2026-01-16T03:15:27.693Z,1768533327.693 [CommandExec](IMPORTANT): got command restart logs
2026-01-16T03:16:30.310Z,1768533390.310 [DataOverHttps](IMPORTANT): SBD MTMSN=20260116T031627
2026-01-16T03:16:40.108Z,1768533400.108 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Depth 20 m;set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m" 3k12l 1 2
2026-01-16T03:16:40.200Z,1768533400.200 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Depth 20 m;set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m" 3k12l 1 2.000000
2026-01-16T03:16:40.201Z,1768533400.201 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3k12l
2026-01-16T03:16:40.201Z,1768533400.201 [CommandExec](IMPORTANT): Scheduled #11 (#1 of 2 with id='3k12l'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Depth 20 m;set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m", ASAP
2026-01-16T03:16:41.110Z,1768533401.110 [DataOverHttps](IMPORTANT): SBD MTMSN=20260116T031638
2026-01-16T03:16:48.572Z,1768533408.572 [DataOverHttps](INFO): Received command: sched asap "set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run" 3k12l 2 2
2026-01-16T03:16:48.635Z,1768533408.635 [CommandExec](IMPORTANT): got command schedule asap "set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run" 3k12l 2 2.000000
2026-01-16T03:16:48.635Z,1768533408.635 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3k12l
2026-01-16T03:16:48.636Z,1768533408.636 [CommandExec](IMPORTANT): Scheduled #12 (#2 of 2 with id='3k12l'): "set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run", ASAP
2026-01-16T03:16:48.751Z,1768533408.751 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2026-01-16T03:16:48.753Z,1768533408.753 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2026-01-16T03:16:48.753Z,1768533408.753 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2026-01-16T03:16:48.758Z,1768533408.758 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2026-01-16T03:16:50.139Z,1768533410.139 [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>

2026-01-16T03:16:50.149Z,1768533410.149 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2026-01-16T03:16:50.152Z,1768533410.152 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2026-01-16T03:16:50.155Z,1768533410.155 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2026-01-16T03:16:50.159Z,1768533410.159 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2026-01-16T03:16:50.162Z,1768533410.162 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2026-01-16T03:16:50.165Z,1768533410.165 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2026-01-16T03:16:50.169Z,1768533410.169 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2026-01-16T03:16:50.172Z,1768533410.172 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2026-01-16T03:16:50.175Z,1768533410.175 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2026-01-16T03:16:50.178Z,1768533410.178 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2026-01-16T03:16:50.183Z,1768533410.183 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2026-01-16T03:16:50.207Z,1768533410.207 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2026-01-16T03:16:50.217Z,1768533410.217 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2026-01-16T03:16:50.221Z,1768533410.221 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2026-01-16T03:16:50.228Z,1768533410.228 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2026-01-16T03:16:50.236Z,1768533410.236 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2026-01-16T03:16:50.239Z,1768533410.239 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2026-01-16T03:16:50.251Z,1768533410.251 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2026-01-16T03:16:50.259Z,1768533410.259 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2026-01-16T03:16:50.276Z,1768533410.276 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2026-01-16T03:16:50.277Z,1768533410.277 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-01-16T03:16:50.277Z,1768533410.277 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-01-16T03:16:50.278Z,1768533410.278 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-01-16T03:16:50.710Z,1768533410.710 [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>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <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>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <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 Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2026-01-16T03:16:50.718Z,1768533410.718 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2026-01-16T03:16:50.735Z,1768533410.735 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2026-01-16T03:16:50.739Z,1768533410.739 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-01-16T03:16:50.742Z,1768533410.742 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2026-01-16T03:16:50.746Z,1768533410.746 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-01-16T03:16:50.749Z,1768533410.749 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2026-01-16T03:16:50.753Z,1768533410.753 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2026-01-16T03:16:50.756Z,1768533410.756 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2026-01-16T03:16:50.759Z,1768533410.759 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2026-01-16T03:16:50.762Z,1768533410.762 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2026-01-16T03:16:50.766Z,1768533410.766 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2026-01-16T03:16:50.769Z,1768533410.769 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2026-01-16T03:16:50.813Z,1768533410.813 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-16T03:16:50.923Z,1768533410.923 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-01-16T03:16:50.923Z,1768533410.923 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-01-16T03:16:50.929Z,1768533410.929 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-01-16T03:16:51.063Z,1768533411.063 [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>

2026-01-16T03:16:51.076Z,1768533411.076 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2026-01-16T03:16:51.079Z,1768533411.079 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-01-16T03:16:51.087Z,1768533411.087 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2026-01-16T03:16:51.100Z,1768533411.100 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-01-16T03:16:51.101Z,1768533411.101 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-16T03:16:51.133Z,1768533411.133 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-16T03:16:51.170Z,1768533411.170 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-01-16T03:16:51.214Z,1768533411.214 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-01-16T03:16:51.215Z,1768533411.215 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-01-16T03:16:51.224Z,1768533411.224 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-01-16T03:16:51.321Z,1768533411.321 [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>

2026-01-16T03:16:51.333Z,1768533411.333 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2026-01-16T03:16:51.336Z,1768533411.336 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-01-16T03:16:51.339Z,1768533411.339 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-01-16T03:16:51.339Z,1768533411.339 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-01-16T03:16:51.345Z,1768533411.345 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-01-16T03:16:51.551Z,1768533411.551 [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>

2026-01-16T03:16:51.565Z,1768533411.565 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2026-01-16T03:16:51.568Z,1768533411.568 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2026-01-16T03:16:51.571Z,1768533411.571 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2026-01-16T03:16:51.574Z,1768533411.574 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2026-01-16T03:16:51.578Z,1768533411.578 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2026-01-16T03:16:51.586Z,1768533411.586 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-01-16T03:16:51.596Z,1768533411.596 [keepstation:H.Pitch](DEBUG): Construct.
2026-01-16T03:16:51.746Z,1768533411.746 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-16T03:16:51.753Z,1768533411.753 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-01-16T03:16:51.762Z,1768533411.762 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-01-16T03:16:51.800Z,1768533411.800 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-16T03:16:51.808Z,1768533411.808 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2026-01-16T03:16:51.814Z,1768533411.814 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2026-01-16T03:16:51.833Z,1768533411.833 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2026-01-16T03:16:51.839Z,1768533411.839 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2026-01-16T03:16:51.861Z,1768533411.861 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2026-01-16T03:16:51.894Z,1768533411.894 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2026-01-16T03:16:51.937Z,1768533411.937 [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
    }
  }
}


