2025-10-12T04:31:28.817Z,1760243488.817 [CommandExec](IMPORTANT): got command restart logs
2025-10-12T04:31:29.820Z,1760243489.820 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,043128.00,A,3644.50095,N,12222.90866,W,2.060,203.17,121025,,,D*7F
2025-10-12T04:31:29.822Z,1760243489.822 [NAL9602](INFO): GPS fix at 20251012T043128: (36.741683, -122.381811)
2025-10-12T04:31:29.847Z,1760243489.847 [keepstation:NeedComms:C] Stopped
2025-10-12T04:31:29.847Z,1760243489.847 [keepstation:NeedComms:D] Running Loop=1
2025-10-12T04:31:30.150Z,1760243490.150 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-12T04:31:47.413Z,1760243507.413 [NAL9602](INFO): SBD MO Status=2, MOMSN=23580, MT Status=2, MTMSN=0
2025-10-12T04:31:47.413Z,1760243507.413 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-12T04:31:53.592Z,1760243513.592 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:32:24.716Z,1760243544.716 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:32:55.844Z,1760243575.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:32:56.285Z,1760243576.285 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=23580, MT Status=1, MTMSN=4522
2025-10-12T04:32:56.335Z,1760243576.335 [NAL9602](INFO): Sent 77 bytes from file Logs/20251011T133000/Courier0027.lzma
2025-10-12T04:32:56.335Z,1760243576.335 [NAL9602](INFO): Packets left to send: 0
2025-10-12T04:32:56.808Z,1760243576.808 [NAL9602](INFO): Received command: sched 20251012T1330 "restart logs"
2025-10-12T04:32:56.859Z,1760243576.859 [CommandExec](IMPORTANT): got command schedule 20251012T133000 "restart logs"
2025-10-12T04:32:56.860Z,1760243576.860 [CommandExec](IMPORTANT): Scheduled #42: "restart logs", AT TIME: 2025-10-12T13:30:00Z
2025-10-12T04:33:14.706Z,1760243594.706 [NAL9602](INFO): SBD MO Status=2, MOMSN=23581, MT Status=2, MTMSN=0
2025-10-12T04:33:14.706Z,1760243594.706 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-12T04:33:27.004Z,1760243607.004 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:33:42.365Z,1760243622.365 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=23581, MT Status=1, MTMSN=4523
2025-10-12T04:33:42.420Z,1760243622.420 [NAL9602](INFO): Sent 40 bytes from file Logs/20251011T133000/Courier0030.lzma
2025-10-12T04:33:42.420Z,1760243622.420 [NAL9602](INFO): Packets left to send: 0
2025-10-12T04:33:43.113Z,1760243623.113 [NAL9602](INFO): Received command: sched 20251012T1330 "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 14 h;set sci2_vtyoyo.NeedCommsTime 90 min;set sci2_vtyoyo.Lat2 36.99378 degree;set sci2_vtyoyo.Lon2 -122.44675 degree;set sci2_vtyoyo.Lat3 36.81705 degree" 3rapr 1 3
2025-10-12T04:33:43.126Z,1760243623.126 [CommandExec](IMPORTANT): got command schedule 20251012T133000 "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 14 h;set sci2_vtyoyo.NeedCommsTime 90 min;set sci2_vtyoyo.Lat2 36.99378 degree;set sci2_vtyoyo.Lon2 -122.44675 degree;set sci2_vtyoyo.Lat3 36.81705 degree" 3rapr 1 3.000000
2025-10-12T04:33:43.126Z,1760243623.126 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=3rapr
2025-10-12T04:33:43.136Z,1760243623.136 [CommandExec](IMPORTANT): Scheduled #43 (#1 of 3 with id='3rapr'): "load Science/sci2_vtyoyo.tl;set sci2_vtyoyo.MissionTimeout 14 h;set sci2_vtyoyo.NeedCommsTime 90 min;set sci2_vtyoyo.Lat2 36.99378 degree;set sci2_vtyoyo.Lon2 -122.44675 degree;set sci2_vtyoyo.Lat3 36.81705 degree", AT TIME: 2025-10-12T13:30:00Z
2025-10-12T04:33:58.129Z,1760243638.129 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:34:29.252Z,1760243669.252 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:34:30.619Z,1760243670.619 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=23582, MT Status=1, MTMSN=4524
2025-10-12T04:34:30.670Z,1760243670.670 [NAL9602](INFO): Sent 332 bytes from file Logs/20251011T133000/Express0022.lzma
2025-10-12T04:34:30.670Z,1760243670.670 [NAL9602](INFO): Packets left to send: 4
2025-10-12T04:34:31.341Z,1760243671.341 [NAL9602](INFO): Received command: sched 20251012T1330 "set sci2_vtyoyo.Lon3 -122.12171 degree;set sci2_vtyoyo.Speed .9 m/s;set sci2_vtyoyo.YoYoMinDepth 4 m;set sci2_vtyoyo.YoYoMaxDepth 150 m;set sci2_vtyoyo.MaxDepth 160 m;set sci2_vtyoyo.SinkOffSurface 1 bool" 3rapr 2 3
2025-10-12T04:34:31.370Z,1760243671.370 [CommandExec](IMPORTANT): got command schedule 20251012T133000 "set sci2_vtyoyo.Lon3 -122.12171 degree;set sci2_vtyoyo.Speed .9 m/s;set sci2_vtyoyo.YoYoMinDepth 4 m;set sci2_vtyoyo.YoYoMaxDepth 150 m;set sci2_vtyoyo.MaxDepth 160 m;set sci2_vtyoyo.SinkOffSurface 1 bool" 3rapr 2 3.000000
2025-10-12T04:34:31.370Z,1760243671.370 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=3rapr
2025-10-12T04:34:31.371Z,1760243671.371 [CommandExec](IMPORTANT): Scheduled #44 (#2 of 3 with id='3rapr'): "set sci2_vtyoyo.Lon3 -122.12171 degree;set sci2_vtyoyo.Speed .9 m/s;set sci2_vtyoyo.YoYoMinDepth 4 m;set sci2_vtyoyo.YoYoMaxDepth 150 m;set sci2_vtyoyo.MaxDepth 160 m;set sci2_vtyoyo.SinkOffSurface 1 bool", AT TIME: 2025-10-12T13:30:00Z
2025-10-12T04:35:00.377Z,1760243700.377 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:35:15.406Z,1760243715.406 [NAL9602](INFO): SBD MO Status=2, MOMSN=23583, MT Status=2, MTMSN=0
2025-10-12T04:35:15.406Z,1760243715.406 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-12T04:35:31.501Z,1760243731.501 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:35:41.431Z,1760243741.431 [NAL9602](INFO): SBD MO Status=2, MOMSN=23583, MT Status=2, MTMSN=0
2025-10-12T04:35:41.431Z,1760243741.431 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-12T04:36:02.624Z,1760243762.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:36:17.498Z,1760243777.498 [NAL9602](INFO): SBD MO Status=2, MOMSN=23583, MT Status=2, MTMSN=0
2025-10-12T04:36:17.498Z,1760243777.498 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-12T04:36:33.748Z,1760243793.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:36:51.555Z,1760243811.555 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=23583, MT Status=1, MTMSN=4525
2025-10-12T04:36:51.604Z,1760243811.604 [NAL9602](INFO): Sent 332 bytes from file Logs/20251011T133000/Express0022.lzma
2025-10-12T04:36:51.604Z,1760243811.604 [NAL9602](INFO): Packets left to send: 3
2025-10-12T04:36:52.152Z,1760243812.152 [NAL9602](INFO): Received command: sched 20251012T1330 "set sci2_vtyoyo.SinkDepthTimeout 3 min;set sci2_vtyoyo:NeedComms.CommsTimeout 20 min;set sci2_vtyoyo:BackseatDriver.EnableBackseat 1 bool;run" 3rapr 3 3
2025-10-12T04:36:52.182Z,1760243812.182 [CommandExec](IMPORTANT): got command schedule 20251012T133000 "set sci2_vtyoyo.SinkDepthTimeout 3 min;set sci2_vtyoyo:NeedComms.CommsTimeout 20 min;set sci2_vtyoyo:BackseatDriver.EnableBackseat 1 bool;run" 3rapr 3 3.000000
