T115620/Courier0051.lzma
2025-04-10T21:13:29.981Z,1744319609.981 [NAL9602](INFO): Packets left to send: 0
2025-04-10T21:13:38.730Z,1744319618.730 [DataOverHttps](INFO): Sending 518 bytes from file Logs/20250410T115620/Express0052.lzma
2025-04-10T21:13:39.731Z,1744319619.731 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0052.lzma.bak
2025-04-10T21:13:39.731Z,1744319619.731 [DataOverHttps](INFO): SBD MOMSN=24610968
2025-04-10T21:13:40.869Z,1744319620.869 [Default:CheckIn:Read_Iridium] Stopped
2025-04-10T21:13:40.870Z,1744319620.870 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-10T21:13:40.870Z,1744319620.870 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-10T21:14:00.672Z,1744319640.672 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T21:18:41.463Z,1744319921.463 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-04-10T21:18:41.463Z,1744319921.463 [Default:CheckIn:C.Wait] Stopped
2025-04-10T21:18:41.463Z,1744319921.463 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T21:18:41.464Z,1744319921.464 [Default:CheckIn:D] Running Loop=1
2025-04-10T21:18:41.887Z,1744319921.887 [Default:CheckIn:D] Stopped
2025-04-10T21:18:41.887Z,1744319921.887 [Default:CheckIn:E] Running Loop=1
2025-04-10T21:18:42.269Z,1744319922.269 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  8.056976 min 
2025-04-10T21:18:42.270Z,1744319922.270 [Default:CheckIn:E] Stopped
2025-04-10T21:18:42.270Z,1744319922.270 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-04-10T21:18:42.270Z,1744319922.270 [Default:CheckIn] Stopped
2025-04-10T21:18:42.270Z,1744319922.270 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-10T21:18:42.270Z,1744319922.270 [Default:CheckIn](INFO): Running loop #2
2025-04-10T21:18:42.270Z,1744319922.270 [Default:CheckIn] Running Loop=2
2025-04-10T21:18:42.270Z,1744319922.270 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-10T21:18:42.270Z,1744319922.270 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-10T21:18:44.277Z,1744319924.277 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211843.00,A,3647.81887,N,12150.54290,W,0.117,323.10,100425,,,A*72
2025-04-10T21:18:44.279Z,1744319924.279 [NAL9602](INFO): GPS fix at 20250410T211843: (36.796981, -121.842382)
2025-04-10T21:18:44.291Z,1744319924.291 [UniversalFixResidualReporter](INFO): Fix residual: 45.8 %DT, over the last 571.4 m. Residual distance 261.5 m at bearing 82.8 degrees. Fix at (36.7970, -121.8424) with 13.7 m made good.
2025-04-10T21:18:44.292Z,1744319924.292 [Default:CheckIn:Read_GPS] Stopped
2025-04-10T21:18:44.292Z,1744319924.292 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-10T21:18:52.184Z,1744319932.184 [DataOverHttps](INFO): Sending 85 bytes from file Logs/20250410T115620/Courier0054.lzma
2025-04-10T21:18:53.187Z,1744319933.187 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Courier0054.lzma.bak
2025-04-10T21:18:53.187Z,1744319933.187 [DataOverHttps](INFO): SBD MOMSN=24611053
2025-04-10T21:19:09.623Z,1744319949.623 [DataOverHttps](INFO): Sending 256 bytes from file Logs/20250410T115620/Express0055.lzma
2025-04-10T21:19:10.624Z,1744319950.624 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0055.lzma.bak
2025-04-10T21:19:10.624Z,1744319950.624 [DataOverHttps](INFO): SBD MOMSN=24611056
2025-04-10T21:19:12.035Z,1744319952.035 [Default:CheckIn:Read_Iridium] Stopped
2025-04-10T21:19:12.036Z,1744319952.036 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-10T21:19:12.036Z,1744319952.036 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-10T21:19:14.473Z,1744319954.473 [NAL9602](INFO): SBD MO Status=2, MOMSN=19325, MT Status=2, MTMSN=0
2025-04-10T21:19:14.474Z,1744319954.474 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T21:19:50.183Z,1744319990.183 [DataOverHttps](IMPORTANT): SBD MTMSN=20250410T211949
2025-04-10T21:19:57.961Z,1744319997.961 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 1 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 50 m" 4klwz 1 2
2025-04-10T21:19:58.056Z,1744319998.056 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 1 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 50 m" 4klwz 1 2.000000
2025-04-10T21:19:58.057Z,1744319998.057 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4klwz
2025-04-10T21:19:58.058Z,1744319998.058 [CommandExec](IMPORTANT): Scheduled #8 (#1 of 2 with id='4klwz'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 1 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 50 m", ASAP
2025-04-10T21:19:58.962Z,1744319998.962 [DataOverHttps](IMPORTANT): SBD MTMSN=20250410T211958
2025-04-10T21:20:06.737Z,1744320006.737 [DataOverHttps](INFO): Received command: sched asap "set keepstation.DepthDeadband 5 m;set keepstation.MaxDepth 90 m;run" 4klwz 2 2
2025-04-10T21:20:06.753Z,1744320006.753 [CommandExec](IMPORTANT): got command schedule asap "set keepstation.DepthDeadband 5 m;set keepstation.MaxDepth 90 m;run" 4klwz 2 2.000000
2025-04-10T21:20:06.754Z,1744320006.754 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4klwz
2025-04-10T21:20:06.755Z,1744320006.755 [CommandExec](IMPORTANT): Scheduled #9 (#2 of 2 with id='4klwz'): "set keepstation.DepthDeadband 5 m;set keepstation.MaxDepth 90 m;run", ASAP
2025-04-10T21:20:06.871Z,1744320006.871 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-04-10T21:20:06.872Z,1744320006.872 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-04-10T21:20:06.872Z,1744320006.872 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-04-10T21:20:06.873Z,1744320006.873 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-04-10T21:20:07.882Z,1744320007.882 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="ApproachDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:KeepStation>
            <Parallel />
            <Setting>
                <Guidance:KeepStation.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.radius />
                <Arg Name="Radius" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:KeepStation>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-04-10T21:20:07.887Z,1744320007.887 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-04-10T21:20:07.890Z,1744320007.890 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-04-10T21:20:07.892Z,1744320007.892 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-04-10T21:20:07.914Z,1744320007.914 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-04-10T21:20:07.916Z,1744320007.916 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-04-10T21:20:07.918Z,1744320007.918 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-04-10T21:20:07.921Z,1744320007.921 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-04-10T21:20:07.923Z,1744320007.923 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-04-10T21:20:07.926Z,1744320007.926 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-04-10T21:20:07.928Z,1744320007.928 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-04-10T21:20:07.930Z,1744320007.930 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-04-10T21:20:07.931Z,1744320007.931 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-10T21:20:07.931Z,1744320007.931 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-10T21:20:07.933Z,1744320007.933 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-10T21:20:08.293Z,1744320008.293 [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>

2025-04-10T21:20:08.298Z,1744320008.298 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-04-10T21:20:08.300Z,1744320008.300 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-10T21:20:08.302Z,1744320008.302 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-10T21:20:08.305Z,1744320008.305 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-04-10T21:20:08.307Z,1744320008.307 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-10T21:20:08.334Z,1744320008.334 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-10T21:20:08.336Z,1744320008.336 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-04-10T21:20:08.339Z,1744320008.339 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-04-10T21:20:08.380Z,1744320008.380 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-10T21:20:08.406Z,1744320008.406 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-10T21:20:08.406Z,1744320008.406 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-10T21:20:08.407Z,1744320008.407 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-10T21:20:08.493Z,1744320008.493 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-04-10T21:20:08.497Z,1744320008.497 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-10T21:20:08.499Z,1744320008.499 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-10T21:20:08.502Z,1744320008.502 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-10T21:20:08.504Z,1744320008.504 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-10T21:20:08.505Z,1744320008.505 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-10T21:20:08.511Z,1744320008.511 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-10T21:20:08.542Z,1744320008.542 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-10T21:20:08.554Z,1744320008.554 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-10T21:20:08.555Z,1744320008.555 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-10T21:20:08.556Z,1744320008.556 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-10T21:20:08.618Z,1744320008.618 [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>

2025-04-10T21:20:08.637Z,1744320008.637 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-04-10T21:20:08.640Z,1744320008.640 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-10T21:20:08.646Z,1744320008.646 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-10T21:20:08.646Z,1744320008.646 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-10T21:20:08.648Z,1744320008.648 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-10T21:20:08.795Z,1744320008.795 [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>

2025-04-10T21:20:08.799Z,1744320008.799 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-04-10T21:20:08.801Z,1744320008.801 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-04-10T21:20:08.803Z,1744320008.803 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-04-10T21:20:08.805Z,1744320008.805 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-04-10T21:20:08.808Z,1744320008.808 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-10T21:20:08.815Z,1744320008.815 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-10T21:20:08.817Z,1744320008.817 [keepstation:H.Pitch](DEBUG): Construct.
2025-04-10T21:20:08.824Z,1744320008.824 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-10T21:20:08.871Z,1744320008.871 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-04-10T21:20:08.875Z,1744320008.875 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-04-10T21:20:08.878Z,1744320008.878 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-04-10T21:20:08.893Z,1744320008.893 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-04-10T21:20:08.897Z,1744320008.897 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-04-10T21:20:08.905Z,1744320008.905 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-04-10T21:20:08.925Z,1744320008.925 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  call id="StartingMission" refId="NeedComms"

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

    run in sequence

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = ApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:KeepStation {
      run in parallel