2026-01-16T03:16:51.938Z,1768533411.938 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2026-01-16T03:17:13.612Z,1768533433.612 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 14 hour
2026-01-16T03:17:13.613Z,1768533433.613 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 90 minute
2026-01-16T03:17:13.614Z,1768533433.614 [CommandExec](IMPORTANT): got command set keepstation.Depth 20 meter
2026-01-16T03:17:13.615Z,1768533433.615 [CommandExec](IMPORTANT): got command set keepstation.Speed .7 meter_per_second
2026-01-16T03:17:13.615Z,1768533433.615 [CommandExec](IMPORTANT): got command set keepstation.SinkOffSurface 1 bool
2026-01-16T03:17:13.616Z,1768533433.616 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 40 meter
2026-01-16T03:17:28.032Z,1768533448.032 [CommandExec](IMPORTANT): got command set keepstation:NeedComms.SurfaceSpeed 1 meter_per_second
2026-01-16T03:17:28.033Z,1768533448.033 [CommandExec](IMPORTANT): got command set keepstation:NeedComms.CommsTimeout 30 minute
2026-01-16T03:17:28.034Z,1768533448.034 [CommandExec](IMPORTANT): got command run
2026-01-16T03:17:28.059Z,1768533448.059 [CommandExec](IMPORTANT): Running 
2026-01-16T03:17:28.182Z,1768533448.182 [Default] Stopped
2026-01-16T03:17:28.182Z,1768533448.182 [Default](DEBUG): Aggregate::uninitialize Default
2026-01-16T03:17:28.182Z,1768533448.182 [Default:B.GoToSurface] Stopped
2026-01-16T03:17:28.182Z,1768533448.182 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-16T03:17:28.182Z,1768533448.182 [Default:CheckIn] Stopped
2026-01-16T03:17:28.183Z,1768533448.183 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-16T03:17:28.183Z,1768533448.183 [Default:CheckIn:C.Wait] Stopped
2026-01-16T03:17:28.183Z,1768533448.183 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T03:17:28.183Z,1768533448.183 [MissionManager](IMPORTANT): Started mission keepstation
2026-01-16T03:17:28.183Z,1768533448.183 [keepstation] Running Loop=1
2026-01-16T03:17:28.183Z,1768533448.183 [keepstation](DEBUG): Aggregate::initialize keepstation
2026-01-16T03:17:28.183Z,1768533448.183 [keepstation:StandardEnvelopes] Running Loop=1
2026-01-16T03:17:28.183Z,1768533448.183 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2026-01-16T03:17:28.183Z,1768533448.183 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-16T03:17:28.184Z,1768533448.184 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-16T03:17:28.184Z,1768533448.184 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-16T03:17:28.184Z,1768533448.184 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-16T03:17:28.184Z,1768533448.184 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-16T03:17:28.184Z,1768533448.184 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2026-01-16T03:17:28.184Z,1768533448.184 [keepstation:BackseatDriver] Running Loop=1
2026-01-16T03:17:28.185Z,1768533448.185 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2026-01-16T03:17:28.185Z,1768533448.185 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2026-01-16T03:17:28.185Z,1768533448.185 [keepstation:PowerOnly] Running Loop=1
2026-01-16T03:17:28.185Z,1768533448.185 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2026-01-16T03:17:28.185Z,1768533448.185 [keepstation:PowerOnly:A] Running Loop=1
2026-01-16T03:17:28.185Z,1768533448.185 [keepstation:PowerOnly:B] Running Loop=1
2026-01-16T03:17:28.185Z,1768533448.185 [keepstation:PowerOnly:C] Running Loop=1
2026-01-16T03:17:28.185Z,1768533448.185 [keepstation:PowerOnly:D] Running Loop=1
2026-01-16T03:17:28.185Z,1768533448.185 [keepstation:PowerOnly:E.Wait] Running Loop=1
2026-01-16T03:17:28.185Z,1768533448.185 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2026-01-16T03:17:28.185Z,1768533448.185 [keepstation:H.Pitch] Running Loop=1
2026-01-16T03:17:28.185Z,1768533448.185 [keepstation:H.Pitch](DEBUG): Initialize.
2026-01-16T03:17:28.186Z,1768533448.186 [keepstation:B] Running Loop=1
2026-01-16T03:17:28.186Z,1768533448.186 [keepstation:H.Pitch] Running Loop=1
2026-01-16T03:17:28.187Z,1768533448.187 [keepstation:PowerOnly] Running Loop=1
2026-01-16T03:17:28.187Z,1768533448.187 [keepstation:PowerOnly:D] Stopped
2026-01-16T03:17:28.187Z,1768533448.187 [keepstation:PowerOnly:C] Stopped
2026-01-16T03:17:28.187Z,1768533448.187 [keepstation:PowerOnly:B] Stopped
2026-01-16T03:17:28.187Z,1768533448.187 [keepstation:PowerOnly:A] Stopped
2026-01-16T03:17:28.187Z,1768533448.187 [keepstation:BackseatDriver] Running Loop=1
2026-01-16T03:17:28.188Z,1768533448.188 [keepstation:StandardEnvelopes] Running Loop=1
2026-01-16T03:17:28.188Z,1768533448.188 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-16T03:17:28.188Z,1768533448.188 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-16T03:17:28.188Z,1768533448.188 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-16T03:17:28.189Z,1768533448.189 [keepstation:B] Stopped
2026-01-16T03:17:28.189Z,1768533448.189 [keepstation:D] Running Loop=1
2026-01-16T03:17:28.442Z,1768533448.442 [keepstation:D] Stopped
2026-01-16T03:17:28.443Z,1768533448.443 [keepstation:E] Running Loop=1
2026-01-16T03:17:28.865Z,1768533448.865 [keepstation:E] Stopped
2026-01-16T03:17:28.865Z,1768533448.865 [keepstation:StartingMission] Running Loop=1
2026-01-16T03:17:28.865Z,1768533448.865 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2026-01-16T03:17:29.262Z,1768533449.262 [keepstation:SurfaceComms] Running Loop=1
2026-01-16T03:17:29.262Z,1768533449.262 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-01-16T03:17:29.262Z,1768533449.262 [keepstation:SurfaceComms:A] Running Loop=1
2026-01-16T03:17:29.263Z,1768533449.263 [keepstation:SurfaceComms:A] Stopped
2026-01-16T03:17:29.263Z,1768533449.263 [keepstation:SurfaceComms:B] Running Loop=1
2026-01-16T03:17:29.263Z,1768533449.263 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-01-16T03:17:29.677Z,1768533449.677 [keepstation:NeedComms] Running Loop=1
2026-01-16T03:17:29.677Z,1768533449.677 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-01-16T03:17:29.678Z,1768533449.678 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-01-16T03:17:29.678Z,1768533449.678 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-16T03:17:29.678Z,1768533449.678 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-16T03:17:29.678Z,1768533449.678 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-16T03:17:29.679Z,1768533449.679 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-16T03:17:29.679Z,1768533449.679 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-16T03:17:29.679Z,1768533449.679 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-16T03:17:29.680Z,1768533449.680 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-16T03:17:29.680Z,1768533449.680 [keepstation:NeedComms:A] Running Loop=1
2026-01-16T03:17:29.681Z,1768533449.681 [keepstation:NeedComms:A](INFO): last time_fix was:  1768533093.000000 second since 1970/01/01T00:00:00Z 
2026-01-16T03:17:29.681Z,1768533449.681 [keepstation:NeedComms:A] Stopped
2026-01-16T03:17:29.682Z,1768533449.682 [keepstation:NeedComms:setActive] Running Loop=1
2026-01-16T03:17:29.682Z,1768533449.682 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-01-16T03:17:29.682Z,1768533449.682 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-01-16T03:17:30.057Z,1768533450.057 [keepstation:NeedComms:setActive:A] Stopped
2026-01-16T03:17:30.057Z,1768533450.057 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-01-16T03:17:30.458Z,1768533450.458 [keepstation:NeedComms:setActive:B] Stopped
2026-01-16T03:17:30.458Z,1768533450.458 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-01-16T03:17:30.458Z,1768533450.458 [keepstation:NeedComms:setActive] Stopped
2026-01-16T03:17:30.458Z,1768533450.458 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-01-16T03:17:30.867Z,1768533450.867 [keepstation:NeedComms:D] Running Loop=1
2026-01-16T03:17:31.292Z,1768533451.292 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-16T03:17:32.874Z,1768533452.874 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,031730.00,A,3643.09963,N,12211.54804,W,0.564,355.97,160126,,,D*7C
2026-01-16T03:17:32.876Z,1768533452.876 [NAL9602](INFO): GPS fix at 20260116T031730: (36.718327, -122.192467)
2026-01-16T03:17:32.909Z,1768533452.909 [keepstation:NeedComms:D] Stopped
2026-01-16T03:17:32.909Z,1768533452.909 [keepstation:NeedComms:E] Running Loop=1
2026-01-16T03:17:33.330Z,1768533453.330 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense platform_communications
2026-01-16T03:17:40.511Z,1768533460.511 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260116T014500/Courier0027.lzma
2026-01-16T03:17:41.514Z,1768533461.514 [DataOverHttps](INFO): Moved sent file to Logs/20260116T014500/Courier0027.lzma.bak
2026-01-16T03:17:41.514Z,1768533461.514 [DataOverHttps](INFO): SBD MOMSN=26576033
2026-01-16T03:17:57.920Z,1768533477.920 [DataOverHttps](INFO): Sending 272 bytes from file Logs/20260116T031527/Courier0000.lzma
2026-01-16T03:17:58.923Z,1768533478.923 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0000.lzma.bak
2026-01-16T03:17:58.925Z,1768533478.925 [DataOverHttps](INFO): SBD MOMSN=26576035
2026-01-16T03:18:15.011Z,1768533495.011 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260116T031527/Courier0003.lzma
2026-01-16T03:18:16.014Z,1768533496.014 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0003.lzma.bak
2026-01-16T03:18:16.014Z,1768533496.014 [DataOverHttps](INFO): SBD MOMSN=26576039
2026-01-16T03:18:32.580Z,1768533512.580 [DataOverHttps](INFO): Sending 123 bytes from file Logs/20260116T014500/Express0028.lzma
2026-01-16T03:18:33.582Z,1768533513.582 [DataOverHttps](INFO): Moved sent file to Logs/20260116T014500/Express0028.lzma.bak
2026-01-16T03:18:33.582Z,1768533513.582 [DataOverHttps](INFO): SBD MOMSN=26576041
2026-01-16T03:18:35.525Z,1768533515.525 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T03:18:35.533Z,1768533515.533 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T03:18:50.069Z,1768533530.069 [DataOverHttps](INFO): Sending 1017 bytes from file Logs/20260116T031527/Express0001.lzma
2026-01-16T03:18:51.070Z,1768533531.070 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0001.lzma.bak
2026-01-16T03:18:51.071Z,1768533531.071 [DataOverHttps](INFO): SBD MOMSN=26576044
2026-01-16T03:19:07.163Z,1768533547.163 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20260116T031527/Express0004.lzma
2026-01-16T03:19:08.166Z,1768533548.166 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0004.lzma.bak
2026-01-16T03:19:08.167Z,1768533548.167 [DataOverHttps](INFO): SBD MOMSN=26576068
2026-01-16T03:19:09.460Z,1768533549.460 [keepstation:NeedComms:E] Stopped
2026-01-16T03:19:09.460Z,1768533549.460 [keepstation:NeedComms:F] Running Loop=1
2026-01-16T03:19:09.861Z,1768533549.861 [keepstation:NeedComms:F](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-16T03:20:25.393Z,1768533625.393 [NAL9602](INFO): SBD MO Status=2, MOMSN=25250, MT Status=2, MTMSN=0
2026-01-16T03:20:25.393Z,1768533625.393 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T03:21:11.454Z,1768533671.454 [NAL9602](INFO): SBD MO Status=2, MOMSN=25250, MT Status=2, MTMSN=0
2026-01-16T03:21:11.454Z,1768533671.454 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T03:21:38.518Z,1768533698.518 [NAL9602](INFO): SBD MO Status=1, MOMSN=25250, MT Status=0, MTMSN=0
2026-01-16T03:21:38.518Z,1768533698.518 [NAL9602](INFO): No messages in MT queue
2026-01-16T03:21:39.754Z,1768533699.754 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,032137.00,A,3643.11860,N,12211.57987,W,0.991,308.18,160126,,,D*75
2026-01-16T03:21:39.756Z,1768533699.756 [NAL9602](INFO): GPS fix at 20260116T032137: (36.718643, -122.192998)
2026-01-16T03:21:39.769Z,1768533699.769 [keepstation:NeedComms:F] Stopped
2026-01-16T03:21:39.769Z,1768533699.769 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-01-16T03:21:39.769Z,1768533699.769 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-01-16T03:21:39.769Z,1768533699.769 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-16T03:21:40.181Z,1768533700.181 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-01-16T03:21:40.182Z,1768533700.182 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-01-16T03:21:40.182Z,1768533700.182 [keepstation:NeedComms:setRestoreMode] Stopped
2026-01-16T03:21:40.182Z,1768533700.182 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-01-16T03:21:40.182Z,1768533700.182 [keepstation:NeedComms:setInactive] Running Loop=1
2026-01-16T03:21:40.182Z,1768533700.182 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-01-16T03:21:40.182Z,1768533700.182 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-01-16T03:21:40.554Z,1768533700.554 [keepstation:NeedComms:setInactive:A] Stopped
2026-01-16T03:21:40.554Z,1768533700.554 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-01-16T03:21:40.554Z,1768533700.554 [keepstation:NeedComms:setInactive] Stopped
2026-01-16T03:21:40.554Z,1768533700.554 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-01-16T03:21:40.555Z,1768533700.555 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-01-16T03:21:40.555Z,1768533700.555 [keepstation:NeedComms] Stopped
2026-01-16T03:21:40.555Z,1768533700.555 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-01-16T03:21:40.555Z,1768533700.555 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-01-16T03:21:40.555Z,1768533700.555 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-16T03:21:40.962Z,1768533700.962 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-01-16T03:21:40.962Z,1768533700.962 [keepstation:SurfaceComms:B] Stopped
2026-01-16T03:21:40.962Z,1768533700.962 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-01-16T03:21:40.963Z,1768533700.963 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-01-16T03:21:40.963Z,1768533700.963 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-01-16T03:21:40.963Z,1768533700.963 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-01-16T03:21:40.963Z,1768533700.963 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T03:21:40.963Z,1768533700.963 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-01-16T03:21:41.372Z,1768533701.372 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-01-16T03:21:41.373Z,1768533701.373 [keepstation:SurfaceComms:HandleNan:SetOnStation](INFO): Completed keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T03:21:41.373Z,1768533701.373 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-01-16T03:21:41.373Z,1768533701.373 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T03:21:41.373Z,1768533701.373 [keepstation:SurfaceComms:HandleNan:SetLat] Running Loop=1
2026-01-16T03:21:41.373Z,1768533701.373 [keepstation:SurfaceComms:HandleNan:SetLat](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetLat
2026-01-16T03:21:41.373Z,1768533701.373 [keepstation:SurfaceComms:HandleNan:SetLat:A] Running Loop=1
2026-01-16T03:21:41.789Z,1768533701.789 [keepstation:SurfaceComms:HandleNan:SetLat:A] Stopped
2026-01-16T03:21:41.789Z,1768533701.789 [keepstation:SurfaceComms:HandleNan:SetLat](INFO): Completed keepstation:SurfaceComms:HandleNan:SetLat
2026-01-16T03:21:41.789Z,1768533701.789 [keepstation:SurfaceComms:HandleNan:SetLat] Stopped
2026-01-16T03:21:41.789Z,1768533701.789 [keepstation:SurfaceComms:HandleNan:SetLat](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetLat
2026-01-16T03:21:41.790Z,1768533701.790 [keepstation:SurfaceComms:HandleNan:SetLon] Running Loop=1
2026-01-16T03:21:41.790Z,1768533701.790 [keepstation:SurfaceComms:HandleNan:SetLon](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetLon
2026-01-16T03:21:41.790Z,1768533701.790 [keepstation:SurfaceComms:HandleNan:SetLon:A] Running Loop=1
2026-01-16T03:21:42.179Z,1768533702.179 [keepstation:SurfaceComms:HandleNan:SetLon:A] Stopped
2026-01-16T03:21:42.179Z,1768533702.179 [keepstation:SurfaceComms:HandleNan:SetLon](INFO): Completed keepstation:SurfaceComms:HandleNan:SetLon
2026-01-16T03:21:42.179Z,1768533702.179 [keepstation:SurfaceComms:HandleNan:SetLon] Stopped
2026-01-16T03:21:42.179Z,1768533702.179 [keepstation:SurfaceComms:HandleNan:SetLon](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetLon
2026-01-16T03:21:42.179Z,1768533702.179 [keepstation:SurfaceComms:HandleNan](INFO): Completed keepstation:SurfaceComms:HandleNan
2026-01-16T03:21:42.179Z,1768533702.179 [keepstation:SurfaceComms:HandleNan] Stopped
2026-01-16T03:21:42.179Z,1768533702.179 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-01-16T03:21:42.180Z,1768533702.180 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-01-16T03:21:42.180Z,1768533702.180 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-01-16T03:21:42.180Z,1768533702.180 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-01-16T03:21:42.577Z,1768533702.577 [keepstation:SurfaceComms:setTransit] Stopped
2026-01-16T03:21:42.577Z,1768533702.577 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-01-16T03:21:42.577Z,1768533702.577 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-01-16T03:21:42.578Z,1768533702.578 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-01-16T03:21:42.578Z,1768533702.578 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-01-16T03:21:42.578Z,1768533702.578 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-01-16T03:21:42.994Z,1768533702.994 [keepstation:SurfaceComms:setStation] Stopped
2026-01-16T03:21:42.994Z,1768533702.994 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-01-16T03:21:42.994Z,1768533702.994 [keepstation:SurfaceComms:setStation:A] Stopped
2026-01-16T03:21:42.994Z,1768533702.994 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-01-16T03:21:42.994Z,1768533702.994 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-01-16T03:21:42.995Z,1768533702.995 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-01-16T03:21:43.374Z,1768533703.374 [keepstation:SurfaceComms:setSink:A] Stopped
2026-01-16T03:21:43.374Z,1768533703.374 [keepstation:SurfaceComms:setSink](INFO): Completed keepstation:SurfaceComms:setSink
2026-01-16T03:21:43.374Z,1768533703.374 [keepstation:SurfaceComms:setSink] Stopped
2026-01-16T03:21:43.374Z,1768533703.374 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-01-16T03:21:43.375Z,1768533703.375 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-01-16T03:21:43.375Z,1768533703.375 [keepstation:SurfaceComms] Stopped
2026-01-16T03:21:43.375Z,1768533703.375 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-01-16T03:21:43.784Z,1768533703.784 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2026-01-16T03:21:43.784Z,1768533703.784 [keepstation:StartingMission] Stopped
2026-01-16T03:21:43.784Z,1768533703.784 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2026-01-16T03:21:43.784Z,1768533703.784 [keepstation:TransitToStation] Running Loop=1
2026-01-16T03:21:43.784Z,1768533703.784 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2026-01-16T03:21:43.784Z,1768533703.784 [keepstation:TransitToStation:Dive] Running Loop=1
2026-01-16T03:21:43.785Z,1768533703.785 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2026-01-16T03:21:43.785Z,1768533703.785 [keepstation:TransitToStation:Dive:A] Running Loop=1
2026-01-16T03:21:43.785Z,1768533703.785 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2026-01-16T03:21:43.785Z,1768533703.785 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2026-01-16T03:21:43.785Z,1768533703.785 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2026-01-16T03:21:43.786Z,1768533703.786 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.718643,-122.192998
2026-01-16T03:21:44.204Z,1768533704.204 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.718643,-122.192998
2026-01-16T03:21:44.205Z,1768533704.205 [keepstation:TransitToStation:Dive] Running Loop=1
2026-01-16T03:21:44.205Z,1768533704.205 [keepstation:DiveCmd] Running Loop=1
2026-01-16T03:21:44.205Z,1768533704.205 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2026-01-16T03:21:44.205Z,1768533704.205 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-16T03:21:44.205Z,1768533704.205 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-01-16T03:21:44.205Z,1768533704.205 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-01-16T03:21:44.205Z,1768533704.205 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T03:21:44.206Z,1768533704.206 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-16T03:21:44.206Z,1768533704.206 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-16T03:21:44.206Z,1768533704.206 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-16T03:21:44.206Z,1768533704.206 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-16T03:21:44.206Z,1768533704.206 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-01-16T03:21:44.206Z,1768533704.206 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-01-16T03:21:44.206Z,1768533704.206 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2026-01-16T03:21:44.206Z,1768533704.206 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2026-01-16T03:21:44.206Z,1768533704.206 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2026-01-16T03:21:44.206Z,1768533704.206 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-01-16T03:21:44.207Z,1768533704.207 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-16T03:21:44.207Z,1768533704.207 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-01-16T03:21:44.207Z,1768533704.207 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2026-01-16T03:21:44.207Z,1768533704.207 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-01-16T03:21:44.207Z,1768533704.207 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-16T03:21:44.207Z,1768533704.207 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T03:21:44.207Z,1768533704.207 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-16T03:21:44.207Z,1768533704.207 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T03:21:44.207Z,1768533704.207 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T03:21:44.207Z,1768533704.207 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-16T03:21:44.208Z,1768533704.208 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T03:21:44.208Z,1768533704.208 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-16T03:21:44.209Z,1768533704.209 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-16T03:21:44.209Z,1768533704.209 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-16T03:21:44.209Z,1768533704.209 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-16T03:21:44.209Z,1768533704.209 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-16T03:21:44.209Z,1768533704.209 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-16T03:21:44.209Z,1768533704.209 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-16T03:21:44.209Z,1768533704.209 [keepstation:DiveCmd:TransitToStation] Stopped
2026-01-16T03:21:44.209Z,1768533704.209 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2026-01-16T03:21:44.209Z,1768533704.209 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2026-01-16T03:21:44.209Z,1768533704.209 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2026-01-16T03:21:44.210Z,1768533704.210 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2026-01-16T03:21:44.210Z,1768533704.210 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-16T03:21:44.210Z,1768533704.210 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2026-01-16T03:21:44.210Z,1768533704.210 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2026-01-16T03:21:44.210Z,1768533704.210 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-16T03:21:44.210Z,1768533704.210 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-16T03:21:44.210Z,1768533704.210 [keepstation:DiveCmd:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-16T03:21:44.211Z,1768533704.211 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-01-16T03:21:44.211Z,1768533704.211 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-16T03:21:44.211Z,1768533704.211 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-16T03:21:44.211Z,1768533704.211 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-16T03:21:44.211Z,1768533704.211 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-16T03:22:12.462Z,1768533732.462 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-16T03:23:44.348Z,1768533824.348 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T03:24:01.945Z,1768533841.945 [DVL_micro](ERROR): Failed to parse:
:SA,-02.14,+02.83,221.3
2026-01-16T03:24:12.696Z,1768533852.696 [Radio_Surface](INFO): Powering down
2026-01-16T03:24:15.472Z,1768533855.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T03:24:16.476Z,1768533856.476 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-16T03:25:29.274Z,1768533929.274 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Stopped
2026-01-16T03:25:29.274Z,1768533929.274 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Running Loop=1
2026-01-16T03:25:29.274Z,1768533929.274 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-16T03:25:29.274Z,1768533929.274 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Running Loop=1
2026-01-16T03:25:29.638Z,1768533929.638 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Stopped
2026-01-16T03:25:29.639Z,1768533929.639 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-16T03:25:29.639Z,1768533929.639 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Stopped
2026-01-16T03:25:29.639Z,1768533929.639 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Running Loop=1
2026-01-16T03:25:29.639Z,1768533929.639 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T03:25:29.639Z,1768533929.639 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Running Loop=1
2026-01-16T03:25:30.023Z,1768533930.023 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Stopped
2026-01-16T03:25:30.023Z,1768533930.023 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T03:25:30.023Z,1768533930.023 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Stopped
2026-01-16T03:25:30.024Z,1768533930.024 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T03:25:30.025Z,1768533930.025 [keepstation:DiveCmd:SurfaceSink:sink](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T03:25:30.025Z,1768533930.025 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-01-16T03:25:30.025Z,1768533930.025 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T03:25:30.025Z,1768533930.025 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-16T03:25:30.025Z,1768533930.025 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-16T03:25:30.025Z,1768533930.025 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-16T03:25:30.025Z,1768533930.025 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-16T03:25:30.025Z,1768533930.025 [keepstation:DiveCmd:SurfaceSink](INFO): Completed keepstation:DiveCmd:SurfaceSink
2026-01-16T03:25:30.429Z,1768533930.429 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T03:25:30.429Z,1768533930.429 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-16T03:25:30.429Z,1768533930.429 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T03:25:30.429Z,1768533930.429 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T03:25:30.429Z,1768533930.429 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-16T03:25:30.429Z,1768533930.429 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T03:25:30.430Z,1768533930.430 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-16T03:25:30.430Z,1768533930.430 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T03:25:30.430Z,1768533930.430 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T03:25:30.431Z,1768533930.431 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T03:25:30.431Z,1768533930.431 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T03:25:51.876Z,1768533951.876 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.735641