2025-10-12T04:36:52.183Z,1760243812.183 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=3rapr
2025-10-12T04:36:52.184Z,1760243812.184 [CommandExec](IMPORTANT): Scheduled #45 (#3 of 3 with id='3rapr'): "set sci2_vtyoyo.SinkDepthTimeout 3 min;set sci2_vtyoyo:NeedComms.CommsTimeout 20 min;set sci2_vtyoyo:BackseatDriver.EnableBackseat 1 bool;run", AT TIME: 2025-10-12T13:30:00Z
2025-10-12T04:37:04.061Z,1760243824.061 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=23584, MT Status=1, MTMSN=4526
2025-10-12T04:37:04.116Z,1760243824.116 [NAL9602](INFO): Sent 332 bytes from file Logs/20251011T133000/Express0022.lzma
2025-10-12T04:37:04.116Z,1760243824.116 [NAL9602](INFO): Packets left to send: 2
2025-10-12T04:37:04.620Z,1760243824.620 [NAL9602](INFO): Received command: sched 20251012T0215 "configSet CBIT.runNavErrorCritical 0 bool persist"
2025-10-12T04:37:04.676Z,1760243824.676 [CommandExec](IMPORTANT): got command schedule 20251012T021500 "configSet CBIT.runNavErrorCritical 0 bool persist"
2025-10-12T04:37:04.677Z,1760243824.677 [CommandExec](IMPORTANT): Scheduled #46: "configSet CBIT.runNavErrorCritical 0 bool persist", AT TIME: 2025-10-12T02:15:00Z
2025-10-12T04:37:04.877Z,1760243824.877 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:37:05.186Z,1760243825.186 [CommandExec](IMPORTANT): got command configSet CBIT.runNavErrorCritical 0 bool persist
2025-10-12T04:37:26.338Z,1760243846.338 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=23585, MT Status=1, MTMSN=4527
2025-10-12T04:37:26.384Z,1760243846.384 [NAL9602](INFO): Sent 332 bytes from file Logs/20251011T133000/Express0022.lzma
2025-10-12T04:37:26.384Z,1760243846.384 [NAL9602](INFO): Packets left to send: 1
2025-10-12T04:37:26.892Z,1760243846.892 [NAL9602](INFO): Received command: sched 20251012T1330 "configSet CBIT.runNavErrorCritical 1 bool persist"
2025-10-12T04:37:26.984Z,1760243846.984 [CommandExec](IMPORTANT): got command schedule 20251012T133000 "configSet CBIT.runNavErrorCritical 1 bool persist"
2025-10-12T04:37:26.985Z,1760243846.985 [CommandExec](IMPORTANT): Scheduled #47: "configSet CBIT.runNavErrorCritical 1 bool persist", AT TIME: 2025-10-12T13:30:00Z
2025-10-12T04:37:36.000Z,1760243856.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:37:48.648Z,1760243868.648 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=23586, MT Status=1, MTMSN=4528
2025-10-12T04:37:48.708Z,1760243868.708 [NAL9602](INFO): Sent 121 bytes from file Logs/20251011T133000/Express0022.lzma
2025-10-12T04:37:48.708Z,1760243868.708 [NAL9602](INFO): Packets left to send: 0
2025-10-12T04:37:49.352Z,1760243869.352 [NAL9602](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 13 h;set keepstation.NeedCommsTime 60 min;set keepstation.Speed 0.8 m/s;set keepstation.Radius 10000 m;set keepstation.SinkOffSurface 1 bool" 3rdjy 1 2
2025-10-12T04:37:49.385Z,1760243869.385 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 13 h;set keepstation.NeedCommsTime 60 min;set keepstation.Speed 0.8 m/s;set keepstation.Radius 10000 m;set keepstation.SinkOffSurface 1 bool" 3rdjy 1 2.000000
2025-10-12T04:37:49.385Z,1760243869.385 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3rdjy
2025-10-12T04:37:49.386Z,1760243869.386 [CommandExec](IMPORTANT): Scheduled #48 (#1 of 2 with id='3rdjy'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 13 h;set keepstation.NeedCommsTime 60 min;set keepstation.Speed 0.8 m/s;set keepstation.Radius 10000 m;set keepstation.SinkOffSurface 1 bool", ASAP
2025-10-12T04:38:02.838Z,1760243882.838 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=23587, MT Status=1, MTMSN=4529
2025-10-12T04:38:02.892Z,1760243882.892 [NAL9602](INFO): Sent 332 bytes from file Logs/20251011T133000/Express0025.lzma
2025-10-12T04:38:02.892Z,1760243882.892 [NAL9602](INFO): Packets left to send: 5
2025-10-12T04:38:03.456Z,1760243883.456 [NAL9602](INFO): Received command: sched asap "set keepstation.SinkDepthTimeout 3 min;set keepstation.MaxDepth 50 m;set keepstation:NeedComms.CommsTimeout 20 min;run" 3rdjy 2 2
2025-10-12T04:38:03.556Z,1760243883.556 [CommandExec](IMPORTANT): got command schedule asap "set keepstation.SinkDepthTimeout 3 min;set keepstation.MaxDepth 50 m;set keepstation:NeedComms.CommsTimeout 20 min;run" 3rdjy 2 2.000000
2025-10-12T04:38:03.556Z,1760243883.556 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3rdjy
2025-10-12T04:38:03.557Z,1760243883.557 [CommandExec](IMPORTANT): Scheduled #49 (#2 of 2 with id='3rdjy'): "set keepstation.SinkDepthTimeout 3 min;set keepstation.MaxDepth 50 m;set keepstation:NeedComms.CommsTimeout 20 min;run", ASAP
2025-10-12T04:38:03.673Z,1760243883.673 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-10-12T04:38:03.673Z,1760243883.673 [MissionManager](INFO): Uninitializing Mission keepstation
2025-10-12T04:38:03.673Z,1760243883.673 [keepstation] Stopped
2025-10-12T04:38:03.673Z,1760243883.673 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-10-12T04:38:03.673Z,1760243883.673 [keepstation:NeedComms] Stopped
2025-10-12T04:38:03.673Z,1760243883.673 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-10-12T04:38:03.674Z,1760243883.674 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-10-12T04:38:03.674Z,1760243883.674 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-12T04:38:03.674Z,1760243883.674 [keepstation:NeedComms:D] Stopped
2025-10-12T04:38:03.674Z,1760243883.674 [keepstation:StandardEnvelopes] Stopped
2025-10-12T04:38:03.674Z,1760243883.674 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-10-12T04:38:03.674Z,1760243883.674 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-10-12T04:38:03.674Z,1760243883.674 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-10-12T04:38:03.674Z,1760243883.674 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-10-12T04:38:03.674Z,1760243883.674 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-10-12T04:38:03.674Z,1760243883.674 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-10-12T04:38:03.674Z,1760243883.674 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-10-12T04:38:03.674Z,1760243883.674 [keepstation:BackseatDriver] Stopped
2025-10-12T04:38:03.675Z,1760243883.675 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-10-12T04:38:03.675Z,1760243883.675 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-10-12T04:38:03.675Z,1760243883.675 [keepstation:PowerOnly] Stopped
2025-10-12T04:38:03.675Z,1760243883.675 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-10-12T04:38:03.675Z,1760243883.675 [keepstation:PowerOnly:E.Wait] Stopped