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

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

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-04-10T21:20:08.926Z,1744320008.926 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-04-10T21:20:18.708Z,1744320018.708 [NAL9602](INFO): SBD MO Status=0, MOMSN=19325, MT Status=0, MTMSN=0
2025-04-10T21:20:18.708Z,1744320018.708 [NAL9602](INFO): No messages in MT queue
2025-04-10T21:20:31.490Z,1744320031.490 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 1 hour
2025-04-10T21:20:31.491Z,1744320031.491 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-04-10T21:20:31.492Z,1744320031.492 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-04-10T21:20:31.493Z,1744320031.493 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-04-10T21:20:31.494Z,1744320031.494 [CommandExec](IMPORTANT): got command set keepstation.Depth 50 meter
2025-04-10T21:20:46.865Z,1744320046.865 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 5 meter
2025-04-10T21:20:46.866Z,1744320046.866 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 90 meter
2025-04-10T21:20:46.866Z,1744320046.866 [CommandExec](IMPORTANT): got command run
2025-04-10T21:20:46.871Z,1744320046.871 [CommandExec](IMPORTANT): Running 
2025-04-10T21:20:46.994Z,1744320046.994 [Default] Stopped
2025-04-10T21:20:46.994Z,1744320046.994 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-10T21:20:46.994Z,1744320046.994 [Default:B.GoToSurface] Stopped
2025-04-10T21:20:46.994Z,1744320046.994 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T21:20:46.994Z,1744320046.994 [Default:CheckIn] Stopped
2025-04-10T21:20:46.995Z,1744320046.995 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-10T21:20:46.995Z,1744320046.995 [Default:CheckIn:C.Wait] Stopped
2025-04-10T21:20:46.995Z,1744320046.995 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T21:20:46.995Z,1744320046.995 [MissionManager](IMPORTANT): Started mission keepstation
2025-04-10T21:20:46.995Z,1744320046.995 [keepstation] Running Loop=1
2025-04-10T21:20:46.995Z,1744320046.995 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-04-10T21:20:46.995Z,1744320046.995 [keepstation:StandardEnvelopes] Running Loop=1
2025-04-10T21:20:46.995Z,1744320046.995 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-04-10T21:20:46.995Z,1744320046.995 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-10T21:20:46.996Z,1744320046.996 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-10T21:20:46.996Z,1744320046.996 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-10T21:20:46.996Z,1744320046.996 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-10T21:20:46.996Z,1744320046.996 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-10T21:20:46.996Z,1744320046.996 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-10T21:20:46.996Z,1744320046.996 [keepstation:BackseatDriver] Running Loop=1
2025-04-10T21:20:46.996Z,1744320046.996 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-04-10T21:20:46.997Z,1744320046.997 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-10T21:20:46.997Z,1744320046.997 [keepstation:PowerOnly] Running Loop=1
2025-04-10T21:20:46.997Z,1744320046.997 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-04-10T21:20:46.997Z,1744320046.997 [keepstation:PowerOnly:A] Running Loop=1
2025-04-10T21:20:46.997Z,1744320046.997 [keepstation:PowerOnly:B] Running Loop=1
2025-04-10T21:20:46.997Z,1744320046.997 [keepstation:PowerOnly:C] Running Loop=1
2025-04-10T21:20:46.997Z,1744320046.997 [keepstation:PowerOnly:D] Running Loop=1
2025-04-10T21:20:46.997Z,1744320046.997 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-04-10T21:20:46.997Z,1744320046.997 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-10T21:20:46.997Z,1744320046.997 [keepstation:H.Pitch] Running Loop=1
2025-04-10T21:20:46.997Z,1744320046.997 [keepstation:H.Pitch](DEBUG): Initialize.
2025-04-10T21:20:46.998Z,1744320046.998 [keepstation:B] Running Loop=1
2025-04-10T21:20:46.998Z,1744320046.998 [keepstation:H.Pitch] Running Loop=1
2025-04-10T21:20:46.999Z,1744320046.999 [keepstation:PowerOnly] Running Loop=1
2025-04-10T21:20:46.999Z,1744320046.999 [keepstation:PowerOnly:D] Stopped
2025-04-10T21:20:46.999Z,1744320046.999 [keepstation:PowerOnly:C] Stopped
2025-04-10T21:20:46.999Z,1744320046.999 [keepstation:PowerOnly:B] Stopped
2025-04-10T21:20:46.999Z,1744320046.999 [keepstation:PowerOnly:A] Stopped
2025-04-10T21:20:46.999Z,1744320046.999 [keepstation:BackseatDriver] Running Loop=1
2025-04-10T21:20:46.999Z,1744320046.999 [keepstation:StandardEnvelopes] Running Loop=1
2025-04-10T21:20:46.999Z,1744320046.999 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-10T21:20:46.000Z,1744320047.000 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-10T21:20:47.000Z,1744320047.000 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-10T21:20:47.001Z,1744320047.001 [keepstation:B] Stopped
2025-04-10T21:20:47.001Z,1744320047.001 [keepstation:D] Running Loop=1
2025-04-10T21:20:47.398Z,1744320047.398 [keepstation:D] Stopped
2025-04-10T21:20:47.398Z,1744320047.398 [keepstation:E] Running Loop=1
2025-04-10T21:20:47.822Z,1744320047.822 [keepstation:E] Stopped
2025-04-10T21:20:47.822Z,1744320047.822 [keepstation:StartingMission] Running Loop=1
2025-04-10T21:20:47.822Z,1744320047.822 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-04-10T21:20:48.221Z,1744320048.221 [keepstation:NeedComms] Running Loop=1
2025-04-10T21:20:48.221Z,1744320048.221 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T21:20:48.222Z,1744320048.222 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T21:20:48.222Z,1744320048.222 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T21:20:48.222Z,1744320048.222 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T21:20:48.222Z,1744320048.222 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T21:20:48.223Z,1744320048.223 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T21:20:48.223Z,1744320048.223 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T21:20:48.223Z,1744320048.223 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T21:20:48.224Z,1744320048.224 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T21:20:48.224Z,1744320048.224 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T21:20:48.230Z,1744320048.230 [keepstation:NeedComms:A](INFO): last time_fix was:  1744319923.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T21:20:48.230Z,1744320048.230 [keepstation:NeedComms:A] Stopped
2025-04-10T21:20:48.625Z,1744320048.625 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T21:20:49.024Z,1744320049.024 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-10T21:20:50.632Z,1744320050.632 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212050.00,A,3647.82018,N,12150.54251,W,0.661,227.29,100425,,,A*72
2025-04-10T21:20:50.636Z,1744320050.636 [NAL9602](INFO): GPS fix at 20250410T212050: (36.797003, -121.842375)
2025-04-10T21:20:50.655Z,1744320050.655 [keepstation:NeedComms:C] Stopped
2025-04-10T21:20:50.656Z,1744320050.656 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T21:20:51.068Z,1744320051.068 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-10T21:20:58.208Z,1744320058.208 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20250410T115620/Courier0057.lzma
2025-04-10T21:20:59.211Z,1744320059.211 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Courier0057.lzma.bak
2025-04-10T21:20:59.211Z,1744320059.211 [DataOverHttps](INFO): SBD MOMSN=24611063
2025-04-10T21:21:15.689Z,1744320075.689 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.450000m. At depth:0.140679m.
2025-04-10T21:21:15.802Z,1744320075.802 [DataOverHttps](INFO): Sending 579 bytes from file Logs/20250410T115620/Express0058.lzma
2025-04-10T21:21:16.803Z,1744320076.803 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0058.lzma.bak
2025-04-10T21:21:16.803Z,1744320076.803 [DataOverHttps](INFO): SBD MOMSN=24611066
2025-04-10T21:21:23.351Z,1744320083.351 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T21:21:33.880Z,1744320093.880 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20250410T115620/Express0059.lzma
2025-04-10T21:21:34.883Z,1744320094.883 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0059.lzma.bak
2025-04-10T21:21:34.883Z,1744320094.883 [DataOverHttps](INFO): SBD MOMSN=24611088
2025-04-10T21:21:36.300Z,1744320096.300 [keepstation:NeedComms:D] Stopped
2025-04-10T21:21:36.301Z,1744320096.301 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T21:21:36.686Z,1744320096.686 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-10T21:21:38.337Z,1744320098.337 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,212137.00,A,3647.82013,N,12150.54133,W,0.039,203.36,100425,,,A*7D
2025-04-10T21:21:38.340Z,1744320098.340 [NAL9602](INFO): GPS fix at 20250410T212137: (36.797002, -121.842355)
2025-04-10T21:21:38.368Z,1744320098.368 [keepstation:NeedComms:E] Stopped
2025-04-10T21:21:38.369Z,1744320098.369 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T21:21:38.369Z,1744320098.369 [keepstation:NeedComms] Stopped
2025-04-10T21:21:38.369Z,1744320098.369 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T21:21:38.369Z,1744320098.369 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T21:21:38.369Z,1744320098.369 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T21:21:38.729Z,1744320098.729 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-04-10T21:21:38.730Z,1744320098.730 [keepstation:StartingMission] Stopped
2025-04-10T21:21:38.730Z,1744320098.730 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-04-10T21:21:38.730Z,1744320098.730 [keepstation:TransitToStation] Running Loop=1
2025-04-10T21:21:38.730Z,1744320098.730 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-04-10T21:21:38.730Z,1744320098.730 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-04-10T21:21:38.730Z,1744320098.730 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-10T21:21:38.730Z,1744320098.730 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-04-10T21:21:38.730Z,1744320098.730 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-04-10T21:21:38.730Z,1744320098.730 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-04-10T21:21:38.730Z,1744320098.730 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-04-10T21:21:38.731Z,1744320098.731 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-04-10T21:21:38.731Z,1744320098.731 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-04-10T21:21:38.732Z,1744320098.732 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-04-10T21:21:39.123Z,1744320099.123 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-04-10T21:21:39.123Z,1744320099.123 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-04-10T21:21:39.123Z,1744320099.123 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-04-10T21:21:39.124Z,1744320099.124 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-04-10T21:21:52.495Z,1744320112.495 [NAL9602](INFO): SBD MO Status=0, MOMSN=19326, MT Status=0, MTMSN=0
2025-04-10T21:21:52.496Z,1744320112.496 [NAL9602](INFO): No messages in MT queue
2025-04-10T21:22:23.274Z,1744320143.274 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T21:24:07.100Z,1744320247.100 [ThrusterHE](FAULT): Unrecognized Command
2025-04-10T21:24:07.100Z,1744320247.100 [ThrusterHE] Hardware Fault, FailCount= 1
2025-04-10T21:24:07.100Z,1744320247.100 [ThrusterHE](ERROR): Hardware Fault
2025-04-10T21:24:07.134Z,1744320247.134 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-04-10T21:24:07.457Z,1744320247.457 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-10T21:24:07.457Z,1744320247.457 [ThrusterHE](INFO): Powering down
2025-04-10T21:24:08.560Z,1744320248.560 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-10T21:24:08.560Z,1744320248.560 [ThrusterHE] No Fault, FailCount= 1
2025-04-10T21:24:08.849Z,1744320248.849 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-10T21:24:08.850Z,1744320248.850 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-10T21:24:38.389Z,1744320278.389 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T21:24:59.862Z,1744320299.862 [Radio_Surface](INFO): Powering down
2025-04-10T21:25:09.513Z,1744320309.513 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T21:25:10.517Z,1744320310.517 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T21:26:46.921Z,1744320406.921 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.746399
2025-04-10T21:35:43.726Z,1744320943.726 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-04-10T21:35:43.726Z,1744320943.726 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-04-10T21:35:43.726Z,1744320943.726 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-04-10T21:35:43.730Z,1744320943.730 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-04-10T21:35:43.730Z,1744320943.730 [keepstation:TransitToStation] Stopped
2025-04-10T21:35:43.730Z,1744320943.730 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-04-10T21:35:43.730Z,1744320943.730 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-04-10T21:35:43.730Z,1744320943.730 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-10T21:35:43.731Z,1744320943.731 [keepstation:TransitToStation:B.Pitch] Stopped
2025-04-10T21:35:43.731Z,1744320943.731 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-04-10T21:35:43.731Z,1744320943.731 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-04-10T21:35:43.731Z,1744320943.731 [keepstation:OnStation] Running Loop=1
2025-04-10T21:35:43.731Z,1744320943.731 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-04-10T21:35:44.159Z,1744320944.159 [keepstation:NeedComms] Running Loop=1
2025-04-10T21:35:44.159Z,1744320944.159 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T21:35:44.159Z,1744320944.159 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T21:35:44.159Z,1744320944.159 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T21:35:44.159Z,1744320944.159 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T21:35:44.160Z,1744320944.160 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T21:35:44.160Z,1744320944.160 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T21:35:44.160Z,1744320944.160 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T21:35:44.161Z,1744320944.161 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T21:35:44.161Z,1744320944.161 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T21:35:44.161Z,1744320944.161 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T21:35:44.163Z,1744320944.163 [keepstation:NeedComms:A](INFO): last time_fix was:  1744320097.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T21:35:44.163Z,1744320944.163 [keepstation:NeedComms:A] Stopped
2025-04-10T21:36:06.987Z,1744320966.987 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+0065.87
2025-04-10T21:36:35.468Z,1744320995.468 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T21:36:35.961Z,1744320995.961 [Radio_Surface](INFO): Powering up
2025-04-10T21:36:41.389Z,1744321001.389 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T21:36:56.457Z,1744321016.457 [NAL9602](INFO): SBD MO Status=0, MOMSN=19327, MT Status=0, MTMSN=0
2025-04-10T21:36:56.457Z,1744321016.457 [NAL9602](INFO): No messages in MT queue
2025-04-10T21:36:57.667Z,1744321017.667 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213657.00,A,3647.85644,N,12150.89865,W,0.739,286.97,100425,,,A*75
2025-04-10T21:36:57.669Z,1744321017.669 [NAL9602](INFO): GPS fix at 20250410T213657: (36.797607, -121.848311)
2025-04-10T21:36:57.681Z,1744321017.681 [UniversalFixResidualReporter](INFO): Fix residual: 13.3 %DT, over the last 780.0 m. Residual distance 103.8 m at bearing 135.7 degrees. Fix at (36.7976, -121.8483) with 534.5 m made good.
2025-04-10T21:36:57.684Z,1744321017.684 [keepstation:NeedComms:C] Stopped
2025-04-10T21:36:57.684Z,1744321017.684 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T21:37:05.024Z,1744321025.024 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2025-04-10T21:37:11.509Z,1744321031.509 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T21:37:23.614Z,1744321043.614 [NAL9602](INFO): SBD MO Status=1, MOMSN=19328, MT Status=0, MTMSN=0