2026-01-16T03:41:17.855Z,1768534877.855 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00000000000056,+00002,+00000,A
2026-01-16T03:41:17.856Z,1768534877.856 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000056,+00002,+00000,A
2026-01-16T03:44:26.523Z,1768535066.523 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-16T03:48:28.117Z,1768535308.117 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-16T03:50:15.181Z,1768535415.181 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-16T03:50:29.718Z,1768535429.718 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T03:59:37.538Z,1768535977.538 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T03:59:37.542Z,1768535977.542 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T04:07:55.688Z,1768536475.688 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2026-01-16T04:15:53.205Z,1768536953.205 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-16T04:21:53.588Z,1768537313.588 [BPC1](ERROR): BPC1A failed to parse battery stick message.
2026-01-16T04:26:16.185Z,1768537576.185 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2026-01-16T04:30:06.477Z,1768537806.477 [DVL_micro](ERROR): Failed to parse:
:,+00000,A
2026-01-16T04:31:31.398Z,1768537891.398 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T04:34:54.941Z,1768538094.941 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2026-01-16T04:40:39.542Z,1768538439.542 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T04:40:39.546Z,1768538439.546 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T04:46:04.771Z,1768538764.771 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00000000-00060,+00106,+00000,A
2026-01-16T04:46:04.771Z,1768538764.771 [DVL_micro](ERROR): Failed to parse:
:TS,00000000-00060,+00106,+00000,A
2026-01-16T04:51:40.105Z,1768539100.105 [keepstation:SurfaceComms] Running Loop=1
2026-01-16T04:51:40.105Z,1768539100.105 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-01-16T04:51:40.105Z,1768539100.105 [keepstation:SurfaceComms:A] Running Loop=1
2026-01-16T04:51:40.106Z,1768539100.106 [keepstation:SurfaceComms:A] Stopped
2026-01-16T04:51:40.106Z,1768539100.106 [keepstation:SurfaceComms:B] Running Loop=1
2026-01-16T04:51:40.106Z,1768539100.106 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-01-16T04:51:40.107Z,1768539100.107 [keepstation:NeedComms] Running Loop=1
2026-01-16T04:51:40.108Z,1768539100.108 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-01-16T04:51:40.108Z,1768539100.108 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-01-16T04:51:40.108Z,1768539100.108 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-16T04:51:40.108Z,1768539100.108 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-16T04:51:40.109Z,1768539100.109 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-16T04:51:40.109Z,1768539100.109 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-16T04:51:40.109Z,1768539100.109 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-16T04:51:40.110Z,1768539100.110 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-16T04:51:40.110Z,1768539100.110 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-16T04:51:40.110Z,1768539100.110 [keepstation:NeedComms:A] Running Loop=1
2026-01-16T04:51:40.112Z,1768539100.112 [keepstation:NeedComms:A](INFO): last time_fix was:  1768533697.000000 second since 1970/01/01T00:00:00Z 
2026-01-16T04:51:40.112Z,1768539100.112 [keepstation:NeedComms:A] Stopped
2026-01-16T04:51:40.112Z,1768539100.112 [keepstation:NeedComms:setActive] Running Loop=1
2026-01-16T04:51:40.112Z,1768539100.112 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-01-16T04:51:40.112Z,1768539100.112 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-01-16T04:51:40.507Z,1768539100.507 [keepstation:TransitToStation:Dive] Stopped
2026-01-16T04:51:40.508Z,1768539100.508 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive
2026-01-16T04:51:40.508Z,1768539100.508 [keepstation:TransitToStation:Dive:A] Stopped
2026-01-16T04:51:40.508Z,1768539100.508 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A
2026-01-16T04:51:40.508Z,1768539100.508 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-16T04:51:40.509Z,1768539100.509 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-16T04:51:40.509Z,1768539100.509 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-16T04:51:40.509Z,1768539100.509 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-16T04:51:40.509Z,1768539100.509 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-16T04:51:40.509Z,1768539100.509 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-16T04:51:40.512Z,1768539100.512 [keepstation:NeedComms:setActive:A] Stopped
2026-01-16T04:51:40.512Z,1768539100.512 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-01-16T04:51:40.920Z,1768539100.920 [keepstation:NeedComms:setActive:B] Stopped
2026-01-16T04:51:40.921Z,1768539100.921 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-01-16T04:51:40.921Z,1768539100.921 [keepstation:NeedComms:setActive] Stopped
2026-01-16T04:51:40.921Z,1768539100.921 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-01-16T04:52:13.273Z,1768539133.273 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.718643,-122.192998
2026-01-16T04:52:13.273Z,1768539133.273 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2026-01-16T04:52:13.274Z,1768539133.274 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2026-01-16T04:52:13.274Z,1768539133.274 [keepstation:TransitToStation:C] Running Loop=1
2026-01-16T04:52:13.684Z,1768539133.684 [keepstation:TransitToStation:C] Stopped
2026-01-16T04:52:13.684Z,1768539133.684 [keepstation:TransitToStation:D] Running Loop=1
2026-01-16T04:52:13.685Z,1768539133.685 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T04:52:13.685Z,1768539133.685 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-16T04:52:13.685Z,1768539133.685 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T04:52:13.685Z,1768539133.685 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T04:52:13.685Z,1768539133.685 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-16T04:52:13.685Z,1768539133.685 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T04:52:13.685Z,1768539133.685 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-16T04:52:14.077Z,1768539134.077 [keepstation:TransitToStation:D] Stopped
2026-01-16T04:52:14.077Z,1768539134.077 [keepstation:TransitToStation:Dive] Running Loop=1
2026-01-16T04:52:14.077Z,1768539134.077 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2026-01-16T04:52:14.077Z,1768539134.077 [keepstation:TransitToStation:Dive:A] Running Loop=1
2026-01-16T04:52:14.077Z,1768539134.077 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2026-01-16T04:52:14.077Z,1768539134.077 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2026-01-16T04:52:14.078Z,1768539134.078 [keepstation:TransitToStation] Stopped
2026-01-16T04:52:14.078Z,1768539134.078 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2026-01-16T04:52:14.078Z,1768539134.078 [keepstation:TransitToStation:Dive] Stopped
2026-01-16T04:52:14.078Z,1768539134.078 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive
2026-01-16T04:52:14.078Z,1768539134.078 [keepstation:TransitToStation:Dive:A] Stopped
2026-01-16T04:52:14.078Z,1768539134.078 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A
2026-01-16T04:52:14.078Z,1768539134.078 [keepstation:OnStation] Running Loop=1
2026-01-16T04:52:14.078Z,1768539134.078 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2026-01-16T04:52:15.030Z,1768539135.030 [DVL_micro](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BI,+000,+00000,I
2026-01-16T04:52:15.031Z,1768539135.031 [DVL_micro](ERROR): Failed to parse:
:BI,+000,+00000,I
2026-01-16T04:53:36.543Z,1768539216.543 [keepstation:NeedComms:D] Running Loop=1
2026-01-16T04:53:37.052Z,1768539217.052 [Radio_Surface](INFO): Powering up
2026-01-16T04:53:42.684Z,1768539222.684 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-16T04:54:12.808Z,1768539252.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T04:54:43.933Z,1768539283.933 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T04:55:09.767Z,1768539309.767 [NAL9602](INFO): SBD MO Status=2, MOMSN=25251, MT Status=2, MTMSN=0
2026-01-16T04:55:09.767Z,1768539309.767 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T04:55:15.060Z,1768539315.060 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T04:55:46.184Z,1768539346.184 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T04:55:55.032Z,1768539355.032 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003068
2026-01-16T04:57:39.241Z,1768539459.241 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-16T04:58:04.283Z,1768539484.283 [NAL9602](INFO): SBD MO Status=2, MOMSN=25251, MT Status=2, MTMSN=0
2026-01-16T04:58:04.283Z,1768539484.283 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T04:58:40.246Z,1768539520.246 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-16T04:58:43.890Z,1768539523.890 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,045841.00,A,3643.62535,N,12212.47301,W,0.641,2.57,160126,,,D*72
2026-01-16T04:58:43.892Z,1768539523.892 [NAL9602](INFO): GPS fix at 20260116T045841: (36.727089, -122.207883)
2026-01-16T04:58:43.903Z,1768539523.903 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Rest->Waypoint
2026-01-16T04:58:43.907Z,1768539523.907 [keepstation:NeedComms:D] Stopped
2026-01-16T04:58:43.907Z,1768539523.907 [keepstation:NeedComms:E] Running Loop=1
2026-01-16T04:58:52.436Z,1768539532.436 [DataOverHttps](INFO): Sending 208 bytes from file Logs/20260116T031527/Courier0006.lzma
2026-01-16T04:58:53.439Z,1768539533.439 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0006.lzma.bak
2026-01-16T04:58:53.439Z,1768539533.439 [DataOverHttps](INFO): SBD MOMSN=26576388
2026-01-16T04:59:10.209Z,1768539550.209 [DataOverHttps](INFO): Sending 742 bytes from file Logs/20260116T031527/Express0007.lzma
2026-01-16T04:59:11.210Z,1768539551.210 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0007.lzma.bak
2026-01-16T04:59:11.210Z,1768539551.210 [DataOverHttps](INFO): SBD MOMSN=26576391
2026-01-16T04:59:12.630Z,1768539552.630 [keepstation:NeedComms:E] Stopped
2026-01-16T04:59:12.630Z,1768539552.630 [keepstation:NeedComms:F] Running Loop=1
2026-01-16T04:59:14.579Z,1768539554.579 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,045912.00,A,3643.62881,N,12212.47468,W,0.583,16.76,160126,,,D*44
2026-01-16T04:59:14.582Z,1768539554.582 [NAL9602](INFO): GPS fix at 20260116T045912: (36.727147, -122.207911)
2026-01-16T04:59:14.611Z,1768539554.611 [keepstation:NeedComms:F] Stopped
2026-01-16T04:59:14.611Z,1768539554.611 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-01-16T04:59:14.640Z,1768539554.640 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-01-16T04:59:14.640Z,1768539554.640 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-16T04:59:15.054Z,1768539555.054 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-01-16T04:59:15.054Z,1768539555.054 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-01-16T04:59:15.055Z,1768539555.055 [keepstation:NeedComms:setRestoreMode] Stopped
2026-01-16T04:59:15.055Z,1768539555.055 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-01-16T04:59:15.055Z,1768539555.055 [keepstation:NeedComms:setInactive] Running Loop=1
2026-01-16T04:59:15.055Z,1768539555.055 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-01-16T04:59:15.055Z,1768539555.055 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-01-16T04:59:15.446Z,1768539555.446 [keepstation:NeedComms:setInactive:A] Stopped
2026-01-16T04:59:15.446Z,1768539555.446 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-01-16T04:59:15.446Z,1768539555.446 [keepstation:NeedComms:setInactive] Stopped
2026-01-16T04:59:15.447Z,1768539555.447 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-01-16T04:59:15.447Z,1768539555.447 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-01-16T04:59:15.447Z,1768539555.447 [keepstation:NeedComms] Stopped
2026-01-16T04:59:15.447Z,1768539555.447 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-01-16T04:59:15.468Z,1768539555.468 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-01-16T04:59:15.468Z,1768539555.468 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-16T04:59:15.841Z,1768539555.841 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2026-01-16T04:59:15.841Z,1768539555.841 [keepstation:OnStation] Stopped
2026-01-16T04:59:15.842Z,1768539555.842 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2026-01-16T04:59:15.842Z,1768539555.842 [keepstation:KeepStation] Running Loop=1
2026-01-16T04:59:15.842Z,1768539555.842 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2026-01-16T04:59:15.842Z,1768539555.842 [keepstation:KeepStation:Dive] Running Loop=1
2026-01-16T04:59:15.842Z,1768539555.842 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-01-16T04:59:15.842Z,1768539555.842 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-01-16T04:59:15.842Z,1768539555.842 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-01-16T04:59:15.843Z,1768539555.843 [keepstation:KeepStation:B.Wait] Running Loop=1
2026-01-16T04:59:15.843Z,1768539555.843 [keepstation:KeepStation:B.Wait](DEBUG): Initialize Wait Component.
2026-01-16T04:59:15.854Z,1768539555.854 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-01-16T04:59:15.854Z,1768539555.854 [keepstation:SurfaceComms:B] Stopped
2026-01-16T04:59:15.854Z,1768539555.854 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-01-16T04:59:15.854Z,1768539555.854 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-01-16T04:59:15.854Z,1768539555.854 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-01-16T04:59:15.854Z,1768539555.854 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-01-16T04:59:15.854Z,1768539555.854 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T04:59:15.854Z,1768539555.854 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-01-16T04:59:16.252Z,1768539556.252 [keepstation:KeepStation:Dive] Running Loop=1
2026-01-16T04:59:16.254Z,1768539556.254 [keepstation:SurfaceComms:HandleNan] Stopped
2026-01-16T04:59:16.254Z,1768539556.254 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-01-16T04:59:16.255Z,1768539556.255 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-01-16T04:59:16.255Z,1768539556.255 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T04:59:16.255Z,1768539556.255 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-01-16T04:59:16.255Z,1768539556.255 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-01-16T04:59:16.255Z,1768539556.255 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-01-16T04:59:16.255Z,1768539556.255 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-01-16T04:59:16.672Z,1768539556.672 [keepstation:SurfaceComms:setTransit] Stopped
2026-01-16T04:59:16.672Z,1768539556.672 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-01-16T04:59:16.672Z,1768539556.672 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-01-16T04:59:16.672Z,1768539556.672 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-01-16T04:59:16.672Z,1768539556.672 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-01-16T04:59:16.672Z,1768539556.672 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-01-16T04:59:17.042Z,1768539557.042 [keepstation:SurfaceComms:setStation] Stopped
2026-01-16T04:59:17.042Z,1768539557.042 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-01-16T04:59:17.042Z,1768539557.042 [keepstation:SurfaceComms:setStation:A] Stopped
2026-01-16T04:59:17.042Z,1768539557.042 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-01-16T04:59:17.042Z,1768539557.042 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-01-16T04:59:17.042Z,1768539557.042 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-01-16T04:59:17.477Z,1768539557.477 [keepstation:SurfaceComms:setSink:A] Stopped
2026-01-16T04:59:17.478Z,1768539557.478 [keepstation:SurfaceComms:setSink](INFO): Completed keepstation:SurfaceComms:setSink
2026-01-16T04:59:17.478Z,1768539557.478 [keepstation:SurfaceComms:setSink] Stopped
2026-01-16T04:59:17.478Z,1768539557.478 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-01-16T04:59:17.478Z,1768539557.478 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-01-16T04:59:17.478Z,1768539557.478 [keepstation:SurfaceComms] Stopped
2026-01-16T04:59:17.478Z,1768539557.478 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-01-16T04:59:17.841Z,1768539557.841 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-16T04:59:17.841Z,1768539557.841 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-16T04:59:17.841Z,1768539557.841 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-16T04:59:17.841Z,1768539557.841 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-16T04:59:17.841Z,1768539557.841 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-16T04:59:17.841Z,1768539557.841 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-16T04:59:17.841Z,1768539557.841 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-16T04:59:17.841Z,1768539557.841 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-01-16T04:59:17.841Z,1768539557.841 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-01-16T04:59:17.842Z,1768539557.842 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T04:59:17.842Z,1768539557.842 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-16T04:59:17.842Z,1768539557.842 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-16T04:59:17.842Z,1768539557.842 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-16T04:59:17.842Z,1768539557.842 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-16T04:59:17.842Z,1768539557.842 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-01-16T04:59:17.843Z,1768539557.843 [keepstation:DiveCmd:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-16T04:59:17.843Z,1768539557.843 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-01-16T04:59:17.843Z,1768539557.843 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-16T04:59:17.843Z,1768539557.843 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-16T04:59:47.354Z,1768539587.354 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-16T05:00:43.296Z,1768539643.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T05:01:14.420Z,1768539674.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T05:01:25.700Z,1768539685.700 [Radio_Surface](INFO): Powering down
2026-01-16T05:01:45.556Z,1768539705.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T05:01:46.560Z,1768539706.560 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-16T05:02:33.762Z,1768539753.762 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Stopped
2026-01-16T05:02:33.762Z,1768539753.762 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Running Loop=1
2026-01-16T05:02:33.762Z,1768539753.762 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-16T05:02:33.762Z,1768539753.762 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Running Loop=1
2026-01-16T05:02:34.191Z,1768539754.191 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Stopped
2026-01-16T05:02:34.191Z,1768539754.191 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-16T05:02:34.192Z,1768539754.192 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Stopped
2026-01-16T05:02:34.192Z,1768539754.192 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Running Loop=1
2026-01-16T05:02:34.192Z,1768539754.192 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T05:02:34.193Z,1768539754.193 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Running Loop=1
2026-01-16T05:02:34.592Z,1768539754.592 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Stopped
2026-01-16T05:02:34.593Z,1768539754.593 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T05:02:34.593Z,1768539754.593 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Stopped
2026-01-16T05:02:34.593Z,1768539754.593 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T05:02:34.593Z,1768539754.593 [keepstation:DiveCmd:SurfaceSink:sink](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T05:02:34.593Z,1768539754.593 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-01-16T05:02:34.593Z,1768539754.593 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T05:02:34.594Z,1768539754.594 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-16T05:02:34.594Z,1768539754.594 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-16T05:02:34.594Z,1768539754.594 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-16T05:02:34.594Z,1768539754.594 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-16T05:02:34.594Z,1768539754.594 [keepstation:DiveCmd:SurfaceSink](INFO): Completed keepstation:DiveCmd:SurfaceSink
2026-01-16T05:02:34.976Z,1768539754.976 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T05:02:34.976Z,1768539754.976 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-16T05:02:34.977Z,1768539754.977 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T05:02:34.977Z,1768539754.977 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T05:02:34.977Z,1768539754.977 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-16T05:02:34.977Z,1768539754.977 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T05:02:34.977Z,1768539754.977 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-16T05:02:34.978Z,1768539754.978 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Rest->Waypoint
2026-01-16T05:02:35.375Z,1768539755.375 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.70 m/s, pitch 20.00 deg, mass-position 30.65 mm (2 active estimators).
2026-01-16T05:02:50.816Z,1768539770.816 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.735138
2026-01-16T05:03:32.334Z,1768539812.334 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-16T05:12:33.378Z,1768540353.378 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T05:12:44.710Z,1768540364.710 [DVL_micro](ERROR): Failed to parse:
:SA,+04.74,+05.58,296.0
2026-01-16T05:13:08.571Z,1768540388.571 [DVL_micro](ERROR): only read 2 of 4 data items for beam range. Device response is::RD,+9999.99,+999999.99
2026-01-16T05:13:08.571Z,1768540388.571 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+999999.99
2026-01-16T05:21:41.521Z,1768540901.521 [BPC1](ERROR): Battery stick #50 (s/n: 0457) reported OVER_TEMP_ALARM. Status code: 0x1717.
2026-01-16T05:21:41.522Z,1768540901.522 [BPC1](INFO): Calculating totals. Valid battery stick count: 48. Valid reserve battery stick count: 5.
2026-01-16T05:21:41.525Z,1768540901.525 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T05:25:50.877Z,1768541150.877 [DVL_micro](ERROR): Failed to parse:
:SA,+05.81,+05.21,288.8
2026-01-16T05:41:41.902Z,1768542101.902 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00000000000000,35.+00013,+00000,I
2026-01-16T05:41:41.902Z,1768542101.902 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.+00013,+00000,I
2026-01-16T05:43:56.989Z,1768542236.989 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T05:53:34.784Z,1768542814.784 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T05:56:46.429Z,1768543006.429 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Waypoint->Rest
2026-01-16T06:02:06.780Z,1768543326.780 [DVL_micro](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BI,-00070,+00108,+0002999.99,000.00
2026-01-16T06:02:06.780Z,1768543326.780 [DVL_micro](ERROR): Failed to parse:
:BI,-00070,+00108,+0002999.99,000.00
2026-01-16T06:02:43.139Z,1768543363.139 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T06:02:43.155Z,1768543363.155 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T06:08:23.710Z,1768543703.710 [DVL_micro](ERROR): Failed to parse:
:BI,+00037,-00004,+00156,+00000,I
2026-01-16T06:21:30.407Z,1768544490.407 [DVL_micro](ERROR): Failed to parse:
:BI,-00022,+00068,-00083,+00000,I
2026-01-16T06:29:14.918Z,1768544954.918 [keepstation:SurfaceComms] Running Loop=1
2026-01-16T06:29:14.919Z,1768544954.919 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-01-16T06:29:14.919Z,1768544954.919 [keepstation:SurfaceComms:A] Running Loop=1
2026-01-16T06:29:14.919Z,1768544954.919 [keepstation:SurfaceComms:A] Stopped
2026-01-16T06:29:14.919Z,1768544954.919 [keepstation:SurfaceComms:B] Running Loop=1
2026-01-16T06:29:14.919Z,1768544954.919 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-01-16T06:29:14.921Z,1768544954.921 [keepstation:NeedComms] Running Loop=1
2026-01-16T06:29:14.921Z,1768544954.921 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-01-16T06:29:14.922Z,1768544954.922 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-01-16T06:29:14.922Z,1768544954.922 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-16T06:29:14.922Z,1768544954.922 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-16T06:29:14.922Z,1768544954.922 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-16T06:29:14.923Z,1768544954.923 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-16T06:29:14.923Z,1768544954.923 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-16T06:29:14.923Z,1768544954.923 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-16T06:29:14.924Z,1768544954.924 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-16T06:29:14.924Z,1768544954.924 [keepstation:NeedComms:A] Running Loop=1
2026-01-16T06:29:14.926Z,1768544954.926 [keepstation:NeedComms:A](INFO): last time_fix was:  1768539552.000000 second since 1970/01/01T00:00:00Z 
2026-01-16T06:29:14.926Z,1768544954.926 [keepstation:NeedComms:A] Stopped
2026-01-16T06:29:14.926Z,1768544954.926 [keepstation:NeedComms:setActive] Running Loop=1
2026-01-16T06:29:14.926Z,1768544954.926 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-01-16T06:29:14.926Z,1768544954.926 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-01-16T06:29:15.318Z,1768544955.318 [keepstation:KeepStation:Dive] Stopped
2026-01-16T06:29:15.318Z,1768544955.318 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-01-16T06:29:15.318Z,1768544955.318 [keepstation:KeepStation:Dive:A] Stopped
2026-01-16T06:29:15.318Z,1768544955.318 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-01-16T06:29:15.318Z,1768544955.318 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-16T06:29:15.318Z,1768544955.318 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-16T06:29:15.318Z,1768544955.318 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-16T06:29:15.319Z,1768544955.319 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-16T06:29:15.319Z,1768544955.319 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-16T06:29:15.319Z,1768544955.319 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-16T06:29:15.322Z,1768544955.322 [keepstation:NeedComms:setActive:A] Stopped
2026-01-16T06:29:15.322Z,1768544955.322 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-01-16T06:29:15.734Z,1768544955.734 [keepstation:NeedComms:setActive:B] Stopped
2026-01-16T06:29:15.734Z,1768544955.734 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-01-16T06:29:15.734Z,1768544955.734 [keepstation:NeedComms:setActive] Stopped
2026-01-16T06:29:15.734Z,1768544955.734 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-01-16T06:31:04.194Z,1768545064.194 [keepstation:NeedComms:D] Running Loop=1
2026-01-16T06:31:04.592Z,1768545064.592 [Radio_Surface](INFO): Powering up
2026-01-16T06:31:09.992Z,1768545069.992 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-16T06:31:36.867Z,1768545096.867 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2026-01-16T06:31:36.940Z,1768545096.940 [NAL9602](ERROR): received: 
+CSQ:1