2025-10-12T04:38:03.675Z,1760243883.675 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-10-12T04:38:03.675Z,1760243883.675 [keepstation:H.Pitch] Stopped
2025-10-12T04:38:03.675Z,1760243883.675 [keepstation:SurfaceComms] Stopped
2025-10-12T04:38:03.675Z,1760243883.675 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2025-10-12T04:38:03.675Z,1760243883.675 [keepstation:SurfaceComms:B] Stopped
2025-10-12T04:38:03.675Z,1760243883.675 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2025-10-12T04:38:03.675Z,1760243883.675 [keepstation:StartingMission] Stopped
2025-10-12T04:38:03.675Z,1760243883.675 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-10-12T04:38:03.757Z,1760243883.757 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-10-12T04:38:03.757Z,1760243883.757 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-10-12T04:38:03.761Z,1760243883.761 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-10-12T04:38:04.985Z,1760243884.985 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="TransitToStation">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="StationKeep">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="OnStation">
        <False />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="HandleNan">
            <Sequence />
            <Break>
                <Not>
                    <IsNaN>
                        <Arg Name="Latitude" />
                    </IsNaN>
                </Not>
                <And>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </And>
            </Break>
            <Aggregate Id="SetOnStation">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                    <Or>
                        <Not>
                            <IsNaN>
                                <Arg Name="Longitude" />
                            </IsNaN>
                        </Not>
                    </Or>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="OnStation" />
                    <True />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLat">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Latitude" />
                    <Universal:latitude_fix />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLon">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Longitude" />
                    <Universal:longitude_fix />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="setTransit">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Arg Name="OnStation" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="TransitToStation" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setStation">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Not>
                        <Arg Name="OnStation" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="StationKeep" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToTransit">
                    <Sequence />
                    <Break>
                        <Arg Name="OnStation" />
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="TransitToStation" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToStation">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="OnStation" />
                        </Not>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="StationKeep" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TransitToStation">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="TransitToStation" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="StationKeep">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="StationKeep" />
                </Eq>
            </While>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeadband" />
            </Assign>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="Depth" />
                </Setting>
            </Guidance:Pitch>
            <Guidance:KeepStation>
                <Parallel />
                <Setting>
                    <Guidance:KeepStation.latitude />
                    <Arg Name="Latitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.longitude />
                    <Arg Name="Longitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.radius />
                    <Arg Name="Radius" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:KeepStation>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="StationKeep" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="OnStation" />
            <True />
        </Assign>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" PriorityHere="false" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-10-12T04:38:04.995Z,1760243884.995 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-10-12T04:38:04.998Z,1760243884.998 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-10-12T04:38:05.000Z,1760243885.000 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-10-12T04:38:05.002Z,1760243885.002 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-10-12T04:38:05.053Z,1760243885.053 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-10-12T04:38:05.055Z,1760243885.055 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-10-12T04:38:05.061Z,1760243885.061 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-10-12T04:38:05.063Z,1760243885.063 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-10-12T04:38:05.074Z,1760243885.074 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-10-12T04:38:05.086Z,1760243885.086 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2025-10-12T04:38:05.088Z,1760243885.088 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2025-10-12T04:38:05.091Z,1760243885.091 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2025-10-12T04:38:05.101Z,1760243885.101 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-10-12T04:38:05.103Z,1760243885.103 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-10-12T04:38:05.119Z,1760243885.119 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2025-10-12T04:38:05.137Z,1760243885.137 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2025-10-12T04:38:05.139Z,1760243885.139 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2025-10-12T04:38:05.153Z,1760243885.153 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2025-10-12T04:38:05.163Z,1760243885.163 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2025-10-12T04:38:05.170Z,1760243885.170 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2025-10-12T04:38:05.170Z,1760243885.170 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-10-12T04:38:05.170Z,1760243885.170 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-10-12T04:38:05.172Z,1760243885.172 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-10-12T04:38:05.455Z,1760243885.455 [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>