2025-04-10T21:37:23.673Z,1744321043.673 [NAL9602](INFO): Sent 85 bytes from file Logs/20250410T115620/Courier0062.lzma
2025-04-10T21:37:23.674Z,1744321043.674 [NAL9602](INFO): Packets left to send: 0
2025-04-10T21:37:36.642Z,1744321056.642 [NAL9602](INFO): SBD MO Status=1, MOMSN=19329, MT Status=0, MTMSN=0
2025-04-10T21:37:36.693Z,1744321056.693 [NAL9602](INFO): Sent 332 bytes from file Logs/20250410T115620/Express0064.lzma
2025-04-10T21:37:36.693Z,1744321056.693 [NAL9602](INFO): Packets left to send: 1
2025-04-10T21:37:42.637Z,1744321062.637 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T21:37:48.155Z,1744321068.155 [NAL9602](INFO): SBD MO Status=1, MOMSN=19330, MT Status=0, MTMSN=0
2025-04-10T21:37:48.205Z,1744321068.205 [NAL9602](INFO): Sent 182 bytes from file Logs/20250410T115620/Express0064.lzma
2025-04-10T21:37:48.205Z,1744321068.205 [NAL9602](INFO): Packets left to send: 0
2025-04-10T21:37:59.474Z,1744321079.474 [NAL9602](INFO): SBD MO Status=0, MOMSN=19331, MT Status=0, MTMSN=0
2025-04-10T21:37:59.560Z,1744321079.560 [keepstation:NeedComms:D] Stopped
2025-04-10T21:37:59.560Z,1744321079.560 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T21:38:01.889Z,1744321081.889 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,213801.00,A,3647.85641,N,12150.90475,W,0.253,211.42,100425,,,A*77
2025-04-10T21:38:01.892Z,1744321081.892 [NAL9602](INFO): GPS fix at 20250410T213801: (36.797607, -121.848412)
2025-04-10T21:38:01.905Z,1744321081.905 [keepstation:NeedComms:E] Stopped
2025-04-10T21:38:01.906Z,1744321081.906 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T21:38:01.906Z,1744321081.906 [keepstation:NeedComms] Stopped
2025-04-10T21:38:01.907Z,1744321081.907 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T21:38:01.907Z,1744321081.907 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T21:38:01.907Z,1744321081.907 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T21:38:02.347Z,1744321082.347 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-04-10T21:38:02.348Z,1744321082.348 [keepstation:OnStation] Stopped
2025-04-10T21:38:02.348Z,1744321082.348 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-04-10T21:38:02.348Z,1744321082.348 [keepstation:KeepStation] Running Loop=1
2025-04-10T21:38:02.348Z,1744321082.348 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-04-10T21:38:02.348Z,1744321082.348 [keepstation:KeepStation:A] Running Loop=1
2025-04-10T21:38:02.348Z,1744321082.348 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-04-10T21:38:02.369Z,1744321082.369 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-04-10T21:38:02.369Z,1744321082.369 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-04-10T21:38:02.369Z,1744321082.369 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-04-10T21:38:02.369Z,1744321082.369 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-04-10T21:38:02.369Z,1744321082.369 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-04-10T21:38:02.738Z,1744321082.738 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-04-10T21:38:02.738Z,1744321082.738 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-04-10T21:38:02.739Z,1744321082.739 [keepstation:KeepStation:A] Running Loop=1
2025-04-10T21:38:13.769Z,1744321093.769 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T21:38:34.219Z,1744321114.219 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T21:38:44.893Z,1744321124.893 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T21:38:54.161Z,1744321134.161 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003048
2025-04-10T21:39:30.400Z,1744321170.400 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-04-10T21:40:15.253Z,1744321215.253 [DVL_micro](ERROR): Failed to parse:
:WI,+00692,+00000,+00000,+00000,I
2025-04-10T21:40:47.593Z,1744321247.593 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T21:41:18.469Z,1744321278.469 [Radio_Surface](INFO): Powering down
2025-04-10T21:41:18.725Z,1744321278.725 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T21:41:19.733Z,1744321279.733 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T21:42:56.130Z,1744321376.130 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.748016
2025-04-10T21:43:48.517Z,1744321428.517 [ElevatorServo](FAULT): Overload Error
2025-04-10T21:43:48.517Z,1744321428.517 [ElevatorServo] Hardware Fault, FailCount= 1
2025-04-10T21:43:48.517Z,1744321428.517 [ElevatorServo](ERROR): Hardware Fault
2025-04-10T21:43:48.680Z,1744321428.680 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-04-10T21:43:48.858Z,1744321428.858 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-04-10T21:43:48.859Z,1744321428.859 [ElevatorServo](INFO): Powering down
2025-04-10T21:43:49.644Z,1744321429.644 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-04-10T21:43:49.782Z,1744321429.782 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-04-10T21:43:49.808Z,1744321429.808 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-04-10T21:43:49.808Z,1744321429.808 [ElevatorServo] No Fault, FailCount= 1
2025-04-10T21:44:13.513Z,1744321453.513 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-04-10T21:44:13.516Z,1744321453.516 [BPC1](INFO): Received data from all battery sticks.
2025-04-10T21:47:21.390Z,1744321641.390 [DVL_micro](ERROR): Failed to parse:
:WI,+00000,+00000,+00000,+00000,I
2025-04-10T21:47:22.585Z,1744321642.585 [DVL_micro](ERROR): Failed to parse:
:WI,+00000,+00000,+00000,+00000,I
2025-04-10T21:47:33.413Z,1744321653.413 [DVL_micro](ERROR): only read 1 of 4 data items for beam range. Device response is::RD,+04
2025-04-10T21:47:33.413Z,1744321653.413 [DVL_micro](ERROR): Failed to parse:
:RD,+04
2025-04-10T21:50:15.800Z,1744321815.800 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-04-10T21:50:16.209Z,1744321816.209 [DVL_micro](ERROR): Failed to parse:
:SA,+00.08,+01.57,149.7
2025-04-10T21:56:33.165Z,1744322193.165 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-04-10T21:56:37.597Z,1744322197.597 [GFScanner](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.008133
CHAN A1 (24V): 0.011075
CHAN A2 (12V): -0.012545
CHAN A3 (5V): -0.033872
CHAN B0 (3.3V): -0.009448
CHAN B1 (3.15aV): -0.002629
CHAN B2 (3.15bV): -0.048046
CHAN B3 (GND): -0.007183
OPEN: 0.012268
Full Scale: +/- 1 mA
2025-04-10T22:07:38.521Z,1744322858.521 [DVL_micro](ERROR): Failed to parse:
:SA,+01.91,+02.56,289.9
2025-04-10T22:17:10.582Z,1744323430.582 [DVL_micro](ERROR): Failed to parse:
:SA,+03.59,+02.48,061.5
2025-04-10T22:20:47.129Z,1744323647.129 [keepstation](INFO): Timed out from 2025-04-10T21:20:46.0Z
2025-04-10T22:20:47.129Z,1744323647.129 [MissionManager](INFO): keepstation is completed.
2025-04-10T22:20:47.130Z,1744323647.130 [MissionManager](INFO): Uninitializing Mission keepstation
2025-04-10T22:20:47.130Z,1744323647.130 [keepstation] Stopped
2025-04-10T22:20:47.130Z,1744323647.130 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-04-10T22:20:47.130Z,1744323647.130 [keepstation:StandardEnvelopes] Stopped
2025-04-10T22:20:47.130Z,1744323647.130 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-04-10T22:20:47.130Z,1744323647.130 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-10T22:20:47.130Z,1744323647.130 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-10T22:20:47.130Z,1744323647.130 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-10T22:20:47.130Z,1744323647.130 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-10T22:20:47.130Z,1744323647.130 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-10T22:20:47.130Z,1744323647.130 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-10T22:20:47.130Z,1744323647.130 [keepstation:BackseatDriver] Stopped
2025-04-10T22:20:47.131Z,1744323647.131 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-04-10T22:20:47.131Z,1744323647.131 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-04-10T22:20:47.131Z,1744323647.131 [keepstation:PowerOnly] Stopped
2025-04-10T22:20:47.131Z,1744323647.131 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-04-10T22:20:47.131Z,1744323647.131 [keepstation:PowerOnly:E.Wait] Stopped
2025-04-10T22:20:47.131Z,1744323647.131 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T22:20:47.131Z,1744323647.131 [keepstation:H.Pitch] Stopped
2025-04-10T22:20:47.131Z,1744323647.131 [keepstation:KeepStation] Stopped
2025-04-10T22:20:47.131Z,1744323647.131 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-04-10T22:20:47.131Z,1744323647.131 [keepstation:KeepStation:A] Stopped
2025-04-10T22:20:47.131Z,1744323647.131 [keepstation:KeepStation:B.Pitch] Stopped
2025-04-10T22:20:47.131Z,1744323647.131 [keepstation:KeepStation:C.KeepStation] Stopped
2025-04-10T22:20:47.131Z,1744323647.131 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-04-10T22:20:47.131Z,1744323647.131 [keepstation:KeepStation:D.Wait] Stopped
2025-04-10T22:20:47.132Z,1744323647.132 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T22:20:47.552Z,1744323647.552 [MissionManager](IMPORTANT): Started mission Default
2025-04-10T22:20:47.552Z,1744323647.552 [Default] Running Loop=1
2025-04-10T22:20:47.552Z,1744323647.552 [Default](DEBUG): Aggregate::initialize Default
2025-04-10T22:20:47.552Z,1744323647.552 [Default:B.GoToSurface] Running Loop=1
2025-04-10T22:20:47.552Z,1744323647.552 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T22:20:47.553Z,1744323647.553 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-10T22:20:47.553Z,1744323647.553 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-10T22:20:47.553Z,1744323647.553 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-10T22:20:47.554Z,1744323647.554 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-10T22:20:47.554Z,1744323647.554 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T22:20:47.554Z,1744323647.554 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T22:20:47.555Z,1744323647.555 [Default:A.Wait] Running Loop=1
2025-04-10T22:20:47.555Z,1744323647.555 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-10T22:20:48.065Z,1744323648.065 [Radio_Surface](INFO): Powering up
2025-04-10T22:20:53.574Z,1744323653.574 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T22:21:00.962Z,1744323660.962 [Default:A.Wait](INFO): Done Waiting.
2025-04-10T22:21:00.963Z,1744323660.963 [Default:A.Wait] Stopped
2025-04-10T22:21:00.963Z,1744323660.963 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T22:21:23.693Z,1744323683.693 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T22:21:54.817Z,1744323714.817 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T22:22:25.953Z,1744323745.953 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T22:22:37.075Z,1744323757.075 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm.
2025-04-10T22:22:37.076Z,1744323757.076 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.75 m/s, pitch 30.00 deg, mass-position 11.90 mm.
2025-04-10T22:22:37.105Z,1744323757.105 [Default:CheckIn] Running Loop=1
2025-04-10T22:22:37.106Z,1744323757.106 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-10T22:22:37.106Z,1744323757.106 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-10T22:22:56.468Z,1744323776.468 [NAL9602](INFO): SBD MO Status=0, MOMSN=19332, MT Status=0, MTMSN=0
2025-04-10T22:22:56.468Z,1744323776.468 [NAL9602](INFO): No messages in MT queue
2025-04-10T22:22:57.090Z,1744323777.090 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T22:22:57.678Z,1744323777.678 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222257.00,A,3647.60161,N,12150.78183,W,0.136,118.02,100425,,,A*76
2025-04-10T22:22:57.681Z,1744323777.681 [NAL9602](INFO): GPS fix at 20250410T222257: (36.793360, -121.846364)
2025-04-10T22:22:57.693Z,1744323777.693 [UniversalFixResidualReporter](INFO): Fix residual: 25.8 %DT, over the last 842.3 m. Residual distance 217.0 m at bearing 16.5 degrees. Fix at (36.7934, -121.8464) with 506.2 m made good.
2025-04-10T22:22:57.693Z,1744323777.693 [Default:CheckIn:Read_GPS] Stopped
2025-04-10T22:22:57.694Z,1744323777.694 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-10T22:23:22.050Z,1744323802.050 [NAL9602](INFO): SBD MO Status=1, MOMSN=19333, MT Status=0, MTMSN=0
2025-04-10T22:23:22.101Z,1744323802.101 [NAL9602](INFO): Sent 98 bytes from file Logs/20250410T115620/Courier0066.lzma
2025-04-10T22:23:22.101Z,1744323802.101 [NAL9602](INFO): Packets left to send: 0
2025-04-10T22:23:28.213Z,1744323808.213 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T22:23:32.223Z,1744323812.223 [NAL9602](INFO): SBD MO Status=1, MOMSN=19334, MT Status=0, MTMSN=0
2025-04-10T22:23:32.281Z,1744323812.281 [NAL9602](INFO): Sent 332 bytes from file Logs/20250410T115620/Express0067.lzma
2025-04-10T22:23:32.281Z,1744323812.281 [NAL9602](INFO): Packets left to send: 1
2025-04-10T22:23:45.272Z,1744323825.272 [NAL9602](INFO): SBD MO Status=1, MOMSN=19335, MT Status=0, MTMSN=0
2025-04-10T22:23:45.329Z,1744323825.329 [NAL9602](INFO): Sent 323 bytes from file Logs/20250410T115620/Express0067.lzma
2025-04-10T22:23:45.329Z,1744323825.329 [NAL9602](INFO): Packets left to send: 0
2025-04-10T22:23:57.277Z,1744323837.277 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003115
2025-04-10T22:23:58.626Z,1744323838.626 [Default:CheckIn:Read_Iridium] Stopped
2025-04-10T22:23:58.626Z,1744323838.626 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-10T22:23:58.626Z,1744323838.626 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-10T22:24:04.742Z,1744323844.742 [NAL9602](INFO): SBD MO Status=0, MOMSN=19336, MT Status=0, MTMSN=0
2025-04-10T22:24:35.405Z,1744323875.405 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T22:27:09.459Z,1744324029.459 [DataOverHttps](IMPORTANT): SBD MTMSN=20250410T222708
2025-04-10T22:27:17.133Z,1744324037.133 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.MissionTimeout 1 h;set keepstation.NeedCommsTime 20 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.DepthDeadband .5 m;run
2025-04-10T22:27:17.157Z,1744324037.157 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-04-10T22:27:17.157Z,1744324037.157 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-04-10T22:27:17.157Z,1744324037.157 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-04-10T22:27:17.159Z,1744324037.159 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-04-10T22:27:18.000Z,1744324038.000 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="ApproachDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:KeepStation>
            <Parallel />
            <Setting>
                <Guidance:KeepStation.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.radius />
                <Arg Name="Radius" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:KeepStation>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-04-10T22:27:18.006Z,1744324038.006 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-04-10T22:27:18.009Z,1744324038.009 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-04-10T22:27:18.011Z,1744324038.011 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-04-10T22:27:18.013Z,1744324038.013 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-04-10T22:27:18.016Z,1744324038.016 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-04-10T22:27:18.018Z,1744324038.018 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-04-10T22:27:18.020Z,1744324038.020 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-04-10T22:27:18.023Z,1744324038.023 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-04-10T22:27:18.025Z,1744324038.025 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-04-10T22:27:18.027Z,1744324038.027 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-04-10T22:27:18.030Z,1744324038.030 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-04-10T22:27:18.030Z,1744324038.030 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-04-10T22:27:18.031Z,1744324038.031 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-04-10T22:27:18.032Z,1744324038.032 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-04-10T22:27:18.362Z,1744324038.362 [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>