OK251, 2, 0, 0, 0

OK
2026-01-16T06:31:40.112Z,1768545100.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T06:31:57.462Z,1768545117.462 [NAL9602](INFO): SBD MO Status=2, MOMSN=25251, MT Status=2, MTMSN=0
2026-01-16T06:31:57.462Z,1768545117.462 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T06:32:11.252Z,1768545131.252 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T06:32:42.376Z,1768545162.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T06:33:13.500Z,1768545193.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T06:33:22.212Z,1768545202.212 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003111
2026-01-16T06:33:34.027Z,1768545214.027 [NAL9602](INFO): SBD MO Status=2, MOMSN=25251, MT Status=2, MTMSN=0
2026-01-16T06:33:34.027Z,1768545214.027 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T06:33:58.662Z,1768545238.662 [NAL9602](INFO): SBD MO Status=2, MOMSN=25251, MT Status=2, MTMSN=0
2026-01-16T06:33:58.662Z,1768545238.662 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T06:34:08.762Z,1768545248.762 [NAL9602](INFO): SBD MO Status=1, MOMSN=25251, MT Status=0, MTMSN=0
2026-01-16T06:34:08.762Z,1768545248.762 [NAL9602](INFO): No messages in MT queue
2026-01-16T06:34:09.978Z,1768545249.978 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,063407.00,A,3643.64496,N,12212.10255,W,0.972,348.58,160126,,,D*79
2026-01-16T06:34:09.981Z,1768545249.981 [NAL9602](INFO): GPS fix at 20260116T063407: (36.727416, -122.201709)
2026-01-16T06:34:09.993Z,1768545249.993 [UniversalFixResidualReporter](INFO): Fix residual: 66.8 %DT, over the last 1814.2 m. Residual distance 1211.2 m at bearing 138.4 degrees. Fix at (36.7274, -122.2017) with 553.6 m made good.
2026-01-16T06:34:09.996Z,1768545249.996 [keepstation:NeedComms:D] Stopped
2026-01-16T06:34:09.996Z,1768545249.996 [keepstation:NeedComms:E] Running Loop=1
2026-01-16T06:34:17.704Z,1768545257.704 [DataOverHttps](INFO): Sending 219 bytes from file Logs/20260116T031527/Courier0009.lzma
2026-01-16T06:34:18.706Z,1768545258.706 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0009.lzma.bak
2026-01-16T06:34:18.706Z,1768545258.706 [DataOverHttps](INFO): SBD MOMSN=26576683
2026-01-16T06:34:35.360Z,1768545275.360 [DataOverHttps](INFO): Sending 838 bytes from file Logs/20260116T031527/Express0010.lzma
2026-01-16T06:34:36.358Z,1768545276.358 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0010.lzma.bak
2026-01-16T06:34:36.358Z,1768545276.358 [DataOverHttps](INFO): SBD MOMSN=26576686
2026-01-16T06:34:37.862Z,1768545277.862 [keepstation:NeedComms:E] Stopped
2026-01-16T06:34:37.862Z,1768545277.862 [keepstation:NeedComms:F] Running Loop=1
2026-01-16T06:34:39.887Z,1768545279.887 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,063437.00,A,3643.64660,N,12212.10317,W,0.855,52.64,160126,,,D*45
2026-01-16T06:34:39.893Z,1768545279.893 [NAL9602](INFO): GPS fix at 20260116T063437: (36.727443, -122.201719)
2026-01-16T06:34:39.938Z,1768545279.938 [keepstation:NeedComms:F] Stopped
2026-01-16T06:34:39.938Z,1768545279.938 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-01-16T06:34:39.938Z,1768545279.938 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-01-16T06:34:39.938Z,1768545279.938 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-16T06:34:40.315Z,1768545280.315 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-01-16T06:34:40.315Z,1768545280.315 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-01-16T06:34:40.315Z,1768545280.315 [keepstation:NeedComms:setRestoreMode] Stopped
2026-01-16T06:34:40.315Z,1768545280.315 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-01-16T06:34:40.315Z,1768545280.315 [keepstation:NeedComms:setInactive] Running Loop=1
2026-01-16T06:34:40.315Z,1768545280.315 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-01-16T06:34:40.315Z,1768545280.315 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-01-16T06:34:40.717Z,1768545280.717 [keepstation:NeedComms:setInactive:A] Stopped
2026-01-16T06:34:40.717Z,1768545280.717 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-01-16T06:34:40.718Z,1768545280.718 [keepstation:NeedComms:setInactive] Stopped
2026-01-16T06:34:40.718Z,1768545280.718 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-01-16T06:34:40.718Z,1768545280.718 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-01-16T06:34:40.718Z,1768545280.718 [keepstation:NeedComms] Stopped
2026-01-16T06:34:40.719Z,1768545280.719 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-01-16T06:34:40.719Z,1768545280.719 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-01-16T06:34:40.719Z,1768545280.719 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-16T06:34:41.125Z,1768545281.125 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-01-16T06:34:41.125Z,1768545281.125 [keepstation:SurfaceComms:B] Stopped
2026-01-16T06:34:41.125Z,1768545281.125 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-01-16T06:34:41.125Z,1768545281.125 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-01-16T06:34:41.126Z,1768545281.126 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-01-16T06:34:41.126Z,1768545281.126 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-01-16T06:34:41.126Z,1768545281.126 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T06:34:41.126Z,1768545281.126 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-01-16T06:34:41.553Z,1768545281.553 [keepstation:SurfaceComms:HandleNan] Stopped
2026-01-16T06:34:41.553Z,1768545281.553 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-01-16T06:34:41.553Z,1768545281.553 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-01-16T06:34:41.553Z,1768545281.553 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T06:34:41.553Z,1768545281.553 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-01-16T06:34:41.553Z,1768545281.553 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-01-16T06:34:41.554Z,1768545281.554 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-01-16T06:34:41.554Z,1768545281.554 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-01-16T06:34:41.933Z,1768545281.933 [keepstation:SurfaceComms:setTransit] Stopped
2026-01-16T06:34:41.933Z,1768545281.933 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-01-16T06:34:41.933Z,1768545281.933 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-01-16T06:34:41.933Z,1768545281.933 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-01-16T06:34:41.934Z,1768545281.934 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-01-16T06:34:41.934Z,1768545281.934 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-01-16T06:34:42.340Z,1768545282.340 [keepstation:SurfaceComms:setStation] Stopped
2026-01-16T06:34:42.340Z,1768545282.340 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-01-16T06:34:42.340Z,1768545282.340 [keepstation:SurfaceComms:setStation:A] Stopped
2026-01-16T06:34:42.340Z,1768545282.340 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-01-16T06:34:42.341Z,1768545282.341 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-01-16T06:34:42.341Z,1768545282.341 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-01-16T06:34:42.757Z,1768545282.757 [keepstation:SurfaceComms:setSink:A] Stopped
2026-01-16T06:34:42.757Z,1768545282.757 [keepstation:SurfaceComms:setSink](INFO): Completed keepstation:SurfaceComms:setSink
2026-01-16T06:34:42.757Z,1768545282.757 [keepstation:SurfaceComms:setSink] Stopped
2026-01-16T06:34:42.757Z,1768545282.757 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-01-16T06:34:42.757Z,1768545282.757 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-01-16T06:34:42.757Z,1768545282.757 [keepstation:SurfaceComms] Stopped
2026-01-16T06:34:42.758Z,1768545282.758 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-01-16T06:34:43.139Z,1768545283.139 [keepstation:KeepStation:Dive] Running Loop=1
2026-01-16T06:34:43.157Z,1768545283.157 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-01-16T06:34:43.157Z,1768545283.157 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-01-16T06:34:43.157Z,1768545283.157 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-01-16T06:34:43.157Z,1768545283.157 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-16T06:34:43.157Z,1768545283.157 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-01-16T06:34:43.158Z,1768545283.158 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-01-16T06:34:43.158Z,1768545283.158 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T06:34:43.158Z,1768545283.158 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-16T06:34:43.158Z,1768545283.158 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-16T06:34:43.158Z,1768545283.158 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-16T06:34:43.158Z,1768545283.158 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-16T06:34:43.158Z,1768545283.158 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-01-16T06:34:43.159Z,1768545283.159 [keepstation:DiveCmd:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-16T06:34:43.159Z,1768545283.159 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-01-16T06:34:43.159Z,1768545283.159 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-16T06:34:43.159Z,1768545283.159 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-16T06:35:12.709Z,1768545312.709 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-16T06:36:39.148Z,1768545399.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T06:37:00.204Z,1768545420.204 [Radio_Surface](INFO): Powering down
2026-01-16T06:37:10.272Z,1768545430.272 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T06:37:11.276Z,1768545431.276 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-16T06:37:24.762Z,1768545444.762 [DVL_micro](ERROR): Failed to parse:
:SA,-00.41,+01.01,206.8
2026-01-16T06:38:20.904Z,1768545500.904 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Stopped
2026-01-16T06:38:20.904Z,1768545500.904 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Running Loop=1
2026-01-16T06:38:20.905Z,1768545500.905 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-16T06:38:20.905Z,1768545500.905 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Running Loop=1
2026-01-16T06:38:21.316Z,1768545501.316 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Stopped
2026-01-16T06:38:21.316Z,1768545501.316 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-16T06:38:21.316Z,1768545501.316 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Stopped
2026-01-16T06:38:21.316Z,1768545501.316 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Running Loop=1
2026-01-16T06:38:21.316Z,1768545501.316 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T06:38:21.317Z,1768545501.317 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Running Loop=1
2026-01-16T06:38:21.726Z,1768545501.726 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Stopped
2026-01-16T06:38:21.726Z,1768545501.726 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T06:38:21.726Z,1768545501.726 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Stopped
2026-01-16T06:38:21.726Z,1768545501.726 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T06:38:21.727Z,1768545501.727 [keepstation:DiveCmd:SurfaceSink:sink](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T06:38:21.727Z,1768545501.727 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-01-16T06:38:21.727Z,1768545501.727 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T06:38:21.727Z,1768545501.727 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-16T06:38:21.727Z,1768545501.727 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-16T06:38:21.727Z,1768545501.727 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-16T06:38:21.727Z,1768545501.727 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-16T06:38:21.727Z,1768545501.727 [keepstation:DiveCmd:SurfaceSink](INFO): Completed keepstation:DiveCmd:SurfaceSink
2026-01-16T06:38:22.110Z,1768545502.110 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T06:38:22.110Z,1768545502.110 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-16T06:38:22.110Z,1768545502.110 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T06:38:22.111Z,1768545502.111 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T06:38:22.111Z,1768545502.111 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-16T06:38:22.111Z,1768545502.111 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T06:38:22.111Z,1768545502.111 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-16T06:38:22.112Z,1768545502.112 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Rest->Waypoint
2026-01-16T06:38:46.660Z,1768545526.660 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.743301
2026-01-16T06:43:44.994Z,1768545824.994 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T06:43:44.998Z,1768545824.998 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T07:04:12.845Z,1768547052.845 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2026-01-16T07:06:00.696Z,1768547160.696 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T07:10:11.438Z,1768547411.438 [DVL_micro](ERROR): Failed to parse:
:BI,-00045,-00461,-00012,+00000,I
2026-01-16T07:18:27.563Z,1768547907.563 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Waypoint->Rest
2026-01-16T07:18:27.956Z,1768547907.956 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm.
2026-01-16T07:24:46.895Z,1768548286.895 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T07:24:46.898Z,1768548286.898 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T07:53:31.584Z,1768550011.584 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-16T07:59:01.655Z,1768550341.655 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-16T08:04:30.911Z,1768550670.911 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00000000000000,35.0,,A
2026-01-16T08:04:30.911Z,1768550670.911 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,,A
2026-01-16T08:04:40.285Z,1768550680.285 [keepstation:SurfaceComms] Running Loop=1
2026-01-16T08:04:40.285Z,1768550680.285 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-01-16T08:04:40.286Z,1768550680.286 [keepstation:SurfaceComms:A] Running Loop=1
2026-01-16T08:04:40.287Z,1768550680.287 [keepstation:SurfaceComms:A] Stopped
2026-01-16T08:04:40.287Z,1768550680.287 [keepstation:SurfaceComms:B] Running Loop=1
2026-01-16T08:04:40.309Z,1768550680.309 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-01-16T08:04:40.311Z,1768550680.311 [keepstation:NeedComms] Running Loop=1
2026-01-16T08:04:40.311Z,1768550680.311 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-01-16T08:04:40.311Z,1768550680.311 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-01-16T08:04:40.311Z,1768550680.311 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-16T08:04:40.316Z,1768550680.316 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-16T08:04:40.318Z,1768550680.318 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-16T08:04:40.318Z,1768550680.318 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-16T08:04:40.319Z,1768550680.319 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-16T08:04:40.319Z,1768550680.319 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-16T08:04:40.319Z,1768550680.319 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-16T08:04:40.324Z,1768550680.324 [keepstation:NeedComms:A] Running Loop=1
2026-01-16T08:04:40.325Z,1768550680.325 [keepstation:NeedComms:A](INFO): last time_fix was:  1768545277.000000 second since 1970/01/01T00:00:00Z 
2026-01-16T08:04:40.325Z,1768550680.325 [keepstation:NeedComms:A] Stopped
2026-01-16T08:04:40.326Z,1768550680.326 [keepstation:NeedComms:setActive] Running Loop=1
2026-01-16T08:04:40.326Z,1768550680.326 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-01-16T08:04:40.326Z,1768550680.326 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-01-16T08:04:40.633Z,1768550680.633 [keepstation:KeepStation:Dive] Stopped
2026-01-16T08:04:40.634Z,1768550680.634 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-01-16T08:04:40.634Z,1768550680.634 [keepstation:KeepStation:Dive:A] Stopped
2026-01-16T08:04:40.634Z,1768550680.634 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-01-16T08:04:40.634Z,1768550680.634 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-16T08:04:40.634Z,1768550680.634 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-16T08:04:40.634Z,1768550680.634 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-16T08:04:40.634Z,1768550680.634 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-16T08:04:40.634Z,1768550680.634 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-16T08:04:40.635Z,1768550680.635 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-16T08:04:40.638Z,1768550680.638 [keepstation:NeedComms:setActive:A] Stopped
2026-01-16T08:04:40.638Z,1768550680.638 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-01-16T08:04:41.050Z,1768550681.050 [keepstation:NeedComms:setActive:B] Stopped
2026-01-16T08:04:41.051Z,1768550681.051 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-01-16T08:04:41.051Z,1768550681.051 [keepstation:NeedComms:setActive] Stopped
2026-01-16T08:04:41.051Z,1768550681.051 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-01-16T08:05:48.814Z,1768550748.814 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T08:05:48.819Z,1768550748.819 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T08:05:52.053Z,1768550752.053 [keepstation:NeedComms:D] Running Loop=1
2026-01-16T08:05:52.664Z,1768550752.664 [Radio_Surface](INFO): Powering up
2026-01-16T08:05:58.337Z,1768550758.337 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-16T08:06:28.456Z,1768550788.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T08:06:59.592Z,1768550819.592 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T08:07:30.716Z,1768550850.716 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T08:08:01.848Z,1768550881.848 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T08:08:06.703Z,1768550886.703 [NAL9602](INFO): SBD MO Status=2, MOMSN=25252, MT Status=2, MTMSN=0
2026-01-16T08:08:06.704Z,1768550886.704 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T08:08:10.564Z,1768550890.564 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003067
2026-01-16T08:08:39.427Z,1768550919.427 [NAL9602](INFO): SBD MO Status=2, MOMSN=25252, MT Status=2, MTMSN=0