2025-10-12T04:38:05.460Z,1760243885.460 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-10-12T04:38:05.462Z,1760243885.462 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-10-12T04:38:05.465Z,1760243885.465 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-10-12T04:38:05.467Z,1760243885.467 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-10-12T04:38:05.469Z,1760243885.469 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-10-12T04:38:05.471Z,1760243885.471 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-10-12T04:38:05.474Z,1760243885.474 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-10-12T04:38:05.500Z,1760243885.500 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-10-12T04:38:05.510Z,1760243885.510 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-10-12T04:38:05.543Z,1760243885.543 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-10-12T04:38:05.543Z,1760243885.543 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-10-12T04:38:05.545Z,1760243885.545 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-10-12T04:38:05.614Z,1760243885.614 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-10-12T04:38:05.618Z,1760243885.618 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-10-12T04:38:05.620Z,1760243885.620 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-10-12T04:38:05.623Z,1760243885.623 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-10-12T04:38:05.625Z,1760243885.625 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-10-12T04:38:05.626Z,1760243885.626 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-10-12T04:38:05.632Z,1760243885.632 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-10-12T04:38:05.690Z,1760243885.690 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-10-12T04:38:05.703Z,1760243885.703 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-10-12T04:38:05.703Z,1760243885.703 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-10-12T04:38:05.713Z,1760243885.713 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-10-12T04:38:05.777Z,1760243885.777 [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>