2025-04-10T22:27:18.367Z,1744324038.367 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-04-10T22:27:18.370Z,1744324038.370 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-04-10T22:27:18.372Z,1744324038.372 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-04-10T22:27:18.376Z,1744324038.376 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-04-10T22:27:18.379Z,1744324038.379 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-04-10T22:27:18.381Z,1744324038.381 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-04-10T22:27:18.383Z,1744324038.383 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-04-10T22:27:18.386Z,1744324038.386 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-04-10T22:27:18.392Z,1744324038.392 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-04-10T22:27:18.438Z,1744324038.438 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-04-10T22:27:18.438Z,1744324038.438 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-04-10T22:27:18.439Z,1744324038.439 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-04-10T22:27:18.531Z,1744324038.531 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-04-10T22:27:18.535Z,1744324038.535 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-04-10T22:27:18.538Z,1744324038.538 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-04-10T22:27:18.540Z,1744324038.540 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-04-10T22:27:18.542Z,1744324038.542 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-04-10T22:27:18.543Z,1744324038.543 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-04-10T22:27:18.550Z,1744324038.550 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-04-10T22:27:18.556Z,1744324038.556 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-04-10T22:27:18.564Z,1744324038.564 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-04-10T22:27:18.564Z,1744324038.564 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-04-10T22:27:18.565Z,1744324038.565 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-04-10T22:27:18.699Z,1744324038.699 [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>