2026-01-16T08:08:39.427Z,1768550919.427 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T08:10:00.631Z,1768551000.631 [NAL9602](INFO): SBD MO Status=2, MOMSN=25252, MT Status=2, MTMSN=0
2026-01-16T08:10:00.631Z,1768551000.631 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T08:10:22.450Z,1768551022.450 [NAL9602](INFO): SBD MO Status=2, MOMSN=25252, MT Status=2, MTMSN=0
2026-01-16T08:10:22.450Z,1768551022.450 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T08:10:48.744Z,1768551048.744 [NAL9602](INFO): SBD MO Status=2, MOMSN=25252, MT Status=2, MTMSN=0
2026-01-16T08:10:48.744Z,1768551048.744 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T08:10:56.393Z,1768551056.393 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-16T08:11:00.837Z,1768551060.837 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,081058.00,A,3643.32700,N,12212.22326,W,0.700,148.02,160126,,,D*76
2026-01-16T08:11:00.839Z,1768551060.839 [NAL9602](INFO): GPS fix at 20260116T081058: (36.722117, -122.203721)
2026-01-16T08:11:00.851Z,1768551060.851 [UniversalFixResidualReporter](INFO): Fix residual: 80.3 %DT, over the last 1333.6 m. Residual distance 1071.3 m at bearing 113.2 degrees. Fix at (36.7221, -122.2037) with 618.6 m made good.
2026-01-16T08:11:00.854Z,1768551060.854 [keepstation:NeedComms:D] Stopped
2026-01-16T08:11:00.855Z,1768551060.855 [keepstation:NeedComms:E] Running Loop=1
2026-01-16T08:11:08.431Z,1768551068.431 [DataOverHttps](INFO): Sending 99 bytes from file Logs/20260116T031527/Courier0012.lzma
2026-01-16T08:11:09.439Z,1768551069.439 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0012.lzma.bak
2026-01-16T08:11:09.439Z,1768551069.439 [DataOverHttps](INFO): SBD MOMSN=26576982
2026-01-16T08:11:26.273Z,1768551086.273 [DataOverHttps](INFO): Sending 800 bytes from file Logs/20260116T031527/Express0013.lzma
2026-01-16T08:11:27.274Z,1768551087.274 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0013.lzma.bak
2026-01-16T08:11:27.274Z,1768551087.274 [DataOverHttps](INFO): SBD MOMSN=26576985
2026-01-16T08:11:28.742Z,1768551088.742 [keepstation:NeedComms:E] Stopped
2026-01-16T08:11:28.742Z,1768551088.742 [keepstation:NeedComms:F] Running Loop=1
2026-01-16T08:11:30.743Z,1768551090.743 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,081128.00,A,3643.32470,N,12212.22521,W,0.369,229.63,160126,,,A*78
2026-01-16T08:11:30.745Z,1768551090.745 [NAL9602](INFO): GPS fix at 20260116T081128: (36.722078, -122.203754)
2026-01-16T08:11:30.786Z,1768551090.786 [keepstation:NeedComms:F] Stopped
2026-01-16T08:11:30.786Z,1768551090.786 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-01-16T08:11:30.787Z,1768551090.787 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-01-16T08:11:30.787Z,1768551090.787 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-16T08:11:31.217Z,1768551091.217 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-01-16T08:11:31.217Z,1768551091.217 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-01-16T08:11:31.217Z,1768551091.217 [keepstation:NeedComms:setRestoreMode] Stopped
2026-01-16T08:11:31.217Z,1768551091.217 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-01-16T08:11:31.217Z,1768551091.217 [keepstation:NeedComms:setInactive] Running Loop=1
2026-01-16T08:11:31.218Z,1768551091.218 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-01-16T08:11:31.218Z,1768551091.218 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-01-16T08:11:31.570Z,1768551091.570 [keepstation:NeedComms:setInactive:A] Stopped
2026-01-16T08:11:31.570Z,1768551091.570 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-01-16T08:11:31.570Z,1768551091.570 [keepstation:NeedComms:setInactive] Stopped
2026-01-16T08:11:31.570Z,1768551091.570 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-01-16T08:11:31.571Z,1768551091.571 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-01-16T08:11:31.571Z,1768551091.571 [keepstation:NeedComms] Stopped
2026-01-16T08:11:31.571Z,1768551091.571 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-01-16T08:11:31.571Z,1768551091.571 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-01-16T08:11:31.571Z,1768551091.571 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-16T08:11:31.984Z,1768551091.984 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-01-16T08:11:31.984Z,1768551091.984 [keepstation:SurfaceComms:B] Stopped
2026-01-16T08:11:31.984Z,1768551091.984 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-01-16T08:11:31.984Z,1768551091.984 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-01-16T08:11:31.985Z,1768551091.985 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-01-16T08:11:31.985Z,1768551091.985 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-01-16T08:11:31.985Z,1768551091.985 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T08:11:31.985Z,1768551091.985 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-01-16T08:11:32.380Z,1768551092.380 [keepstation:SurfaceComms:HandleNan] Stopped
2026-01-16T08:11:32.380Z,1768551092.380 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-01-16T08:11:32.380Z,1768551092.380 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-01-16T08:11:32.380Z,1768551092.380 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T08:11:32.380Z,1768551092.380 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-01-16T08:11:32.380Z,1768551092.380 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-01-16T08:11:32.380Z,1768551092.380 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-01-16T08:11:32.380Z,1768551092.380 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-01-16T08:11:32.804Z,1768551092.804 [keepstation:SurfaceComms:setTransit] Stopped
2026-01-16T08:11:32.805Z,1768551092.805 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-01-16T08:11:32.805Z,1768551092.805 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-01-16T08:11:32.805Z,1768551092.805 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-01-16T08:11:32.805Z,1768551092.805 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-01-16T08:11:32.805Z,1768551092.805 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-01-16T08:11:33.222Z,1768551093.222 [keepstation:SurfaceComms:setStation] Stopped
2026-01-16T08:11:33.222Z,1768551093.222 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-01-16T08:11:33.222Z,1768551093.222 [keepstation:SurfaceComms:setStation:A] Stopped
2026-01-16T08:11:33.222Z,1768551093.222 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-01-16T08:11:33.222Z,1768551093.222 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-01-16T08:11:33.222Z,1768551093.222 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-01-16T08:11:33.586Z,1768551093.586 [keepstation:SurfaceComms:setSink:A] Stopped
2026-01-16T08:11:33.587Z,1768551093.587 [keepstation:SurfaceComms:setSink](INFO): Completed keepstation:SurfaceComms:setSink
2026-01-16T08:11:33.587Z,1768551093.587 [keepstation:SurfaceComms:setSink] Stopped
2026-01-16T08:11:33.587Z,1768551093.587 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-01-16T08:11:33.587Z,1768551093.587 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-01-16T08:11:33.587Z,1768551093.587 [keepstation:SurfaceComms] Stopped
2026-01-16T08:11:33.587Z,1768551093.587 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-01-16T08:11:34.009Z,1768551094.009 [keepstation:KeepStation:Dive] Running Loop=1
2026-01-16T08:11:34.009Z,1768551094.009 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-01-16T08:11:34.009Z,1768551094.009 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-01-16T08:11:34.009Z,1768551094.009 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-01-16T08:11:34.010Z,1768551094.010 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-16T08:11:34.010Z,1768551094.010 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-01-16T08:11:34.010Z,1768551094.010 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-01-16T08:11:34.010Z,1768551094.010 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T08:11:34.010Z,1768551094.010 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-16T08:11:34.010Z,1768551094.010 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-16T08:11:34.010Z,1768551094.010 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-16T08:11:34.010Z,1768551094.010 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-16T08:11:34.010Z,1768551094.010 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-01-16T08:11:34.011Z,1768551094.011 [keepstation:DiveCmd:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-16T08:11:34.011Z,1768551094.011 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-01-16T08:11:34.011Z,1768551094.011 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-16T08:11:34.011Z,1768551094.011 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-16T08:12:03.465Z,1768551123.465 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-16T08:12:59.572Z,1768551179.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T08:13:30.700Z,1768551210.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T08:14:01.824Z,1768551241.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T08:14:03.552Z,1768551243.552 [Radio_Surface](INFO): Powering down
2026-01-16T08:14:32.948Z,1768551272.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T08:14:33.952Z,1768551273.952 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-16T08:15:08.100Z,1768551308.100 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.747391
2026-01-16T08:15:27.501Z,1768551327.501 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Stopped
2026-01-16T08:15:27.501Z,1768551327.501 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Running Loop=1
2026-01-16T08:15:27.501Z,1768551327.501 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-16T08:15:27.502Z,1768551327.502 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Running Loop=1
2026-01-16T08:15:27.901Z,1768551327.901 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Stopped
2026-01-16T08:15:27.901Z,1768551327.901 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-16T08:15:27.901Z,1768551327.901 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Stopped
2026-01-16T08:15:27.901Z,1768551327.901 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Running Loop=1
2026-01-16T08:15:27.901Z,1768551327.901 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T08:15:27.901Z,1768551327.901 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Running Loop=1
2026-01-16T08:15:28.322Z,1768551328.322 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Stopped
2026-01-16T08:15:28.322Z,1768551328.322 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T08:15:28.322Z,1768551328.322 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Stopped
2026-01-16T08:15:28.322Z,1768551328.322 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T08:15:28.323Z,1768551328.323 [keepstation:DiveCmd:SurfaceSink:sink](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T08:15:28.323Z,1768551328.323 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-01-16T08:15:28.323Z,1768551328.323 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T08:15:28.323Z,1768551328.323 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-16T08:15:28.323Z,1768551328.323 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-16T08:15:28.323Z,1768551328.323 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-16T08:15:28.323Z,1768551328.323 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-16T08:15:28.323Z,1768551328.323 [keepstation:DiveCmd:SurfaceSink](INFO): Completed keepstation:DiveCmd:SurfaceSink
2026-01-16T08:15:28.713Z,1768551328.713 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T08:15:28.713Z,1768551328.713 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-16T08:15:28.713Z,1768551328.713 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T08:15:28.713Z,1768551328.713 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T08:15:28.713Z,1768551328.713 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-16T08:15:28.713Z,1768551328.713 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T08:15:28.713Z,1768551328.713 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-16T08:15:28.714Z,1768551328.714 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Rest->Waypoint
2026-01-16T08:21:46.995Z,1768551706.995 [DVL_micro](ERROR): Failed to parse:
:SA,+17.63,+05.76,273.2
2026-01-16T08:22:22.138Z,1768551742.138 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2026-01-16T08:33:22.221Z,1768552402.221 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2026-01-16T08:34:15.972Z,1768552455.972 [GFScanner](IMPORTANT): Beginning ground fault scan
2026-01-16T08:34:20.267Z,1768552460.267 [GFScanner](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.004269
CHAN A1 (24V): 0.004286
CHAN A2 (12V): -0.027411
CHAN A3 (5V): -0.010435
CHAN B0 (3.3V): -0.003214
CHAN B1 (3.15aV): -0.001706
CHAN B2 (3.15bV): -0.001311
CHAN B3 (GND): -0.002225
OPEN: 0.012189
Full Scale: +/- 1 mA
2026-01-16T08:37:41.172Z,1768552661.172 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T08:42:54.054Z,1768552974.054 [DVL_micro](ERROR): Failed to parse:
:BI,-00077,-00461,+00037,+00000,I
2026-01-16T08:46:50.420Z,1768553210.420 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T08:46:50.423Z,1768553210.423 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T08:47:40.186Z,1768553260.186 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Waypoint->Rest
2026-01-16T09:09:38.441Z,1768554578.441 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2026-01-16T09:18:43.034Z,1768555123.034 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T09:22:28.476Z,1768555348.476 [DVL_micro](ERROR): only read 0 of 4 data items for beam range. Device response is::RD,,+9999.99,+9999.99,+9999.99
2026-01-16T09:22:28.476Z,1768555348.476 [DVL_micro](ERROR): Failed to parse:
:RD,,+9999.99,+9999.99,+9999.99
2026-01-16T09:27:52.070Z,1768555672.070 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T09:27:52.074Z,1768555672.074 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T09:29:15.360Z,1768555755.360 [DVL_micro](ERROR): DVL uart error: serial timeout
2026-01-16T09:29:15.360Z,1768555755.360 [DVL_micro] Communications Fault, FailCount= 1
2026-01-16T09:29:15.360Z,1768555755.360 [DVL_micro](ERROR): Communications Fault
2026-01-16T09:29:15.360Z,1768555755.360 [DVL_micro](ERROR): Failed to parse:
2026-01-16T09:29:15.388Z,1768555755.388 [CBIT](ERROR): Communications Fault in component: DVL_micro
2026-01-16T09:29:15.788Z,1768555755.788 [DVL_micro](INFO): Powering down
2026-01-16T09:29:16.533Z,1768555756.533 [CBIT](INFO): Clearing failed state for component DVL_micro
2026-01-16T09:29:16.533Z,1768555756.533 [DVL_micro] No Fault, FailCount= 1
2026-01-16T09:41:30.993Z,1768556490.993 [keepstation:SurfaceComms] Running Loop=1
2026-01-16T09:41:30.993Z,1768556490.993 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-01-16T09:41:30.994Z,1768556490.994 [keepstation:SurfaceComms:A] Running Loop=1
2026-01-16T09:41:30.994Z,1768556490.994 [keepstation:SurfaceComms:A] Stopped
2026-01-16T09:41:30.994Z,1768556490.994 [keepstation:SurfaceComms:B] Running Loop=1
2026-01-16T09:41:30.994Z,1768556490.994 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-01-16T09:41:30.996Z,1768556490.996 [keepstation:NeedComms] Running Loop=1
2026-01-16T09:41:30.996Z,1768556490.996 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-01-16T09:41:30.996Z,1768556490.996 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-01-16T09:41:30.997Z,1768556490.997 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-16T09:41:30.997Z,1768556490.997 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-16T09:41:30.997Z,1768556490.997 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-16T09:41:30.998Z,1768556490.998 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-16T09:41:30.998Z,1768556490.998 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-16T09:41:30.998Z,1768556490.998 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-16T09:41:30.999Z,1768556490.999 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-16T09:41:30.999Z,1768556490.999 [keepstation:NeedComms:A] Running Loop=1
2026-01-16T09:41:31.001Z,1768556491.001 [keepstation:NeedComms:A](INFO): last time_fix was:  1768551088.000000 second since 1970/01/01T00:00:00Z 
2026-01-16T09:41:31.001Z,1768556491.001 [keepstation:NeedComms:A] Stopped
2026-01-16T09:41:31.001Z,1768556491.001 [keepstation:NeedComms:setActive] Running Loop=1
2026-01-16T09:41:31.001Z,1768556491.001 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-01-16T09:41:31.001Z,1768556491.001 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-01-16T09:41:31.414Z,1768556491.414 [keepstation:KeepStation:Dive] Stopped
2026-01-16T09:41:31.414Z,1768556491.414 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-01-16T09:41:31.414Z,1768556491.414 [keepstation:KeepStation:Dive:A] Stopped
2026-01-16T09:41:31.414Z,1768556491.414 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-01-16T09:41:31.415Z,1768556491.415 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-16T09:41:31.415Z,1768556491.415 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-16T09:41:31.415Z,1768556491.415 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-16T09:41:31.415Z,1768556491.415 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-16T09:41:31.415Z,1768556491.415 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-16T09:41:31.415Z,1768556491.415 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-16T09:41:31.418Z,1768556491.418 [keepstation:NeedComms:setActive:A] Stopped
2026-01-16T09:41:31.418Z,1768556491.418 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-01-16T09:41:31.807Z,1768556491.807 [keepstation:NeedComms:setActive:B] Stopped
2026-01-16T09:41:31.807Z,1768556491.807 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-01-16T09:41:31.807Z,1768556491.807 [keepstation:NeedComms:setActive] Stopped
2026-01-16T09:41:31.807Z,1768556491.807 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-01-16T09:42:43.431Z,1768556563.431 [keepstation:NeedComms:D] Running Loop=1
2026-01-16T09:42:43.892Z,1768556563.892 [Radio_Surface](INFO): Powering up
2026-01-16T09:42:49.864Z,1768556569.864 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-16T09:43:16.419Z,1768556596.419 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2026-01-16T09:43:16.496Z,1768556596.496 [NAL9602](ERROR): received: 
+CSQ:0