2025-10-12T04:38:05.784Z,1760243885.784 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-10-12T04:38:05.786Z,1760243885.786 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-10-12T04:38:05.788Z,1760243885.788 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-10-12T04:38:05.789Z,1760243885.789 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-10-12T04:38:05.790Z,1760243885.790 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-10-12T04:38:05.902Z,1760243885.902 [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>

2025-10-12T04:38:05.906Z,1760243885.906 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-10-12T04:38:05.908Z,1760243885.908 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-10-12T04:38:05.910Z,1760243885.910 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-10-12T04:38:05.911Z,1760243885.911 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-10-12T04:38:05.914Z,1760243885.914 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2025-10-12T04:38:05.921Z,1760243885.921 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-10-12T04:38:05.922Z,1760243885.922 [keepstation:H.Pitch](DEBUG): Construct.
2025-10-12T04:38:05.980Z,1760243885.980 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-10-12T04:38:05.983Z,1760243885.983 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-10-12T04:38:05.990Z,1760243885.990 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-10-12T04:38:06.008Z,1760243886.008 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-10-12T04:38:06.011Z,1760243886.011 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2025-10-12T04:38:06.015Z,1760243886.015 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2025-10-12T04:38:06.020Z,1760243886.020 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2025-10-12T04:38:06.024Z,1760243886.024 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2025-10-12T04:38:06.031Z,1760243886.031 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-10-12T04:38:06.041Z,1760243886.041 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2025-10-12T04:38:06.121Z,1760243886.121 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