2025-04-10T22:27:18.712Z,1744324038.712 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-04-10T22:27:18.723Z,1744324038.723 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-04-10T22:27:18.734Z,1744324038.734 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-04-10T22:27:18.734Z,1744324038.734 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-04-10T22:27:18.735Z,1744324038.735 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-04-10T22:27:18.885Z,1744324038.885 [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>

2025-04-10T22:27:18.889Z,1744324038.889 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-04-10T22:27:18.891Z,1744324038.891 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-04-10T22:27:18.893Z,1744324038.893 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-04-10T22:27:18.895Z,1744324038.895 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-04-10T22:27:18.922Z,1744324038.922 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2025-04-10T22:27:18.929Z,1744324038.929 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-04-10T22:27:18.930Z,1744324038.930 [keepstation:H.Pitch](DEBUG): Construct.
2025-04-10T22:27:18.937Z,1744324038.937 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-04-10T22:27:18.940Z,1744324038.940 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-04-10T22:27:18.944Z,1744324038.944 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-04-10T22:27:18.947Z,1744324038.947 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-04-10T22:27:18.971Z,1744324038.971 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-04-10T22:27:18.976Z,1744324038.976 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-04-10T22:27:18.981Z,1744324038.981 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-04-10T22:27:19.034Z,1744324039.034 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  call id="StartingMission" refId="NeedComms"

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

    run in sequence

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = ApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:KeepStation {
      run in parallel