OK252, 2, 0, 0, 0

OK
2026-01-16T09:43:20.017Z,1768556600.017 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T09:43:51.141Z,1768556631.141 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T09:44:22.264Z,1768556662.264 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T09:44:53.388Z,1768556693.388 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T09:45:24.512Z,1768556724.512 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T09:45:55.652Z,1768556755.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T09:46:26.797Z,1768556786.797 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T09:46:56.656Z,1768556816.656 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003108
2026-01-16T09:48:06.422Z,1768556886.422 [NAL9602](INFO): SBD MO Status=2, MOMSN=25252, MT Status=2, MTMSN=0
2026-01-16T09:48:06.422Z,1768556886.422 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T09:48:06.834Z,1768556886.834 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-16T09:48:08.038Z,1768556888.038 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,094805.00,A,3643.10218,N,12212.48061,W,0.428,276.43,160126,,,D*70
2026-01-16T09:48:08.041Z,1768556888.041 [NAL9602](INFO): GPS fix at 20260116T094805: (36.718370, -122.208010)
2026-01-16T09:48:08.053Z,1768556888.053 [UniversalFixResidualReporter](INFO): Fix residual: 107.1 %DT, over the last 1182.4 m. Residual distance 1266.9 m at bearing 87.3 degrees. Fix at (36.7184, -122.2080) with 560.4 m made good.
2026-01-16T09:48:08.057Z,1768556888.057 [keepstation:NeedComms:D] Stopped
2026-01-16T09:48:08.058Z,1768556888.058 [keepstation:NeedComms:E] Running Loop=1
2026-01-16T09:48:08.126Z,1768556888.126 [CBIT](CRITICAL): Navigation error has exceeded threshold. navErrorCriticalReporting is enabled.
2026-01-16T09:48:08.515Z,1768556888.515 [CommandExec](FAULT): Scheduling is paused for 4 commands
2026-01-16T09:48:08.520Z,1768556888.520 [CBIT](INFO): Critical error at 20260116T094808
2026-01-16T09:48:08.521Z,1768556888.521 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2026-01-16T09:48:08.880Z,1768556888.880 [MissionManager](INFO): MissionManager is completed.
2026-01-16T09:48:08.881Z,1768556888.881 [MissionManager](INFO): Uninitializing Mission keepstation
2026-01-16T09:48:08.881Z,1768556888.881 [keepstation] Stopped
2026-01-16T09:48:08.881Z,1768556888.881 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2026-01-16T09:48:08.881Z,1768556888.881 [keepstation:NeedComms] Stopped
2026-01-16T09:48:08.881Z,1768556888.881 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-01-16T09:48:08.881Z,1768556888.881 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-01-16T09:48:08.881Z,1768556888.881 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-16T09:48:08.881Z,1768556888.881 [keepstation:NeedComms:E] Stopped
2026-01-16T09:48:08.881Z,1768556888.881 [keepstation:StandardEnvelopes] Stopped
2026-01-16T09:48:08.881Z,1768556888.881 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2026-01-16T09:48:08.881Z,1768556888.881 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2026-01-16T09:48:08.882Z,1768556888.882 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-16T09:48:08.882Z,1768556888.882 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2026-01-16T09:48:08.882Z,1768556888.882 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2026-01-16T09:48:08.882Z,1768556888.882 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2026-01-16T09:48:08.882Z,1768556888.882 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2026-01-16T09:48:08.882Z,1768556888.882 [keepstation:BackseatDriver] Stopped
2026-01-16T09:48:08.882Z,1768556888.882 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2026-01-16T09:48:08.882Z,1768556888.882 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2026-01-16T09:48:08.882Z,1768556888.882 [keepstation:PowerOnly] Stopped
2026-01-16T09:48:08.882Z,1768556888.882 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2026-01-16T09:48:08.882Z,1768556888.882 [keepstation:PowerOnly:E.Wait] Stopped
2026-01-16T09:48:08.882Z,1768556888.882 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T09:48:08.883Z,1768556888.883 [keepstation:H.Pitch] Stopped
2026-01-16T09:48:08.883Z,1768556888.883 [keepstation:SurfaceComms] Stopped
2026-01-16T09:48:08.883Z,1768556888.883 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-01-16T09:48:08.883Z,1768556888.883 [keepstation:SurfaceComms:B] Stopped
2026-01-16T09:48:08.883Z,1768556888.883 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-01-16T09:48:08.883Z,1768556888.883 [keepstation:DiveCmd] Stopped
2026-01-16T09:48:08.883Z,1768556888.883 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd
2026-01-16T09:48:08.883Z,1768556888.883 [keepstation:DiveCmd:SurfaceSink] Stopped
2026-01-16T09:48:08.883Z,1768556888.883 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2026-01-16T09:48:08.883Z,1768556888.883 [keepstation:KeepStation] Stopped
2026-01-16T09:48:08.883Z,1768556888.883 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2026-01-16T09:48:08.883Z,1768556888.883 [keepstation:KeepStation:B.Wait] Stopped
2026-01-16T09:48:08.888Z,1768556888.888 [keepstation:KeepStation:B.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T09:48:09.259Z,1768556889.259 [MissionManager](IMPORTANT): Started mission Default
2026-01-16T09:48:09.259Z,1768556889.259 [Default] Running Loop=1
2026-01-16T09:48:09.259Z,1768556889.259 [Default](DEBUG): Aggregate::initialize Default
2026-01-16T09:48:09.259Z,1768556889.259 [Default:B.GoToSurface] Running Loop=1
2026-01-16T09:48:09.259Z,1768556889.259 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-16T09:48:09.260Z,1768556889.260 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-01-16T09:48:09.260Z,1768556889.260 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-01-16T09:48:09.261Z,1768556889.261 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-01-16T09:48:09.261Z,1768556889.261 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-01-16T09:48:09.262Z,1768556889.262 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-16T09:48:09.262Z,1768556889.262 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-16T09:48:09.262Z,1768556889.262 [Default:A.Wait] Running Loop=1
2026-01-16T09:48:09.262Z,1768556889.262 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-01-16T09:48:22.590Z,1768556902.590 [Default:A.Wait](INFO): Done Waiting.
2026-01-16T09:48:22.590Z,1768556902.590 [Default:A.Wait] Stopped
2026-01-16T09:48:22.590Z,1768556902.590 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T09:48:22.997Z,1768556902.997 [Default:CheckIn] Running Loop=1
2026-01-16T09:48:22.997Z,1768556902.997 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-16T09:48:22.997Z,1768556902.997 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-16T09:48:25.013Z,1768556905.013 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,094822.00,A,3643.10111,N,12212.48273,W,1.341,184.24,160126,,,D*78
2026-01-16T09:48:25.015Z,1768556905.015 [NAL9602](INFO): GPS fix at 20260116T094822: (36.718352, -122.208045)
2026-01-16T09:48:25.026Z,1768556905.026 [Default:CheckIn:Read_GPS] Stopped
2026-01-16T09:48:25.026Z,1768556905.026 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-16T09:48:32.612Z,1768556912.612 [DataOverHttps](INFO): Sending 198 bytes from file Logs/20260116T031527/Courier0015.lzma
2026-01-16T09:48:33.614Z,1768556913.614 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0015.lzma.bak
2026-01-16T09:48:33.614Z,1768556913.614 [DataOverHttps](INFO): SBD MOMSN=26577302
2026-01-16T09:48:50.191Z,1768556930.191 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20260116T031527/Courier0018.lzma
2026-01-16T09:48:51.195Z,1768556931.195 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0018.lzma.bak
2026-01-16T09:48:51.195Z,1768556931.195 [DataOverHttps](INFO): SBD MOMSN=26577323
2026-01-16T09:48:57.058Z,1768556937.058 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-16T09:49:07.797Z,1768556947.797 [DataOverHttps](INFO): Sending 1006 bytes from file Logs/20260116T031527/Express0016.lzma
2026-01-16T09:49:08.798Z,1768556948.798 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0016.lzma.bak
2026-01-16T09:49:08.798Z,1768556948.798 [DataOverHttps](INFO): SBD MOMSN=26577326
2026-01-16T09:49:25.124Z,1768556965.124 [DataOverHttps](INFO): Sending 139 bytes from file Logs/20260116T031527/Express0019.lzma
2026-01-16T09:49:26.126Z,1768556966.126 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0019.lzma.bak
2026-01-16T09:49:26.126Z,1768556966.126 [DataOverHttps](INFO): SBD MOMSN=26577336
2026-01-16T09:49:27.634Z,1768556967.634 [Default:CheckIn:Read_Iridium] Stopped
2026-01-16T09:49:27.634Z,1768556967.634 [Default:CheckIn:C.Wait] Running Loop=1
2026-01-16T09:49:27.635Z,1768556967.635 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-01-16T09:54:28.226Z,1768557268.226 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-01-16T09:54:28.226Z,1768557268.226 [Default:CheckIn:C.Wait] Stopped
2026-01-16T09:54:28.226Z,1768557268.226 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T09:54:28.227Z,1768557268.227 [Default:CheckIn:D] Running Loop=1
2026-01-16T09:54:28.631Z,1768557268.631 [Default:CheckIn:D] Stopped
2026-01-16T09:54:28.631Z,1768557268.631 [Default:CheckIn:E] Running Loop=1
2026-01-16T09:54:29.039Z,1768557269.039 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.322865 min 
2026-01-16T09:54:29.040Z,1768557269.040 [Default:CheckIn:E] Stopped
2026-01-16T09:54:29.040Z,1768557269.040 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-01-16T09:54:29.040Z,1768557269.040 [Default:CheckIn] Stopped
2026-01-16T09:54:29.040Z,1768557269.040 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-16T09:54:29.040Z,1768557269.040 [Default:CheckIn](INFO): Running loop #2
2026-01-16T09:54:29.040Z,1768557269.040 [Default:CheckIn] Running Loop=2
2026-01-16T09:54:29.040Z,1768557269.040 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-16T09:54:29.041Z,1768557269.041 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-16T09:54:31.052Z,1768557271.052 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,095428.00,A,3643.06919,N,12212.53870,W,1.030,50.87,160126,,,D*4F
2026-01-16T09:54:31.054Z,1768557271.054 [NAL9602](INFO): GPS fix at 20260116T095428: (36.717820, -122.208978)
2026-01-16T09:54:31.070Z,1768557271.070 [Default:CheckIn:Read_GPS] Stopped
2026-01-16T09:54:31.070Z,1768557271.070 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-16T09:54:41.055Z,1768557281.055 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20260116T031527/Courier0021.lzma
2026-01-16T09:54:42.058Z,1768557282.058 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0021.lzma.bak
2026-01-16T09:54:42.058Z,1768557282.058 [DataOverHttps](INFO): SBD MOMSN=26577339
2026-01-16T09:54:58.308Z,1768557298.308 [DataOverHttps](INFO): Sending 221 bytes from file Logs/20260116T031527/Express0022.lzma
2026-01-16T09:54:59.310Z,1768557299.310 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0022.lzma.bak
2026-01-16T09:54:59.310Z,1768557299.310 [DataOverHttps](INFO): SBD MOMSN=26577342
2026-01-16T09:55:00.575Z,1768557300.575 [Default:CheckIn:Read_Iridium] Stopped
2026-01-16T09:55:00.576Z,1768557300.576 [Default:CheckIn:C.Wait] Running Loop=1
2026-01-16T09:55:00.576Z,1768557300.576 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-01-16T09:57:12.397Z,1768557432.397 [DataOverHttps](IMPORTANT): SBD MTMSN=20260116T095709
2026-01-16T09:57:19.935Z,1768557439.935 [DataOverHttps](INFO): Received command: resume
2026-01-16T09:57:19.955Z,1768557439.955 [CommandExec](IMPORTANT): got command resume
2026-01-16T09:57:19.956Z,1768557439.956 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2026-01-16T09:57:19.956Z,1768557439.956 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2026-01-16T09:57:19.958Z,1768557439.958 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2026-01-16T09:57:21.311Z,1768557441.311 [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>

2026-01-16T09:57:21.320Z,1768557441.320 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2026-01-16T09:57:21.322Z,1768557441.322 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2026-01-16T09:57:21.325Z,1768557441.325 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2026-01-16T09:57:21.327Z,1768557441.327 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2026-01-16T09:57:21.329Z,1768557441.329 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2026-01-16T09:57:21.333Z,1768557441.333 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2026-01-16T09:57:21.335Z,1768557441.335 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2026-01-16T09:57:21.338Z,1768557441.338 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2026-01-16T09:57:21.340Z,1768557441.340 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2026-01-16T09:57:21.342Z,1768557441.342 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2026-01-16T09:57:21.344Z,1768557441.344 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2026-01-16T09:57:21.346Z,1768557441.346 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2026-01-16T09:57:21.381Z,1768557441.381 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2026-01-16T09:57:21.388Z,1768557441.388 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2026-01-16T09:57:21.390Z,1768557441.390 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2026-01-16T09:57:21.397Z,1768557441.397 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2026-01-16T09:57:21.399Z,1768557441.399 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2026-01-16T09:57:21.410Z,1768557441.410 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2026-01-16T09:57:21.416Z,1768557441.416 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2026-01-16T09:57:21.418Z,1768557441.418 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2026-01-16T09:57:21.419Z,1768557441.419 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-01-16T09:57:21.419Z,1768557441.419 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-01-16T09:57:21.433Z,1768557441.433 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-01-16T09:57:21.823Z,1768557441.823 [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>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <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>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <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 Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2026-01-16T09:57:21.829Z,1768557441.829 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2026-01-16T09:57:21.831Z,1768557441.831 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2026-01-16T09:57:21.833Z,1768557441.833 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-01-16T09:57:21.835Z,1768557441.835 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2026-01-16T09:57:21.839Z,1768557441.839 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-01-16T09:57:21.842Z,1768557441.842 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2026-01-16T09:57:21.844Z,1768557441.844 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2026-01-16T09:57:21.846Z,1768557441.846 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2026-01-16T09:57:21.848Z,1768557441.848 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2026-01-16T09:57:21.851Z,1768557441.851 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2026-01-16T09:57:21.853Z,1768557441.853 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2026-01-16T09:57:21.855Z,1768557441.855 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2026-01-16T09:57:21.866Z,1768557441.866 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-16T09:57:21.959Z,1768557441.959 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-01-16T09:57:21.959Z,1768557441.959 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-01-16T09:57:21.960Z,1768557441.960 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-01-16T09:57:22.098Z,1768557442.098 [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>

2026-01-16T09:57:22.102Z,1768557442.102 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2026-01-16T09:57:22.104Z,1768557442.104 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-01-16T09:57:22.107Z,1768557442.107 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2026-01-16T09:57:22.109Z,1768557442.109 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-01-16T09:57:22.110Z,1768557442.110 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-16T09:57:22.116Z,1768557442.116 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-16T09:57:22.122Z,1768557442.122 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-01-16T09:57:22.157Z,1768557442.157 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-01-16T09:57:22.157Z,1768557442.157 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-01-16T09:57:22.158Z,1768557442.158 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-01-16T09:57:22.177Z,1768557442.177 [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>

2026-01-16T09:57:22.189Z,1768557442.189 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2026-01-16T09:57:22.191Z,1768557442.191 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-01-16T09:57:22.194Z,1768557442.194 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-01-16T09:57:22.194Z,1768557442.194 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-01-16T09:57:22.195Z,1768557442.195 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-01-16T09:57:22.303Z,1768557442.303 [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>

2026-01-16T09:57:22.307Z,1768557442.307 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2026-01-16T09:57:22.309Z,1768557442.309 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2026-01-16T09:57:22.311Z,1768557442.311 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2026-01-16T09:57:22.313Z,1768557442.313 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2026-01-16T09:57:22.315Z,1768557442.315 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2026-01-16T09:57:22.322Z,1768557442.322 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-01-16T09:57:22.323Z,1768557442.323 [keepstation:H.Pitch](DEBUG): Construct.
2026-01-16T09:57:22.446Z,1768557442.446 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-16T09:57:22.453Z,1768557442.453 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-01-16T09:57:22.461Z,1768557442.461 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-01-16T09:57:22.479Z,1768557442.479 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-16T09:57:22.483Z,1768557442.483 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2026-01-16T09:57:22.487Z,1768557442.487 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2026-01-16T09:57:22.492Z,1768557442.492 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2026-01-16T09:57:22.496Z,1768557442.496 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2026-01-16T09:57:22.503Z,1768557442.503 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2026-01-16T09:57:22.521Z,1768557442.521 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2026-01-16T09:57:22.540Z,1768557442.540 [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
    }
  }
}