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

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate HandleNan {
      run in sequence

      break if (
        not isNaN ( Latitude )
        and not isNaN ( Longitude )
      )

      # If both lat and lon are nan, we are implicitly on station and should skip initial transit, so force OnStation to true
      aggregate SetOnStation {
        run in sequence

        break if (
          not isNaN ( Latitude )
          or not isNaN ( Longitude )
        )

        assign in sequence OnStation = true
      }

      # The "assigns" here mean we should only ever run these aggregates once
      # An initial NaN lat/lon should be set here during the initial surface NeedComms call
      # Use the most recent fix -- if there isn't one, the keepstation behavior will use Universal:lat/lon
      aggregate SetLat {
        run in sequence

        break if ( not isNaN ( Latitude ) )

        assign in sequence Latitude = Universal:latitude_fix
      }

      aggregate SetLon {
        run in sequence

        break if ( not isNaN ( Longitude ) )

        assign in sequence Longitude = Universal:longitude_fix
      }
    }

    aggregate setTransit {
      run in sequence

      break if (
        SinkOffSurface
        or OnStation
      )

      assign in sequence DiveMode = TransitToStation
    }

    aggregate setStation {
      run in sequence

      break if (
        SinkOffSurface
        or not OnStation
      )

      assign in sequence DiveMode = StationKeep
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

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

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

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

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

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

          set depth = SinkDepth
        }

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

          break if ( OnStation )

          assign in sequence DiveMode = TransitToStation
        }

        aggregate sinkToStation {
          run in sequence

          break if ( not OnStation )

          assign in sequence DiveMode = StationKeep
        }
      }
    }

    aggregate TransitToStation {
      run while ( DiveMode == TransitToStation )

      aggregate dive {
        run in sequence

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = ApproachDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }
      }
    }

    aggregate StationKeep {
      run while ( DiveMode == StationKeep )

      assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

      behavior Guidance:Pitch {
        run in parallel

        set depth = Depth
      }

      behavior Guidance:KeepStation {
        run in parallel

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

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

    run in sequence

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

      call priorityHere=false refId="DiveCmd"
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }