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

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

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-04-10T22:27:19.034Z,1744324039.034 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-04-10T22:27:49.273Z,1744324069.273 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 1 hour
2025-04-10T22:27:49.274Z,1744324069.274 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 20 minute
2025-04-10T22:27:49.275Z,1744324069.275 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-04-10T22:27:49.276Z,1744324069.276 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-04-10T22:27:49.281Z,1744324069.281 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband .5 meter
2025-04-10T22:27:49.281Z,1744324069.281 [CommandExec](IMPORTANT): got command run
2025-04-10T22:27:49.283Z,1744324069.283 [CommandExec](IMPORTANT): Running 
2025-04-10T22:27:49.413Z,1744324069.413 [Default] Stopped
2025-04-10T22:27:49.414Z,1744324069.414 [Default](DEBUG): Aggregate::uninitialize Default
2025-04-10T22:27:49.414Z,1744324069.414 [Default:B.GoToSurface] Stopped
2025-04-10T22:27:49.414Z,1744324069.414 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T22:27:49.414Z,1744324069.414 [Default:CheckIn] Stopped
2025-04-10T22:27:49.414Z,1744324069.414 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-04-10T22:27:49.414Z,1744324069.414 [Default:CheckIn:C.Wait] Stopped
2025-04-10T22:27:49.414Z,1744324069.414 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T22:27:49.414Z,1744324069.414 [MissionManager](IMPORTANT): Started mission keepstation
2025-04-10T22:27:49.415Z,1744324069.415 [keepstation] Running Loop=1
2025-04-10T22:27:49.415Z,1744324069.415 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-04-10T22:27:49.415Z,1744324069.415 [keepstation:StandardEnvelopes] Running Loop=1
2025-04-10T22:27:49.415Z,1744324069.415 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-04-10T22:27:49.415Z,1744324069.415 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-10T22:27:49.416Z,1744324069.416 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-04-10T22:27:49.416Z,1744324069.416 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-10T22:27:49.416Z,1744324069.416 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-04-10T22:27:49.416Z,1744324069.416 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-10T22:27:49.416Z,1744324069.416 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-04-10T22:27:49.425Z,1744324069.425 [keepstation:BackseatDriver] Running Loop=1
2025-04-10T22:27:49.425Z,1744324069.425 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-04-10T22:27:49.425Z,1744324069.425 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-04-10T22:27:49.425Z,1744324069.425 [keepstation:PowerOnly] Running Loop=1
2025-04-10T22:27:49.426Z,1744324069.426 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-04-10T22:27:49.426Z,1744324069.426 [keepstation:PowerOnly:A] Running Loop=1
2025-04-10T22:27:49.426Z,1744324069.426 [keepstation:PowerOnly:B] Running Loop=1
2025-04-10T22:27:49.426Z,1744324069.426 [keepstation:PowerOnly:C] Running Loop=1
2025-04-10T22:27:49.426Z,1744324069.426 [keepstation:PowerOnly:D] Running Loop=1
2025-04-10T22:27:49.426Z,1744324069.426 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-04-10T22:27:49.426Z,1744324069.426 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-04-10T22:27:49.426Z,1744324069.426 [keepstation:H.Pitch] Running Loop=1
2025-04-10T22:27:49.427Z,1744324069.427 [keepstation:H.Pitch](DEBUG): Initialize.
2025-04-10T22:27:49.427Z,1744324069.427 [keepstation:B] Running Loop=1
2025-04-10T22:27:49.428Z,1744324069.428 [keepstation:H.Pitch] Running Loop=1
2025-04-10T22:27:49.428Z,1744324069.428 [keepstation:PowerOnly] Running Loop=1
2025-04-10T22:27:49.437Z,1744324069.437 [keepstation:PowerOnly:D] Stopped
2025-04-10T22:27:49.437Z,1744324069.437 [keepstation:PowerOnly:C] Stopped
2025-04-10T22:27:49.437Z,1744324069.437 [keepstation:PowerOnly:B] Stopped
2025-04-10T22:27:49.437Z,1744324069.437 [keepstation:PowerOnly:A] Stopped
2025-04-10T22:27:49.438Z,1744324069.438 [keepstation:BackseatDriver] Running Loop=1
2025-04-10T22:27:49.438Z,1744324069.438 [keepstation:StandardEnvelopes] Running Loop=1
2025-04-10T22:27:49.438Z,1744324069.438 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-04-10T22:27:49.438Z,1744324069.438 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-04-10T22:27:49.439Z,1744324069.439 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-04-10T22:27:49.440Z,1744324069.440 [keepstation:B] Stopped
2025-04-10T22:27:49.440Z,1744324069.440 [keepstation:D] Running Loop=1
2025-04-10T22:27:49.773Z,1744324069.773 [keepstation:D] Stopped
2025-04-10T22:27:49.773Z,1744324069.773 [keepstation:E] Running Loop=1
2025-04-10T22:27:50.170Z,1744324070.170 [keepstation:E] Stopped
2025-04-10T22:27:50.170Z,1744324070.170 [keepstation:StartingMission] Running Loop=1
2025-04-10T22:27:50.170Z,1744324070.170 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-04-10T22:27:50.551Z,1744324070.551 [keepstation:NeedComms] Running Loop=1
2025-04-10T22:27:50.551Z,1744324070.551 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T22:27:50.552Z,1744324070.552 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T22:27:50.552Z,1744324070.552 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T22:27:50.552Z,1744324070.552 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T22:27:50.553Z,1744324070.553 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T22:27:50.553Z,1744324070.553 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T22:27:50.553Z,1744324070.553 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T22:27:50.554Z,1744324070.554 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T22:27:50.554Z,1744324070.554 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T22:27:50.554Z,1744324070.554 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T22:27:50.556Z,1744324070.556 [keepstation:NeedComms:A](INFO): last time_fix was:  1744323777.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T22:27:50.556Z,1744324070.556 [keepstation:NeedComms:A] Stopped
2025-04-10T22:27:50.952Z,1744324070.952 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T22:27:51.348Z,1744324071.348 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-10T22:27:52.954Z,1744324072.954 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222752.00,A,3647.59661,N,12150.74897,W,0.622,115.05,100425,,,D*76
2025-04-10T22:27:52.957Z,1744324072.957 [NAL9602](INFO): GPS fix at 20250410T222752: (36.793277, -121.845816)
2025-04-10T22:27:52.969Z,1744324072.969 [keepstation:NeedComms:C] Stopped
2025-04-10T22:27:52.970Z,1744324072.970 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T22:27:53.420Z,1744324073.420 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-04-10T22:28:01.068Z,1744324081.068 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250410T115620/Courier0069.lzma
2025-04-10T22:28:02.071Z,1744324082.071 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Courier0069.lzma.bak
2025-04-10T22:28:02.071Z,1744324082.071 [DataOverHttps](INFO): SBD MOMSN=24611574
2025-04-10T22:28:02.686Z,1744324082.686 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.650000m. At depth:0.136640m.
2025-04-10T22:28:07.915Z,1744324087.915 [NAL9602](INFO): SBD MO Status=0, MOMSN=19337, MT Status=0, MTMSN=0
2025-04-10T22:28:07.915Z,1744324087.915 [NAL9602](INFO): No messages in MT queue
2025-04-10T22:28:18.742Z,1744324098.742 [DataOverHttps](INFO): Sending 438 bytes from file Logs/20250410T115620/Express0070.lzma
2025-04-10T22:28:19.744Z,1744324099.744 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0070.lzma.bak
2025-04-10T22:28:19.744Z,1744324099.744 [DataOverHttps](INFO): SBD MOMSN=24611579
2025-04-10T22:28:38.245Z,1744324118.245 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250410T115620/Express0073.lzma
2025-04-10T22:28:38.611Z,1744324118.611 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T22:28:39.235Z,1744324119.235 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0073.lzma.bak
2025-04-10T22:28:39.235Z,1744324119.235 [DataOverHttps](INFO): SBD MOMSN=24611597
2025-04-10T22:28:40.641Z,1744324120.641 [keepstation:NeedComms:D] Stopped
2025-04-10T22:28:40.642Z,1744324120.642 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T22:28:41.099Z,1744324121.099 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-04-10T22:28:42.653Z,1744324122.653 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222842.00,A,3647.59706,N,12150.74511,W,0.583,105.25,100425,,,D*70
2025-04-10T22:28:42.655Z,1744324122.655 [NAL9602](INFO): GPS fix at 20250410T222842: (36.793284, -121.845752)
2025-04-10T22:28:42.706Z,1744324122.706 [keepstation:NeedComms:E] Stopped
2025-04-10T22:28:42.707Z,1744324122.707 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T22:28:42.707Z,1744324122.707 [keepstation:NeedComms] Stopped
2025-04-10T22:28:42.708Z,1744324122.708 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T22:28:42.708Z,1744324122.708 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T22:28:42.708Z,1744324122.708 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T22:28:43.124Z,1744324123.124 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-04-10T22:28:43.124Z,1744324123.124 [keepstation:StartingMission] Stopped
2025-04-10T22:28:43.124Z,1744324123.124 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-04-10T22:28:43.124Z,1744324123.124 [keepstation:TransitToStation] Running Loop=1
2025-04-10T22:28:43.129Z,1744324123.129 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-04-10T22:28:43.129Z,1744324123.129 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-04-10T22:28:43.129Z,1744324123.129 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-04-10T22:28:43.129Z,1744324123.129 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-04-10T22:28:43.129Z,1744324123.129 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-04-10T22:28:43.129Z,1744324123.129 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-04-10T22:28:43.130Z,1744324123.130 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-04-10T22:28:43.130Z,1744324123.130 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-04-10T22:28:43.130Z,1744324123.130 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-04-10T22:28:43.131Z,1744324123.131 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-04-10T22:28:43.499Z,1744324123.499 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-04-10T22:28:43.500Z,1744324123.500 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-04-10T22:28:43.500Z,1744324123.500 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-04-10T22:28:43.525Z,1744324123.525 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-04-10T22:28:51.990Z,1744324131.990 [NAL9602](INFO): SBD MO Status=0, MOMSN=19338, MT Status=0, MTMSN=0
2025-04-10T22:28:51.990Z,1744324131.990 [NAL9602](INFO): No messages in MT queue
2025-04-10T22:29:22.454Z,1744324162.454 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T22:31:05.034Z,1744324265.034 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.75 m/s, pitch 30.00 deg, mass-position 11.90 mm (2 active estimators).
2025-04-10T22:31:43.453Z,1744324303.453 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T22:32:05.381Z,1744324325.381 [Radio_Surface](INFO): Powering down
2025-04-10T22:32:14.577Z,1744324334.577 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T22:32:15.581Z,1744324335.581 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T22:32:52.575Z,1744324372.575 [DVL_micro](ERROR): Failed to parse:
:BI,-00020,+00520,-00001,+00000,I
2025-04-10T22:33:51.977Z,1744324431.977 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.731339
2025-04-10T22:35:28.673Z,1744324528.673 [DVL_micro](ERROR): only read 2 of 4 data items for beam range. Device response is::RD,+9999.99,+9999.99,+
2025-04-10T22:35:28.673Z,1744324528.673 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+
2025-04-10T22:38:49.039Z,1744324729.039 [DVL_micro](ERROR): only read 1 of 4 data items for beam range. Device response is::RD,+99