2026-01-16T09:57:22.544Z,1768557442.544 [MissionManager](IMPORTANT): Resuming from info in Logs/20260116T031527/Transport_keepstation_tl.state
2026-01-16T09:57:22.577Z,1768557442.577 [MissionManager](INFO): Default->Default:CheckIn/0
2026-01-16T09:57:22.577Z,1768557442.577 [MissionManager](INFO): Default:A.Wait->null/0
2026-01-16T09:57:22.578Z,1768557442.578 [MissionManager](INFO): Default:B.GoToSurface->null/0
2026-01-16T09:57:22.578Z,1768557442.578 [MissionManager](INFO): Default:CheckIn->Default:CheckIn:C.Wait/1
2026-01-16T09:57:22.578Z,1768557442.578 [MissionManager](INFO): Default:CheckIn:Read_GPS->null/0
2026-01-16T09:57:22.579Z,1768557442.579 [MissionManager](INFO): Default:CheckIn:Read_Iridium->null/0
2026-01-16T09:57:22.579Z,1768557442.579 [MissionManager](INFO): Default:CheckIn:C.Wait->null/0
2026-01-16T09:57:22.579Z,1768557442.579 [MissionManager](INFO): Default:CheckIn:D->null/0
2026-01-16T09:57:22.580Z,1768557442.580 [MissionManager](INFO): Default:CheckIn:E->null/0
2026-01-16T09:57:22.581Z,1768557442.581 [MissionManager](INFO): keepstation->keepstation:KeepStation/0
2026-01-16T09:57:22.581Z,1768557442.581 [MissionManager](INFO): keepstation:NeedComms->keepstation:NeedComms:E/0
2026-01-16T09:57:22.581Z,1768557442.581 [MissionManager](INFO): keepstation:NeedComms:A->null/0
2026-01-16T09:57:22.582Z,1768557442.582 [MissionManager](INFO): keepstation:NeedComms:setActive->null/0
2026-01-16T09:57:22.582Z,1768557442.582 [MissionManager](INFO): keepstation:NeedComms:setActive:A->null/0
2026-01-16T09:57:22.582Z,1768557442.582 [MissionManager](INFO): keepstation:NeedComms:setActive:B->null/0
2026-01-16T09:57:22.583Z,1768557442.583 [MissionManager](INFO): keepstation:NeedComms:C.GoToSurface->null/0
2026-01-16T09:57:22.583Z,1768557442.583 [MissionManager](INFO): keepstation:NeedComms:D->null/0
2026-01-16T09:57:22.583Z,1768557442.583 [MissionManager](INFO): keepstation:NeedComms:E->null/0
2026-01-16T09:57:22.584Z,1768557442.584 [MissionManager](INFO): keepstation:NeedComms:F->null/0
2026-01-16T09:57:22.584Z,1768557442.584 [MissionManager](INFO): keepstation:NeedComms:setRestoreMode->null/0
2026-01-16T09:57:22.585Z,1768557442.585 [MissionManager](INFO): keepstation:NeedComms:setRestoreMode:A->null/0
2026-01-16T09:57:22.585Z,1768557442.585 [MissionManager](INFO): keepstation:NeedComms:setInactive->null/0
2026-01-16T09:57:22.585Z,1768557442.585 [MissionManager](INFO): keepstation:NeedComms:setInactive:A->null/0
2026-01-16T09:57:22.586Z,1768557442.586 [MissionManager](INFO): keepstation:B->null/0
2026-01-16T09:57:22.586Z,1768557442.586 [MissionManager](INFO): keepstation:D->null/0
2026-01-16T09:57:22.586Z,1768557442.586 [MissionManager](INFO): keepstation:E->null/0
2026-01-16T09:57:22.587Z,1768557442.587 [MissionManager](INFO): keepstation:BackseatDriver->keepstation:BackseatDriver:A.BackseatDriver/0
2026-01-16T09:57:22.587Z,1768557442.587 [MissionManager](INFO): keepstation:BackseatDriver:A.BackseatDriver->null/0
2026-01-16T09:57:22.588Z,1768557442.588 [MissionManager](INFO): keepstation:PowerOnly->keepstation:PowerOnly:E.Wait/0
2026-01-16T09:57:22.588Z,1768557442.588 [MissionManager](INFO): keepstation:PowerOnly:E.Wait->null/0
2026-01-16T09:57:22.588Z,1768557442.588 [MissionManager](INFO): keepstation:SurfaceComms->keepstation:SurfaceComms:B/0
2026-01-16T09:57:22.589Z,1768557442.589 [MissionManager](INFO): keepstation:SurfaceComms:A->null/0
2026-01-16T09:57:22.589Z,1768557442.589 [MissionManager](INFO): keepstation:SurfaceComms:B->null/0
2026-01-16T09:57:22.590Z,1768557442.590 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan->keepstation:SurfaceComms:HandleNan:SetOnStation/0
2026-01-16T09:57:22.590Z,1768557442.590 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan:SetOnStation->keepstation:SurfaceComms:HandleNan:SetOnStation:A/0
2026-01-16T09:57:22.590Z,1768557442.590 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan:SetOnStation:A->null/0
2026-01-16T09:57:22.591Z,1768557442.591 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan:SetLat->null/0
2026-01-16T09:57:22.591Z,1768557442.591 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan:SetLat:A->null/0
2026-01-16T09:57:22.591Z,1768557442.591 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan:SetLon->null/0
2026-01-16T09:57:22.593Z,1768557442.593 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan:SetLon:A->null/0
2026-01-16T09:57:22.593Z,1768557442.593 [MissionManager](INFO): keepstation:SurfaceComms:setTransit->keepstation:SurfaceComms:setTransit:A/0
2026-01-16T09:57:22.594Z,1768557442.594 [MissionManager](INFO): keepstation:SurfaceComms:setTransit:A->null/0
2026-01-16T09:57:22.594Z,1768557442.594 [MissionManager](INFO): keepstation:SurfaceComms:setStation->keepstation:SurfaceComms:setStation:A/0
2026-01-16T09:57:22.594Z,1768557442.594 [MissionManager](INFO): keepstation:SurfaceComms:setStation:A->null/0
2026-01-16T09:57:22.595Z,1768557442.595 [MissionManager](INFO): keepstation:SurfaceComms:setSink->null/0
2026-01-16T09:57:22.595Z,1768557442.595 [MissionManager](INFO): keepstation:SurfaceComms:setSink:A->null/0
2026-01-16T09:57:22.595Z,1768557442.595 [MissionManager](INFO): keepstation:StartingMission->null/0
2026-01-16T09:57:22.596Z,1768557442.596 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink->null/0
2026-01-16T09:57:22.596Z,1768557442.596 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink->null/0
2026-01-16T09:57:22.597Z,1768557442.597 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink:C->null/0
2026-01-16T09:57:22.597Z,1768557442.597 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink:D.Pitch->null/0
2026-01-16T09:57:22.597Z,1768557442.597 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit->keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A/0
2026-01-16T09:57:22.598Z,1768557442.598 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A->null/0
2026-01-16T09:57:22.598Z,1768557442.598 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink:sinkToStation->null/0
2026-01-16T09:57:22.598Z,1768557442.598 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A->null/0
2026-01-16T09:57:22.599Z,1768557442.599 [MissionManager](INFO): keepstation:DiveCmd:TransitToStation->keepstation:DiveCmd:TransitToStation:dive/0
2026-01-16T09:57:22.599Z,1768557442.599 [MissionManager](INFO): keepstation:DiveCmd:TransitToStation:dive->null/0
2026-01-16T09:57:22.600Z,1768557442.600 [MissionManager](INFO): keepstation:TransitToStation->null/0
2026-01-16T09:57:22.600Z,1768557442.600 [MissionManager](INFO): keepstation:TransitToStation:Dive->keepstation:TransitToStation:Dive:A/0
2026-01-16T09:57:22.600Z,1768557442.600 [MissionManager](INFO): keepstation:TransitToStation:Dive:A->null/0
2026-01-16T09:57:22.601Z,1768557442.601 [MissionManager](INFO): keepstation:TransitToStation:Wpt1.Waypoint->null/0
2026-01-16T09:57:22.601Z,1768557442.601 [MissionManager](INFO): keepstation:TransitToStation:C->null/0
2026-01-16T09:57:22.602Z,1768557442.602 [MissionManager](INFO): keepstation:TransitToStation:D->null/0
2026-01-16T09:57:22.602Z,1768557442.602 [MissionManager](INFO): keepstation:OnStation->null/0
2026-01-16T09:57:22.602Z,1768557442.602 [MissionManager](INFO): keepstation:KeepStation->keepstation:KeepStation:B.Wait/0
2026-01-16T09:57:22.603Z,1768557442.603 [MissionManager](INFO): keepstation:KeepStation:Dive->keepstation:KeepStation:Dive:A/0
2026-01-16T09:57:22.603Z,1768557442.603 [MissionManager](INFO): keepstation:KeepStation:Dive:A->null/0
2026-01-16T09:57:22.603Z,1768557442.603 [MissionManager](INFO): keepstation:KeepStation:B.Wait->null/0
2026-01-16T09:57:22.604Z,1768557442.604 [CommandExec](IMPORTANT): Resuming mission and schedule
2026-01-16T09:57:22.604Z,1768557442.604 [CommandExec](IMPORTANT): Scheduling is resumed
2026-01-16T09:57:22.605Z,1768557442.605 [CommandExec](IMPORTANT): Scheduled #7: "restart logs", AT TIME: 2026-01-16T14:45:00Z
2026-01-16T09:57:22.606Z,1768557442.606 [CommandExec](IMPORTANT): Scheduled #8 (#1 of 3 with id='3jxzg'): "load Science/profile_station_vt.tl;set profile_station.MissionTimeout 14 h;set profile_station.NeedCommsTime 90 min;set profile_station.Lat 36.71211 degree;set profile_station.Lon -122.187028 degree", AT TIME: 2026-01-16T14:45:00Z
2026-01-16T09:57:22.607Z,1768557442.607 [CommandExec](IMPORTANT): Scheduled #9 (#2 of 3 with id='3jxzg'): "set profile_station.Radius 3000 m;set profile_station.YoYoMinDepth 4 m;set profile_station.YoYoMaxDepth 50 m;set profile_station.Speed .9 m/s;set profile_station.SinkOffSurface 1 bool", AT TIME: 2026-01-16T14:45:00Z
2026-01-16T09:57:22.640Z,1768557442.640 [CommandExec](IMPORTANT): Scheduled #10 (#3 of 3 with id='3jxzg'): "set profile_station.SinkDepthTimeout 2 min;set profile_station.MaxDepth 70 m;set profile_station:BackseatDriver.EnableBackseat 1 bool;run", AT TIME: 2026-01-16T14:45:00Z
2026-01-16T09:57:22.819Z,1768557442.819 [Default] Stopped
2026-01-16T09:57:22.820Z,1768557442.820 [Default](DEBUG): Aggregate::uninitialize Default
2026-01-16T09:57:22.820Z,1768557442.820 [Default:B.GoToSurface] Stopped
2026-01-16T09:57:22.820Z,1768557442.820 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-16T09:57:22.820Z,1768557442.820 [Default:CheckIn] Stopped
2026-01-16T09:57:22.820Z,1768557442.820 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-16T09:57:22.820Z,1768557442.820 [Default:CheckIn:C.Wait] Stopped
2026-01-16T09:57:22.820Z,1768557442.820 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T09:57:22.820Z,1768557442.820 [MissionManager](IMPORTANT): Started mission keepstation
2026-01-16T09:57:22.821Z,1768557442.821 [keepstation] Running Loop=1
2026-01-16T09:57:22.821Z,1768557442.821 [keepstation](DEBUG): Aggregate::initialize keepstation
2026-01-16T09:57:22.821Z,1768557442.821 [keepstation:StandardEnvelopes] Running Loop=1
2026-01-16T09:57:22.821Z,1768557442.821 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2026-01-16T09:57:22.821Z,1768557442.821 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-16T09:57:22.821Z,1768557442.821 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-16T09:57:22.821Z,1768557442.821 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-16T09:57:22.821Z,1768557442.821 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-16T09:57:22.822Z,1768557442.822 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-16T09:57:22.822Z,1768557442.822 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2026-01-16T09:57:22.822Z,1768557442.822 [keepstation:BackseatDriver] Running Loop=1
2026-01-16T09:57:22.822Z,1768557442.822 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2026-01-16T09:57:22.822Z,1768557442.822 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2026-01-16T09:57:22.822Z,1768557442.822 [keepstation:PowerOnly] Running Loop=1
2026-01-16T09:57:22.822Z,1768557442.822 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2026-01-16T09:57:22.822Z,1768557442.822 [keepstation:PowerOnly:A] Running Loop=1
2026-01-16T09:57:22.822Z,1768557442.822 [keepstation:PowerOnly:B] Running Loop=1
2026-01-16T09:57:22.822Z,1768557442.822 [keepstation:PowerOnly:C] Running Loop=1
2026-01-16T09:57:22.822Z,1768557442.822 [keepstation:PowerOnly:D] Running Loop=1
2026-01-16T09:57:22.822Z,1768557442.822 [keepstation:PowerOnly:E.Wait] Running Loop=1
2026-01-16T09:57:22.823Z,1768557442.823 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2026-01-16T09:57:22.823Z,1768557442.823 [keepstation:H.Pitch] Running Loop=1
2026-01-16T09:57:22.823Z,1768557442.823 [keepstation:H.Pitch](DEBUG): Initialize.
2026-01-16T09:57:22.823Z,1768557442.823 [keepstation:KeepStation] Running Loop=1
2026-01-16T09:57:22.823Z,1768557442.823 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2026-01-16T09:57:22.823Z,1768557442.823 [keepstation:KeepStation:Dive] Running Loop=1
2026-01-16T09:57:22.823Z,1768557442.823 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-01-16T09:57:22.823Z,1768557442.823 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-01-16T09:57:22.823Z,1768557442.823 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-01-16T09:57:22.823Z,1768557442.823 [keepstation:KeepStation:B.Wait] Running Loop=1
2026-01-16T09:57:22.824Z,1768557442.824 [keepstation:KeepStation:B.Wait](DEBUG): Initialize Wait Component.
2026-01-16T09:57:22.825Z,1768557442.825 [keepstation:KeepStation:Dive] Stopped
2026-01-16T09:57:22.825Z,1768557442.825 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-01-16T09:57:22.825Z,1768557442.825 [keepstation:KeepStation:Dive:A] Stopped
2026-01-16T09:57:22.825Z,1768557442.825 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-01-16T09:57:22.825Z,1768557442.825 [keepstation:DiveCmd] Running Loop=1
2026-01-16T09:57:22.825Z,1768557442.825 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2026-01-16T09:57:22.825Z,1768557442.825 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-16T09:57:22.826Z,1768557442.826 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-01-16T09:57:22.826Z,1768557442.826 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-01-16T09:57:22.826Z,1768557442.826 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T09:57:22.826Z,1768557442.826 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-16T09:57:22.826Z,1768557442.826 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-16T09:57:22.826Z,1768557442.826 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-16T09:57:22.826Z,1768557442.826 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-16T09:57:22.826Z,1768557442.826 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-01-16T09:57:22.826Z,1768557442.826 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-01-16T09:57:22.826Z,1768557442.826 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2026-01-16T09:57:22.826Z,1768557442.826 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2026-01-16T09:57:22.827Z,1768557442.827 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2026-01-16T09:57:22.827Z,1768557442.827 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-01-16T09:57:22.827Z,1768557442.827 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-16T09:57:22.827Z,1768557442.827 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-01-16T09:57:22.827Z,1768557442.827 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2026-01-16T09:57:22.827Z,1768557442.827 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-01-16T09:57:22.827Z,1768557442.827 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-16T09:57:22.827Z,1768557442.827 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T09:57:22.827Z,1768557442.827 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-16T09:57:22.827Z,1768557442.827 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T09:57:22.852Z,1768557442.852 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T09:57:22.852Z,1768557442.852 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-16T09:57:22.852Z,1768557442.852 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T09:57:22.852Z,1768557442.852 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-16T09:57:22.853Z,1768557442.853 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-16T09:57:22.853Z,1768557442.853 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-16T09:57:22.853Z,1768557442.853 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-16T09:57:22.853Z,1768557442.853 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-16T09:57:22.853Z,1768557442.853 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-16T09:57:22.853Z,1768557442.853 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-16T09:57:22.853Z,1768557442.853 [keepstation:DiveCmd:TransitToStation] Stopped
2026-01-16T09:57:22.854Z,1768557442.854 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2026-01-16T09:57:22.854Z,1768557442.854 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2026-01-16T09:57:22.854Z,1768557442.854 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2026-01-16T09:57:22.854Z,1768557442.854 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2026-01-16T09:57:22.854Z,1768557442.854 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-16T09:57:22.854Z,1768557442.854 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2026-01-16T09:57:22.854Z,1768557442.854 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2026-01-16T09:57:22.854Z,1768557442.854 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-16T09:57:22.854Z,1768557442.854 [keepstation:DiveCmd:SurfaceSink] Stopped
2026-01-16T09:57:22.854Z,1768557442.854 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2026-01-16T09:57:22.854Z,1768557442.854 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-01-16T09:57:22.854Z,1768557442.854 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T09:57:22.854Z,1768557442.854 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-16T09:57:22.855Z,1768557442.855 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-16T09:57:22.855Z,1768557442.855 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-16T09:57:22.855Z,1768557442.855 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-16T09:57:22.855Z,1768557442.855 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-01-16T09:57:22.855Z,1768557442.855 [keepstation:H.Pitch] Running Loop=1
2026-01-16T09:57:22.855Z,1768557442.855 [keepstation:PowerOnly] Running Loop=1
2026-01-16T09:57:22.860Z,1768557442.860 [keepstation:PowerOnly:D] Stopped
2026-01-16T09:57:22.860Z,1768557442.860 [keepstation:PowerOnly:C] Stopped
2026-01-16T09:57:22.860Z,1768557442.860 [keepstation:PowerOnly:B] Stopped
2026-01-16T09:57:22.860Z,1768557442.860 [keepstation:PowerOnly:A] Stopped
2026-01-16T09:57:22.860Z,1768557442.860 [keepstation:BackseatDriver] Running Loop=1
2026-01-16T09:57:22.860Z,1768557442.860 [keepstation:StandardEnvelopes] Running Loop=1
2026-01-16T09:57:22.860Z,1768557442.860 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-16T09:57:22.861Z,1768557442.861 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-16T09:57:22.861Z,1768557442.861 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-16T09:57:45.827Z,1768557465.827 [NAL9602](INFO): SBD MO Status=2, MOMSN=25252, MT Status=2, MTMSN=0
2026-01-16T09:57:45.828Z,1768557465.828 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T09:59:33.292Z,1768557573.292 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-16T09:59:45.002Z,1768557585.002 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T10:00:03.997Z,1768557603.997 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-16T10:03:02.971Z,1768557782.971 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-16T10:07:37.413Z,1768558057.413 [DataOverHttps](IMPORTANT): SBD MTMSN=20260116T100734
2026-01-16T10:07:47.024Z,1768558067.024 [DataOverHttps](INFO): Received command: schedule list
2026-01-16T10:07:47.105Z,1768558067.105 [CommandExec](IMPORTANT): got command schedule list
2026-01-16T10:07:47.106Z,1768558067.106 [CommandExec](IMPORTANT): Scheduled #7: "restart logs", AT TIME: 2026-01-16T14:45:00Z
2026-01-16T10:07:47.107Z,1768558067.107 [CommandExec](IMPORTANT): Scheduled #8 (#1 of 3 with id='3jxzg'): "load Science/profile_station_vt.tl;set profile_station.MissionTimeout 14 h;set profile_station.NeedCommsTime 90 min;set profile_station.Lat 36.71211 degree;set profile_station.Lon -122.187028 degree", AT TIME: 2026-01-16T14:45:00Z
2026-01-16T10:07:47.108Z,1768558067.108 [CommandExec](IMPORTANT): Scheduled #9 (#2 of 3 with id='3jxzg'): "set profile_station.Radius 3000 m;set profile_station.YoYoMinDepth 4 m;set profile_station.YoYoMaxDepth 50 m;set profile_station.Speed .9 m/s;set profile_station.SinkOffSurface 1 bool", AT TIME: 2026-01-16T14:45:00Z
2026-01-16T10:07:47.110Z,1768558067.110 [CommandExec](IMPORTANT): Scheduled #10 (#3 of 3 with id='3jxzg'): "set profile_station.SinkDepthTimeout 2 min;set profile_station.MaxDepth 70 m;set profile_station:BackseatDriver.EnableBackseat 1 bool;run", AT TIME: 2026-01-16T14:45:00Z
2026-01-16T10:08:54.064Z,1768558134.064 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T10:08:54.067Z,1768558134.067 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T10:09:10.356Z,1768558150.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T10:09:41.480Z,1768558181.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T10:10:12.604Z,1768558212.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T10:10:43.728Z,1768558243.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T10:10:48.749Z,1768558248.749 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.723495
2026-01-16T10:11:43.607Z,1768558303.607 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003708
2026-01-16T10:14:56.986Z,1768558496.986 [DataOverHttps](IMPORTANT): SBD MTMSN=20260116T101454
2026-01-16T10:15:04.532Z,1768558504.532 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Depth 20 m;set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m" 3kkgm 1 2
2026-01-16T10:15:04.628Z,1768558504.628 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Depth 20 m;set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m" 3kkgm 1 2.000000
2026-01-16T10:15:04.629Z,1768558504.629 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3kkgm
2026-01-16T10:15:04.629Z,1768558504.629 [CommandExec](IMPORTANT): Scheduled #13 (#1 of 2 with id='3kkgm'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Depth 20 m;set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m", ASAP
2026-01-16T10:15:05.533Z,1768558505.533 [DataOverHttps](IMPORTANT): SBD MTMSN=20260116T101502
2026-01-16T10:15:13.548Z,1768558513.548 [DataOverHttps](INFO): Received command: sched asap "set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run" 3kkgm 2 2
2026-01-16T10:15:13.591Z,1768558513.591 [CommandExec](IMPORTANT): got command schedule asap "set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run" 3kkgm 2 2.000000
2026-01-16T10:15:13.591Z,1768558513.591 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3kkgm
2026-01-16T10:15:13.592Z,1768558513.592 [CommandExec](IMPORTANT): Scheduled #14 (#2 of 2 with id='3kkgm'): "set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run", ASAP
2026-01-16T10:15:13.706Z,1768558513.706 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2026-01-16T10:15:13.706Z,1768558513.706 [MissionManager](INFO): Uninitializing Mission keepstation
2026-01-16T10:15:13.706Z,1768558513.706 [keepstation] Stopped
2026-01-16T10:15:13.706Z,1768558513.706 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2026-01-16T10:15:13.706Z,1768558513.706 [keepstation:StandardEnvelopes] Stopped
2026-01-16T10:15:13.706Z,1768558513.706 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2026-01-16T10:15:13.706Z,1768558513.706 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2026-01-16T10:15:13.706Z,1768558513.706 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-16T10:15:13.706Z,1768558513.706 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2026-01-16T10:15:13.707Z,1768558513.707 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2026-01-16T10:15:13.707Z,1768558513.707 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2026-01-16T10:15:13.707Z,1768558513.707 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2026-01-16T10:15:13.707Z,1768558513.707 [keepstation:BackseatDriver] Stopped
2026-01-16T10:15:13.707Z,1768558513.707 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2026-01-16T10:15:13.707Z,1768558513.707 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2026-01-16T10:15:13.707Z,1768558513.707 [keepstation:PowerOnly] Stopped
2026-01-16T10:15:13.707Z,1768558513.707 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2026-01-16T10:15:13.707Z,1768558513.707 [keepstation:PowerOnly:E.Wait] Stopped
2026-01-16T10:15:13.707Z,1768558513.707 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T10:15:13.707Z,1768558513.707 [keepstation:H.Pitch] Stopped
2026-01-16T10:15:13.707Z,1768558513.707 [keepstation:DiveCmd] Stopped
2026-01-16T10:15:13.724Z,1768558513.724 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd
2026-01-16T10:15:13.724Z,1768558513.724 [keepstation:KeepStation] Stopped
2026-01-16T10:15:13.724Z,1768558513.724 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2026-01-16T10:15:13.724Z,1768558513.724 [keepstation:KeepStation:B.Wait] Stopped
2026-01-16T10:15:13.724Z,1768558513.724 [keepstation:KeepStation:B.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T10:15:13.770Z,1768558513.770 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2026-01-16T10:15:13.770Z,1768558513.770 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2026-01-16T10:15:13.778Z,1768558513.778 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2026-01-16T10:15:15.337Z,1768558515.337 [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>