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

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

  aggregate KeepStation {
    run in sequence

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

      call priorityHere=false refId="DiveCmd"
    }

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

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-10-12T04:38:06.122Z,1760243886.122 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-10-12T04:38:06.487Z,1760243886.487 [MissionManager](IMPORTANT): Started mission Default
2025-10-12T04:38:06.487Z,1760243886.487 [Default] Running Loop=1
2025-10-12T04:38:06.487Z,1760243886.487 [Default](DEBUG): Aggregate::initialize Default
2025-10-12T04:38:06.487Z,1760243886.487 [Default:B.GoToSurface] Running Loop=1
2025-10-12T04:38:06.487Z,1760243886.487 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-12T04:38:06.492Z,1760243886.492 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-10-12T04:38:06.492Z,1760243886.492 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-10-12T04:38:06.493Z,1760243886.493 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-10-12T04:38:06.493Z,1760243886.493 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-10-12T04:38:06.493Z,1760243886.493 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-12T04:38:06.494Z,1760243886.494 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-12T04:38:06.494Z,1760243886.494 [Default:A.Wait] Running Loop=1
2025-10-12T04:38:06.494Z,1760243886.494 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-10-12T04:38:07.124Z,1760243887.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:38:19.824Z,1760243899.824 [Default:A.Wait](INFO): Done Waiting.
2025-10-12T04:38:19.824Z,1760243899.824 [Default:A.Wait] Stopped
2025-10-12T04:38:19.824Z,1760243899.824 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-10-12T04:38:20.239Z,1760243900.239 [Default:CheckIn] Running Loop=1
2025-10-12T04:38:20.239Z,1760243900.239 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-10-12T04:38:20.239Z,1760243900.239 [Default:CheckIn:Read_GPS] Running Loop=1
2025-10-12T04:38:22.231Z,1760243902.231 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,043821.00,A,3644.37409,N,12222.89604,W,1.555,152.39,121025,,,A*73
2025-10-12T04:38:22.233Z,1760243902.233 [NAL9602](INFO): GPS fix at 20251012T043821: (36.739568, -122.381601)
2025-10-12T04:38:22.272Z,1760243902.272 [Default:CheckIn:Read_GPS] Stopped
2025-10-12T04:38:22.276Z,1760243902.276 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-10-12T04:38:27.836Z,1760243907.836 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 13 hour
2025-10-12T04:38:27.837Z,1760243907.837 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-10-12T04:38:27.838Z,1760243907.838 [CommandExec](IMPORTANT): got command set keepstation.Speed 0.8 meter_per_second
2025-10-12T04:38:27.838Z,1760243907.838 [CommandExec](IMPORTANT): got command set keepstation.Radius 10000 meter
2025-10-12T04:38:27.839Z,1760243907.839 [CommandExec](IMPORTANT): got command set keepstation.SinkOffSurface 1 bool
2025-10-12T04:38:30.115Z,1760243910.115 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-10-12T04:38:38.284Z,1760243918.284 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:38:43.045Z,1760243923.045 [CommandExec](IMPORTANT): got command set keepstation.SinkDepthTimeout 3 minute
2025-10-12T04:38:43.046Z,1760243923.046 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 50 meter
2025-10-12T04:38:43.047Z,1760243923.047 [CommandExec](IMPORTANT): got command set keepstation:NeedComms.CommsTimeout 20 minute
2025-10-12T04:38:43.047Z,1760243923.047 [CommandExec](IMPORTANT): got command run
2025-10-12T04:38:43.049Z,1760243923.049 [CommandExec](IMPORTANT): Running 
2025-10-12T04:38:43.145Z,1760243923.145 [Default] Stopped
2025-10-12T04:38:43.145Z,1760243923.145 [Default](DEBUG): Aggregate::uninitialize Default
2025-10-12T04:38:43.145Z,1760243923.145 [Default:B.GoToSurface] Stopped
2025-10-12T04:38:43.145Z,1760243923.145 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-10-12T04:38:43.145Z,1760243923.145 [Default:CheckIn] Stopped
2025-10-12T04:38:43.145Z,1760243923.145 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-10-12T04:38:43.146Z,1760243923.146 [Default:CheckIn:Read_Iridium] Stopped
2025-10-12T04:38:43.146Z,1760243923.146 [MissionManager](IMPORTANT): Started mission keepstation
2025-10-12T04:38:43.146Z,1760243923.146 [keepstation] Running Loop=1
2025-10-12T04:38:43.146Z,1760243923.146 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-10-12T04:38:43.146Z,1760243923.146 [keepstation:StandardEnvelopes] Running Loop=1
2025-10-12T04:38:43.146Z,1760243923.146 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-10-12T04:38:43.146Z,1760243923.146 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-12T04:38:43.146Z,1760243923.146 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-10-12T04:38:43.147Z,1760243923.147 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-12T04:38:43.147Z,1760243923.147 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-10-12T04:38:43.147Z,1760243923.147 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-12T04:38:43.147Z,1760243923.147 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-10-12T04:38:43.147Z,1760243923.147 [keepstation:BackseatDriver] Running Loop=1
2025-10-12T04:38:43.147Z,1760243923.147 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-10-12T04:38:43.147Z,1760243923.147 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-10-12T04:38:43.147Z,1760243923.147 [keepstation:PowerOnly] Running Loop=1