2025-04-10T22:38:49.040Z,1744324729.040 [DVL_micro](ERROR): Failed to parse:
:RD,+99
2025-04-10T22:41:04.815Z,1744324864.815 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-04-10T22:41:04.815Z,1744324864.815 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-04-10T22:41:04.815Z,1744324864.815 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-04-10T22:41:04.818Z,1744324864.818 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-04-10T22:41:04.818Z,1744324864.818 [keepstation:TransitToStation] Stopped
2025-04-10T22:41:04.818Z,1744324864.818 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-04-10T22:41:04.818Z,1744324864.818 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-04-10T22:41:04.818Z,1744324864.818 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-04-10T22:41:04.819Z,1744324864.819 [keepstation:TransitToStation:B.Pitch] Stopped
2025-04-10T22:41:04.819Z,1744324864.819 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-04-10T22:41:04.819Z,1744324864.819 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-04-10T22:41:04.819Z,1744324864.819 [keepstation:OnStation] Running Loop=1
2025-04-10T22:41:04.819Z,1744324864.819 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-04-10T22:41:05.217Z,1744324865.217 [keepstation:NeedComms] Running Loop=1
2025-04-10T22:41:05.218Z,1744324865.218 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T22:41:05.218Z,1744324865.218 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T22:41:05.218Z,1744324865.218 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T22:41:05.218Z,1744324865.218 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T22:41:05.218Z,1744324865.218 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T22:41:05.219Z,1744324865.219 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T22:41:05.219Z,1744324865.219 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T22:41:05.219Z,1744324865.219 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T22:41:05.220Z,1744324865.220 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T22:41:05.220Z,1744324865.220 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T22:41:05.222Z,1744324865.222 [keepstation:NeedComms:A](INFO): last time_fix was:  1744324122.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T22:41:05.222Z,1744324865.222 [keepstation:NeedComms:A] Stopped
2025-04-10T22:41:53.918Z,1744324913.918 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T22:41:54.437Z,1744324914.437 [Radio_Surface](INFO): Powering up
2025-04-10T22:41:55.045Z,1744324915.045 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.34,+0000.23,+0000.35,+0000.13
2025-04-10T22:41:59.993Z,1744324919.993 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T22:42:15.255Z,1744324935.255 [NAL9602](INFO): SBD MO Status=0, MOMSN=19339, MT Status=0, MTMSN=0
2025-04-10T22:42:15.256Z,1744324935.256 [NAL9602](INFO): No messages in MT queue
2025-04-10T22:42:16.454Z,1744324936.454 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224216.00,A,3647.85248,N,12150.80773,W,0.719,280.50,100425,,,A*76
2025-04-10T22:42:16.457Z,1744324936.457 [NAL9602](INFO): GPS fix at 20250410T224216: (36.797541, -121.846795)
2025-04-10T22:42:16.469Z,1744324936.469 [UniversalFixResidualReporter](INFO): Fix residual: 6.3 %DT, over the last 710.2 m. Residual distance 44.8 m at bearing -121.9 degrees. Fix at (36.7975, -121.8468) with 482.4 m made good.
2025-04-10T22:42:16.471Z,1744324936.471 [keepstation:NeedComms:C] Stopped
2025-04-10T22:42:16.471Z,1744324936.471 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T22:42:30.125Z,1744324950.125 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T22:42:48.468Z,1744324968.468 [NAL9602](INFO): SBD MO Status=1, MOMSN=19340, MT Status=0, MTMSN=0
2025-04-10T22:42:48.521Z,1744324968.521 [NAL9602](INFO): Sent 84 bytes from file Logs/20250410T115620/Courier0075.lzma
2025-04-10T22:42:48.521Z,1744324968.521 [NAL9602](INFO): Packets left to send: 0
2025-04-10T22:43:01.249Z,1744324981.249 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T22:43:02.323Z,1744324982.323 [NAL9602](INFO): SBD MO Status=2, MOMSN=19341, MT Status=2, MTMSN=0
2025-04-10T22:43:02.323Z,1744324982.323 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T22:43:25.066Z,1744325005.066 [NAL9602](INFO): SBD MO Status=1, MOMSN=19341, MT Status=0, MTMSN=0
2025-04-10T22:43:25.125Z,1744325005.125 [NAL9602](INFO): Sent 332 bytes from file Logs/20250410T115620/Express0076.lzma
2025-04-10T22:43:25.125Z,1744325005.125 [NAL9602](INFO): Packets left to send: 1
2025-04-10T22:43:32.373Z,1744325012.373 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T22:43:35.654Z,1744325015.654 [NAL9602](INFO): SBD MO Status=1, MOMSN=19342, MT Status=0, MTMSN=0
2025-04-10T22:43:35.713Z,1744325015.713 [NAL9602](INFO): Sent 80 bytes from file Logs/20250410T115620/Express0076.lzma
2025-04-10T22:43:35.713Z,1744325015.713 [NAL9602](INFO): Packets left to send: 0
2025-04-10T22:43:46.559Z,1744325026.559 [NAL9602](INFO): SBD MO Status=0, MOMSN=19343, MT Status=0, MTMSN=0
2025-04-10T22:43:46.663Z,1744325026.663 [keepstation:NeedComms:D] Stopped
2025-04-10T22:43:46.663Z,1744325026.663 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T22:43:48.991Z,1744325028.991 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224348.00,A,3647.85599,N,12150.80640,W,0.603,82.31,100425,,,A*4B
2025-04-10T22:43:48.993Z,1744325028.993 [NAL9602](INFO): GPS fix at 20250410T224348: (36.797600, -121.846773)
2025-04-10T22:43:49.005Z,1744325029.005 [keepstation:NeedComms:E] Stopped
2025-04-10T22:43:49.006Z,1744325029.006 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T22:43:49.007Z,1744325029.007 [keepstation:NeedComms] Stopped
2025-04-10T22:43:49.007Z,1744325029.007 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T22:43:49.007Z,1744325029.007 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T22:43:49.007Z,1744325029.007 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T22:43:49.413Z,1744325029.413 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-04-10T22:43:49.414Z,1744325029.414 [keepstation:OnStation] Stopped
2025-04-10T22:43:49.414Z,1744325029.414 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-04-10T22:43:49.414Z,1744325029.414 [keepstation:KeepStation] Running Loop=1
2025-04-10T22:43:49.414Z,1744325029.414 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-04-10T22:43:49.414Z,1744325029.414 [keepstation:KeepStation:A] Running Loop=1
2025-04-10T22:43:49.414Z,1744325029.414 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-04-10T22:43:49.414Z,1744325029.414 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-04-10T22:43:49.414Z,1744325029.414 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-04-10T22:43:49.414Z,1744325029.414 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-04-10T22:43:49.415Z,1744325029.415 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-04-10T22:43:49.415Z,1744325029.415 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-04-10T22:43:49.801Z,1744325029.801 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-04-10T22:43:49.802Z,1744325029.802 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-04-10T22:43:49.802Z,1744325029.802 [keepstation:KeepStation:A] Running Loop=1
2025-04-10T22:44:03.509Z,1744325043.509 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T22:44:12.481Z,1744325052.481 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003008
2025-04-10T22:44:21.294Z,1744325061.294 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T22:46:36.601Z,1744325196.601 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T22:46:57.033Z,1744325217.033 [Radio_Surface](INFO): Powering down
2025-04-10T22:47:07.733Z,1744325227.733 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T22:47:08.738Z,1744325228.738 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T22:48:12.993Z,1744325292.993 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.619308
2025-04-10T22:48:35.033Z,1744325315.033 [DVL_micro](ERROR): Failed to parse:56,+00000,A
2025-04-10T22:49:53.788Z,1744325393.788 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00000000000000,35.0,+12.9,0-00177,-00114,+00000,I
2025-04-10T22:49:53.788Z,1744325393.788 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+12.9,0-00177,-00114,+00000,I
2025-04-10T22:51:51.761Z,1744325511.761 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-04-10T22:51:51.764Z,1744325511.764 [BPC1](INFO): Received data from all battery sticks.
2025-04-10T23:13:49.247Z,1744326829.247 [keepstation:NeedComms] Running Loop=1
2025-04-10T23:13:49.247Z,1744326829.247 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-04-10T23:13:49.247Z,1744326829.247 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-04-10T23:13:49.247Z,1744326829.247 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T23:13:49.248Z,1744326829.248 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-04-10T23:13:49.248Z,1744326829.248 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-04-10T23:13:49.253Z,1744326829.253 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-04-10T23:13:49.253Z,1744326829.253 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-04-10T23:13:49.253Z,1744326829.253 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T23:13:49.254Z,1744326829.254 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T23:13:49.254Z,1744326829.254 [keepstation:NeedComms:A] Running Loop=1
2025-04-10T23:13:49.256Z,1744326829.256 [keepstation:NeedComms:A](INFO): last time_fix was:  1744325028.000000 second since 1970/01/01T00:00:00Z 
2025-04-10T23:13:49.256Z,1744326829.256 [keepstation:NeedComms:A] Stopped
2025-04-10T23:15:05.201Z,1744326905.201 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-04-10T23:15:05.201Z,1744326905.201 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-04-10T23:15:05.201Z,1744326905.201 [ThrusterHE] Communications Fault, FailCount= 1
2025-04-10T23:15:05.201Z,1744326905.201 [ThrusterHE](ERROR): Communications Fault
2025-04-10T23:15:05.205Z,1744326905.205 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-04-10T23:15:05.534Z,1744326905.534 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-04-10T23:15:05.534Z,1744326905.534 [ThrusterHE](INFO): Powering down
2025-04-10T23:15:06.258Z,1744326906.258 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-04-10T23:15:06.374Z,1744326906.374 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-04-10T23:15:06.377Z,1744326906.377 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-04-10T23:15:06.377Z,1744326906.377 [ThrusterHE] No Fault, FailCount= 1
2025-04-10T23:15:25.967Z,1744326925.967 [keepstation:NeedComms:C] Running Loop=1
2025-04-10T23:15:26.417Z,1744326926.417 [Radio_Surface](INFO): Powering up
2025-04-10T23:15:31.737Z,1744326931.737 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T23:16:01.869Z,1744326961.869 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T23:16:20.223Z,1744326980.223 [DVL_micro](ERROR): Failed to parse:
:BI,+00845,-01009,-00481,+00000,A
2025-04-10T23:16:21.428Z,1744326981.428 [DVL_micro](ERROR): Failed to parse:
:WI,-01065,+00000,+00000,+00000,I
2025-04-10T23:16:24.290Z,1744326984.290 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.650000m. At depth:0.170746m.
2025-04-10T23:16:33.006Z,1744326993.006 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T23:16:46.885Z,1744327006.885 [NAL9602](INFO): SBD MO Status=0, MOMSN=19344, MT Status=0, MTMSN=0
2025-04-10T23:16:46.885Z,1744327006.885 [NAL9602](INFO): No messages in MT queue
2025-04-10T23:16:48.095Z,1744327008.095 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231647.00,A,3647.77695,N,12150.82080,W,0.389,140.94,100425,,,A*78
2025-04-10T23:16:48.102Z,1744327008.102 [NAL9602](INFO): GPS fix at 20250410T231647: (36.796282, -121.847013)
2025-04-10T23:16:48.151Z,1744327008.151 [keepstation:NeedComms:C] Stopped
2025-04-10T23:16:48.152Z,1744327008.152 [keepstation:NeedComms:D] Running Loop=1
2025-04-10T23:17:04.130Z,1744327024.130 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T23:17:18.924Z,1744327038.924 [NAL9602](INFO): SBD MO Status=2, MOMSN=19345, MT Status=2, MTMSN=0
2025-04-10T23:17:18.924Z,1744327038.924 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T23:17:35.253Z,1744327055.253 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T23:17:43.953Z,1744327063.953 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003023
2025-04-10T23:17:44.105Z,1744327064.105 [NAL9602](INFO): SBD MO Status=1, MOMSN=19345, MT Status=0, MTMSN=0
2025-04-10T23:17:44.157Z,1744327064.157 [NAL9602](INFO): Sent 88 bytes from file Logs/20250410T115620/Courier0078.lzma
2025-04-10T23:17:44.157Z,1744327064.157 [NAL9602](INFO): Packets left to send: 0
2025-04-10T23:17:51.865Z,1744327071.865 [DataOverHttps](INFO): Sending 433 bytes from file Logs/20250410T115620/Express0079.lzma
2025-04-10T23:17:52.867Z,1744327072.867 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0079.lzma.bak
2025-04-10T23:17:52.867Z,1744327072.867 [DataOverHttps](INFO): SBD MOMSN=24611789
2025-04-10T23:17:54.237Z,1744327074.237 [keepstation:NeedComms:D] Stopped
2025-04-10T23:17:54.237Z,1744327074.237 [keepstation:NeedComms:E] Running Loop=1
2025-04-10T23:17:56.269Z,1744327076.269 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231755.00,A,3647.77621,N,12150.81456,W,0.272,337.33,100425,,,A*73
2025-04-10T23:17:56.271Z,1744327076.271 [NAL9602](INFO): GPS fix at 20250410T231755: (36.796270, -121.846909)
2025-04-10T23:17:56.327Z,1744327076.327 [keepstation:NeedComms:E] Stopped
2025-04-10T23:17:56.328Z,1744327076.328 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-04-10T23:17:56.328Z,1744327076.328 [keepstation:NeedComms] Stopped
2025-04-10T23:17:56.328Z,1744327076.328 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-04-10T23:17:56.328Z,1744327076.328 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-04-10T23:17:56.328Z,1744327076.328 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-04-10T23:18:28.165Z,1744327108.165 [NAL9602](INFO): Not Powering down - fast GPS
2025-04-10T23:20:08.330Z,1744327208.330 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.34,+0000.39,+0000.35,+0000.15
2025-04-10T23:21:26.301Z,1744327286.301 [DVL_micro](ERROR): Failed to parse:
:WI,+00000,+00000,+00000,+00000,I
2025-04-10T23:21:28.478Z,1744327288.478 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T23:21:51.905Z,1744327311.905 [Radio_Surface](INFO): Powering down
2025-04-10T23:21:59.613Z,1744327319.613 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T23:22:00.627Z,1744327320.627 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-04-10T23:23:38.017Z,1744327418.017 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.759369
2025-04-10T23:27:49.703Z,1744327669.703 [keepstation](INFO): Timed out from 2025-04-10T22:27:49.4Z
2025-04-10T23:27:49.703Z,1744327669.703 [MissionManager](INFO): keepstation is completed.
2025-04-10T23:27:49.704Z,1744327669.704 [MissionManager](INFO): Uninitializing Mission keepstation
2025-04-10T23:27:49.704Z,1744327669.704 [keepstation] Stopped
2025-04-10T23:27:49.704Z,1744327669.704 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-04-10T23:27:49.704Z,1744327669.704 [keepstation:StandardEnvelopes] Stopped
2025-04-10T23:27:49.704Z,1744327669.704 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-04-10T23:27:49.704Z,1744327669.704 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-04-10T23:27:49.704Z,1744327669.704 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-04-10T23:27:49.704Z,1744327669.704 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-04-10T23:27:49.704Z,1744327669.704 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-04-10T23:27:49.704Z,1744327669.704 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-04-10T23:27:49.705Z,1744327669.705 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-04-10T23:27:49.705Z,1744327669.705 [keepstation:BackseatDriver] Stopped
2025-04-10T23:27:49.705Z,1744327669.705 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-04-10T23:27:49.705Z,1744327669.705 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-04-10T23:27:49.705Z,1744327669.705 [keepstation:PowerOnly] Stopped
2025-04-10T23:27:49.705Z,1744327669.705 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-04-10T23:27:49.705Z,1744327669.705 [keepstation:PowerOnly:E.Wait] Stopped
2025-04-10T23:27:49.705Z,1744327669.705 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T23:27:49.705Z,1744327669.705 [keepstation:H.Pitch] Stopped
2025-04-10T23:27:49.705Z,1744327669.705 [keepstation:KeepStation] Stopped
2025-04-10T23:27:49.705Z,1744327669.705 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-04-10T23:27:49.705Z,1744327669.705 [keepstation:KeepStation:A] Stopped
2025-04-10T23:27:49.706Z,1744327669.706 [keepstation:KeepStation:B.Pitch] Stopped
2025-04-10T23:27:49.706Z,1744327669.706 [keepstation:KeepStation:C.KeepStation] Stopped
2025-04-10T23:27:49.706Z,1744327669.706 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-04-10T23:27:49.706Z,1744327669.706 [keepstation:KeepStation:D.Wait] Stopped
2025-04-10T23:27:49.706Z,1744327669.706 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T23:27:50.109Z,1744327670.109 [MissionManager](IMPORTANT): Started mission Default
2025-04-10T23:27:50.109Z,1744327670.109 [Default] Running Loop=1
2025-04-10T23:27:50.109Z,1744327670.109 [Default](DEBUG): Aggregate::initialize Default
2025-04-10T23:27:50.109Z,1744327670.109 [Default:B.GoToSurface] Running Loop=1
2025-04-10T23:27:50.110Z,1744327670.110 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-04-10T23:27:50.110Z,1744327670.110 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-04-10T23:27:50.110Z,1744327670.110 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-04-10T23:27:50.110Z,1744327670.110 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-04-10T23:27:50.111Z,1744327670.111 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-04-10T23:27:50.111Z,1744327670.111 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-04-10T23:27:50.111Z,1744327670.111 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-04-10T23:27:50.112Z,1744327670.112 [Default:A.Wait] Running Loop=1
2025-04-10T23:27:50.112Z,1744327670.112 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-04-10T23:27:50.528Z,1744327670.528 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (3 active estimators).
2025-04-10T23:27:50.657Z,1744327670.657 [Radio_Surface](INFO): Powering up
2025-04-10T23:27:56.073Z,1744327676.073 [DataOverHttps](INFO): Radio surface powered ON.
2025-04-10T23:28:03.213Z,1744327683.213 [Default:A.Wait](INFO): Done Waiting.
2025-04-10T23:28:03.213Z,1744327683.213 [Default:A.Wait] Stopped
2025-04-10T23:28:03.213Z,1744327683.213 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-04-10T23:28:25.415Z,1744327705.415 [DVL_micro](ERROR): Failed to parse:
:BI,+00040,+00249,-00074,+00000,I
2025-04-10T23:28:26.193Z,1744327706.193 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T23:28:46.832Z,1744327726.832 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position 11.90 mm.
2025-04-10T23:28:46.838Z,1744327726.838 [Default:CheckIn] Running Loop=1
2025-04-10T23:28:46.838Z,1744327726.838 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-04-10T23:28:46.838Z,1744327726.838 [Default:CheckIn:Read_GPS] Running Loop=1
2025-04-10T23:28:57.353Z,1744327737.353 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T23:29:12.694Z,1744327752.694 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=19346, MT Status=1, MTMSN=4267
2025-04-10T23:29:12.694Z,1744327752.694 [NAL9602](INFO): Data available in MT queue
2025-04-10T23:29:13.437Z,1744327753.437 [NAL9602](INFO): Received command: sched asap "configset VerticalControl.kpPitchMass 0.1 none persist; configset VerticalControl.kiPitchMass 0.001 1/s persist; configset VerticalControl.kdPitchMass 0.1 s persist; configset VerticalControl.massDeadband 0.0 mm persist" 4krij 1 2
2025-04-10T23:29:13.541Z,1744327753.541 [CommandExec](IMPORTANT): got command schedule asap "configset VerticalControl.kpPitchMass 0.1 none persist; configset VerticalControl.kiPitchMass 0.001 1/s persist; configset VerticalControl.kdPitchMass 0.1 s persist; configset VerticalControl.massDeadband 0.0 mm persist" 4krij 1 2.000000
2025-04-10T23:29:13.542Z,1744327753.542 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=4krij
2025-04-10T23:29:13.543Z,1744327753.543 [CommandExec](IMPORTANT): Scheduled #10 (#1 of 2 with id='4krij'): "configset VerticalControl.kpPitchMass 0.1 none persist; configset VerticalControl.kiPitchMass 0.001 1/s persist; configset VerticalControl.kdPitchMass 0.1 s persist; configset VerticalControl.massDeadband 0.0 mm persist", ASAP
2025-04-10T23:29:14.377Z,1744327754.377 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232913.00,A,3647.79550,N,12150.78364,W,0.700,0.91,100425,,,A*78
2025-04-10T23:29:14.382Z,1744327754.382 [NAL9602](INFO): GPS fix at 20250410T232913: (36.796592, -121.846394)
2025-04-10T23:29:14.434Z,1744327754.434 [Default:CheckIn:Read_GPS] Stopped
2025-04-10T23:29:14.434Z,1744327754.434 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-04-10T23:29:21.353Z,1744327761.353 [DVL_micro](ERROR): Failed to parse:
:RD,+0000.32,+0000.12,+0000.34,+0000.35
2025-04-10T23:29:28.481Z,1744327768.481 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T23:29:37.126Z,1744327777.126 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=19347, MT Status=1, MTMSN=4268
2025-04-10T23:29:37.189Z,1744327777.189 [NAL9602](INFO): Sent 75 bytes from file Logs/20250410T115620/Courier0081.lzma
2025-04-10T23:29:37.189Z,1744327777.189 [NAL9602](INFO): Packets left to send: 0
2025-04-10T23:29:37.681Z,1744327777.681 [NAL9602](INFO): Received command: sched asap " configset VerticalControl.massOnlyForceInt 1 bool persist;" 4krij 2 2
2025-04-10T23:29:37.736Z,1744327777.736 [CommandExec](IMPORTANT): got command schedule asap " configset VerticalControl.massOnlyForceInt 1 bool persist;" 4krij 2 2.000000
2025-04-10T23:29:37.736Z,1744327777.736 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=4krij
2025-04-10T23:29:37.738Z,1744327777.738 [CommandExec](IMPORTANT): Scheduled #11 (#2 of 2 with id='4krij'): " configset VerticalControl.massOnlyForceInt 1 bool persist;", ASAP
2025-04-10T23:29:39.732Z,1744327779.732 [CommandExec](IMPORTANT): got command configSet VerticalControl.kpPitchMass 0.1 none persist
2025-04-10T23:29:39.744Z,1744327779.744 [CommandExec](IMPORTANT): got command configSet VerticalControl.kiPitchMass 0.001 reciprocal_second persist
2025-04-10T23:29:39.754Z,1744327779.754 [CommandExec](IMPORTANT): got command configSet VerticalControl.kdPitchMass 0.1 second persist
2025-04-10T23:29:39.756Z,1744327779.756 [CommandExec](IMPORTANT): got command configSet VerticalControl.massDeadband 0.0 millimeter persist
2025-04-10T23:29:40.501Z,1744327780.501 [CommandExec](IMPORTANT): got command configSet VerticalControl.massOnlyForceInt 1 bool persist
2025-04-10T23:29:59.613Z,1744327799.613 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-04-10T23:30:01.045Z,1744327801.045 [NAL9602](INFO): SBD MO Status=2, MOMSN=19348, MT Status=2, MTMSN=0
2025-04-10T23:30:01.045Z,1744327801.045 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-04-10T23:30:11.350Z,1744327811.350 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003034
2025-04-10T23:30:18.774Z,1744327818.774 [DataOverHttps](INFO): Sending 553 bytes from file Logs/20250410T115620/Express0082.lzma
2025-04-10T23:30:19.775Z,1744327819.775 [DataOverHttps](INFO): Moved sent file to Logs/20250410T115620/Express0082.lzma.bak
2025-04-10T23:30:19.776Z,1744327819.776 [DataOverHttps](INFO): SBD MOMSN=24611843
2025-04-10T23:30:20.930Z,1744327820.930 [Default:CheckIn:Read_Iridium] Stopped
2025-04-10T23:30:20.930Z,1744327820.930 [Default:CheckIn:C.Wait] Running Loop=1
2025-04-10T23:30:20.930Z,1744327820.930 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-04-10T23:30:23.342Z,1744327823.342 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=19348, MT Status=1, MTMSN=4269
2025-04-10T23:30:23.390Z,1744327823.390 [NAL9602](INFO): Sent 332 bytes from file Logs/20250410T115620/Express0082.lzma
2025-04-10T23:30:23.390Z,1744327823.390 [NAL9602](INFO): Packets left to send: 1