2025-10-12T04:38:43.147Z,1760243923.147 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-10-12T04:38:43.148Z,1760243923.148 [keepstation:PowerOnly:A] Running Loop=1
2025-10-12T04:38:43.148Z,1760243923.148 [keepstation:PowerOnly:B] Running Loop=1
2025-10-12T04:38:43.148Z,1760243923.148 [keepstation:PowerOnly:C] Running Loop=1
2025-10-12T04:38:43.148Z,1760243923.148 [keepstation:PowerOnly:D] Running Loop=1
2025-10-12T04:38:43.148Z,1760243923.148 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-10-12T04:38:43.148Z,1760243923.148 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-10-12T04:38:43.148Z,1760243923.148 [keepstation:H.Pitch] Running Loop=1
2025-10-12T04:38:43.148Z,1760243923.148 [keepstation:H.Pitch](DEBUG): Initialize.
2025-10-12T04:38:43.149Z,1760243923.149 [keepstation:B] Running Loop=1
2025-10-12T04:38:43.149Z,1760243923.149 [keepstation:H.Pitch] Running Loop=1
2025-10-12T04:38:43.150Z,1760243923.150 [keepstation:PowerOnly] Running Loop=1
2025-10-12T04:38:43.150Z,1760243923.150 [keepstation:PowerOnly:D] Stopped
2025-10-12T04:38:43.150Z,1760243923.150 [keepstation:PowerOnly:C] Stopped
2025-10-12T04:38:43.150Z,1760243923.150 [keepstation:PowerOnly:B] Stopped
2025-10-12T04:38:43.150Z,1760243923.150 [keepstation:PowerOnly:A] Stopped
2025-10-12T04:38:43.150Z,1760243923.150 [keepstation:BackseatDriver] Running Loop=1
2025-10-12T04:38:43.150Z,1760243923.150 [keepstation:StandardEnvelopes] Running Loop=1
2025-10-12T04:38:43.150Z,1760243923.150 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-12T04:38:43.151Z,1760243923.151 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-12T04:38:43.151Z,1760243923.151 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-12T04:38:43.152Z,1760243923.152 [keepstation:B] Stopped
2025-10-12T04:38:43.153Z,1760243923.153 [keepstation:D] Running Loop=1
2025-10-12T04:38:43.519Z,1760243923.519 [keepstation:D] Stopped
2025-10-12T04:38:43.520Z,1760243923.520 [keepstation:E] Running Loop=1
2025-10-12T04:38:43.921Z,1760243923.921 [keepstation:E] Stopped
2025-10-12T04:38:43.922Z,1760243923.922 [keepstation:StartingMission] Running Loop=1
2025-10-12T04:38:43.922Z,1760243923.922 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-10-12T04:38:44.336Z,1760243924.336 [keepstation:SurfaceComms] Running Loop=1
2025-10-12T04:38:44.336Z,1760243924.336 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2025-10-12T04:38:44.336Z,1760243924.336 [keepstation:SurfaceComms:A] Running Loop=1
2025-10-12T04:38:44.336Z,1760243924.336 [keepstation:SurfaceComms:A] Stopped
2025-10-12T04:38:44.337Z,1760243924.337 [keepstation:SurfaceComms:B] Running Loop=1
2025-10-12T04:38:44.337Z,1760243924.337 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2025-10-12T04:38:44.728Z,1760243924.728 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-10-12T04:38:44.728Z,1760243924.728 [keepstation:NeedComms] Running Loop=1
2025-10-12T04:38:44.728Z,1760243924.728 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-10-12T04:38:44.728Z,1760243924.728 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-10-12T04:38:44.729Z,1760243924.729 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-10-12T04:38:44.729Z,1760243924.729 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-10-12T04:38:44.729Z,1760243924.729 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-10-12T04:38:44.730Z,1760243924.730 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-10-12T04:38:44.730Z,1760243924.730 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-10-12T04:38:44.730Z,1760243924.730 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-10-12T04:38:44.731Z,1760243924.731 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-10-12T04:38:44.731Z,1760243924.731 [keepstation:NeedComms:A] Running Loop=1
2025-10-12T04:38:44.732Z,1760243924.732 [keepstation:NeedComms:A](INFO): last time_fix was:  1760243901.000000 second since 1970/01/01T00:00:00Z 
2025-10-12T04:38:44.732Z,1760243924.732 [keepstation:NeedComms:A] Stopped
2025-10-12T04:38:45.227Z,1760243925.227 [keepstation:NeedComms:C] Running Loop=1
2025-10-12T04:38:45.618Z,1760243925.618 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-10-12T04:38:55.219Z,1760243935.219 [NAL9602](INFO): SBD MO Status=2, MOMSN=23588, MT Status=2, MTMSN=0
2025-10-12T04:38:55.219Z,1760243935.219 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-10-12T04:38:56.462Z,1760243936.462 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,043855.00,A,3644.36150,N,12222.89453,W,2.430,159.51,121025,,,D*79
2025-10-12T04:38:56.465Z,1760243936.465 [NAL9602](INFO): GPS fix at 20251012T043855: (36.739358, -122.381575)
2025-10-12T04:38:56.477Z,1760243936.477 [keepstation:NeedComms:C] Stopped
2025-10-12T04:38:56.477Z,1760243936.477 [keepstation:NeedComms:D] Running Loop=1
2025-10-12T04:38:56.865Z,1760243936.865 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-12T04:39:09.408Z,1760243949.408 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-12T04:39:23.612Z,1760243963.612 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=23588, MT Status=1, MTMSN=4530
2025-10-12T04:39:23.667Z,1760243963.667 [NAL9602](INFO): Sent 271 bytes from file Logs/20251012T043128/Courier0003.lzma
2025-10-12T04:39:23.667Z,1760243963.667 [NAL9602](INFO): Packets left to send: 0
2025-10-12T04:39:24.148Z,1760243964.148 [NAL9602](INFO): Received command: configSet CBIT.runNavErrorCritical 0 bool persist;restart logs