2026-01-16T10:15:15.346Z,1768558515.346 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2026-01-16T10:15:15.358Z,1768558515.358 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2026-01-16T10:15:15.361Z,1768558515.361 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2026-01-16T10:15:15.363Z,1768558515.363 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2026-01-16T10:15:15.365Z,1768558515.365 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2026-01-16T10:15:15.367Z,1768558515.367 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2026-01-16T10:15:15.370Z,1768558515.370 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2026-01-16T10:15:15.374Z,1768558515.374 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2026-01-16T10:15:15.376Z,1768558515.376 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2026-01-16T10:15:15.378Z,1768558515.378 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2026-01-16T10:15:15.380Z,1768558515.381 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2026-01-16T10:15:15.383Z,1768558515.383 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2026-01-16T10:15:15.385Z,1768558515.385 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2026-01-16T10:15:15.387Z,1768558515.387 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2026-01-16T10:15:15.390Z,1768558515.390 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2026-01-16T10:15:15.392Z,1768558515.392 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2026-01-16T10:15:15.394Z,1768558515.394 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2026-01-16T10:15:15.397Z,1768558515.397 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2026-01-16T10:15:15.399Z,1768558515.399 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2026-01-16T10:15:15.473Z,1768558515.473 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2026-01-16T10:15:15.474Z,1768558515.474 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-01-16T10:15:15.474Z,1768558515.474 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-01-16T10:15:15.482Z,1768558515.482 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-01-16T10:15:15.869Z,1768558515.869 [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>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <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>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <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 Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2026-01-16T10:15:15.879Z,1768558515.879 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2026-01-16T10:15:15.881Z,1768558515.881 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2026-01-16T10:15:15.916Z,1768558515.916 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-01-16T10:15:15.918Z,1768558515.918 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2026-01-16T10:15:15.925Z,1768558515.925 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-01-16T10:15:15.927Z,1768558515.927 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2026-01-16T10:15:15.933Z,1768558515.933 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2026-01-16T10:15:15.935Z,1768558515.935 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2026-01-16T10:15:15.946Z,1768558515.946 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2026-01-16T10:15:15.952Z,1768558515.952 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2026-01-16T10:15:15.954Z,1768558515.954 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2026-01-16T10:15:15.961Z,1768558515.961 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2026-01-16T10:15:15.986Z,1768558515.986 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-16T10:15:16.027Z,1768558516.027 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-01-16T10:15:16.027Z,1768558516.027 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-01-16T10:15:16.029Z,1768558516.029 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-01-16T10:15:16.099Z,1768558516.099 [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>

2026-01-16T10:15:16.103Z,1768558516.103 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2026-01-16T10:15:16.105Z,1768558516.105 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-01-16T10:15:16.108Z,1768558516.108 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2026-01-16T10:15:16.110Z,1768558516.110 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-01-16T10:15:16.111Z,1768558516.111 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-16T10:15:16.117Z,1768558516.117 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-16T10:15:16.123Z,1768558516.123 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-01-16T10:15:16.131Z,1768558516.131 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-01-16T10:15:16.131Z,1768558516.131 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-01-16T10:15:16.132Z,1768558516.132 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-01-16T10:15:16.175Z,1768558516.175 [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>

2026-01-16T10:15:16.186Z,1768558516.186 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2026-01-16T10:15:16.192Z,1768558516.192 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-01-16T10:15:16.194Z,1768558516.194 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-01-16T10:15:16.195Z,1768558516.195 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-01-16T10:15:16.204Z,1768558516.204 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-01-16T10:15:16.374Z,1768558516.374 [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>

2026-01-16T10:15:16.378Z,1768558516.378 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2026-01-16T10:15:16.380Z,1768558516.380 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2026-01-16T10:15:16.382Z,1768558516.382 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2026-01-16T10:15:16.384Z,1768558516.384 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2026-01-16T10:15:16.386Z,1768558516.386 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2026-01-16T10:15:16.393Z,1768558516.393 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-01-16T10:15:16.395Z,1768558516.395 [keepstation:H.Pitch](DEBUG): Construct.
2026-01-16T10:15:16.455Z,1768558516.455 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-16T10:15:16.458Z,1768558516.458 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-01-16T10:15:16.461Z,1768558516.461 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-01-16T10:15:16.480Z,1768558516.480 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-16T10:15:16.483Z,1768558516.483 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2026-01-16T10:15:16.487Z,1768558516.487 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2026-01-16T10:15:16.492Z,1768558516.492 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2026-01-16T10:15:16.497Z,1768558516.497 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2026-01-16T10:15:16.504Z,1768558516.504 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2026-01-16T10:15:16.515Z,1768558516.515 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2026-01-16T10:15:16.552Z,1768558516.552 [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
    }
  }
}


2026-01-16T10:15:16.553Z,1768558516.553 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2026-01-16T10:15:16.701Z,1768558516.701 [MissionManager](IMPORTANT): Started mission Default
2026-01-16T10:15:16.701Z,1768558516.701 [Default] Running Loop=1
2026-01-16T10:15:16.701Z,1768558516.701 [Default](DEBUG): Aggregate::initialize Default
2026-01-16T10:15:16.702Z,1768558516.702 [Default:B.GoToSurface] Running Loop=1
2026-01-16T10:15:16.702Z,1768558516.702 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-16T10:15:16.702Z,1768558516.702 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-01-16T10:15:16.702Z,1768558516.702 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-01-16T10:15:16.702Z,1768558516.702 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-01-16T10:15:16.703Z,1768558516.703 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-01-16T10:15:16.703Z,1768558516.703 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-16T10:15:16.703Z,1768558516.703 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-16T10:15:16.708Z,1768558516.708 [Default:A.Wait] Running Loop=1
2026-01-16T10:15:16.708Z,1768558516.708 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-01-16T10:15:30.024Z,1768558530.024 [Default:A.Wait](INFO): Done Waiting.
2026-01-16T10:15:30.024Z,1768558530.024 [Default:A.Wait] Stopped
2026-01-16T10:15:30.024Z,1768558530.024 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T10:15:30.430Z,1768558530.430 [Default:CheckIn] Running Loop=1
2026-01-16T10:15:30.430Z,1768558530.430 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-16T10:15:30.430Z,1768558530.430 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-16T10:15:32.456Z,1768558532.456 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,101529.00,A,3642.98516,N,12212.71717,W,1.069,269.87,160126,,,D*7C
2026-01-16T10:15:32.458Z,1768558532.458 [NAL9602](INFO): GPS fix at 20260116T101529: (36.716419, -122.211953)
2026-01-16T10:15:32.488Z,1768558532.488 [Default:CheckIn:Read_GPS] Stopped
2026-01-16T10:15:32.488Z,1768558532.488 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-16T10:15:40.436Z,1768558540.436 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 14 hour
2026-01-16T10:15:40.437Z,1768558540.437 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 90 minute
2026-01-16T10:15:40.438Z,1768558540.438 [CommandExec](IMPORTANT): got command set keepstation.Depth 20 meter
2026-01-16T10:15:40.438Z,1768558540.438 [CommandExec](IMPORTANT): got command set keepstation.Speed .7 meter_per_second
2026-01-16T10:15:40.439Z,1768558540.439 [CommandExec](IMPORTANT): got command set keepstation.SinkOffSurface 1 bool
2026-01-16T10:15:40.444Z,1768558540.444 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 40 meter
2026-01-16T10:15:43.883Z,1768558543.883 [DataOverHttps](INFO): Sending 90 bytes from file Logs/20260116T031527/Courier0024.lzma
2026-01-16T10:15:44.891Z,1768558544.891 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0024.lzma.bak
2026-01-16T10:15:44.891Z,1768558544.891 [DataOverHttps](INFO): SBD MOMSN=26577416
2026-01-16T10:15:53.623Z,1768558553.623 [NAL9602](INFO): SBD MO Status=2, MOMSN=25252, MT Status=2, MTMSN=0
2026-01-16T10:15:53.623Z,1768558553.623 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T10:15:56.269Z,1768558556.269 [CommandExec](IMPORTANT): got command set keepstation:NeedComms.SurfaceSpeed 1 meter_per_second
2026-01-16T10:15:56.270Z,1768558556.270 [CommandExec](IMPORTANT): got command set keepstation:NeedComms.CommsTimeout 30 minute
2026-01-16T10:15:56.270Z,1768558556.270 [CommandExec](IMPORTANT): got command run
2026-01-16T10:15:56.278Z,1768558556.278 [CommandExec](IMPORTANT): Running 
2026-01-16T10:15:56.425Z,1768558556.425 [Default] Stopped
2026-01-16T10:15:56.425Z,1768558556.425 [Default](DEBUG): Aggregate::uninitialize Default
2026-01-16T10:15:56.425Z,1768558556.425 [Default:B.GoToSurface] Stopped
2026-01-16T10:15:56.425Z,1768558556.425 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-16T10:15:56.425Z,1768558556.425 [Default:CheckIn] Stopped
2026-01-16T10:15:56.426Z,1768558556.426 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-16T10:15:56.426Z,1768558556.426 [Default:CheckIn:Read_Iridium] Stopped
2026-01-16T10:15:56.426Z,1768558556.426 [MissionManager](IMPORTANT): Started mission keepstation
2026-01-16T10:15:56.426Z,1768558556.426 [keepstation] Running Loop=1
2026-01-16T10:15:56.426Z,1768558556.426 [keepstation](DEBUG): Aggregate::initialize keepstation
2026-01-16T10:15:56.426Z,1768558556.426 [keepstation:StandardEnvelopes] Running Loop=1
2026-01-16T10:15:56.426Z,1768558556.426 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2026-01-16T10:15:56.426Z,1768558556.426 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-16T10:15:56.426Z,1768558556.426 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-16T10:15:56.427Z,1768558556.427 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-16T10:15:56.427Z,1768558556.427 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-16T10:15:56.427Z,1768558556.427 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-16T10:15:56.427Z,1768558556.427 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2026-01-16T10:15:56.427Z,1768558556.427 [keepstation:BackseatDriver] Running Loop=1
2026-01-16T10:15:56.427Z,1768558556.427 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2026-01-16T10:15:56.427Z,1768558556.427 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2026-01-16T10:15:56.427Z,1768558556.427 [keepstation:PowerOnly] Running Loop=1
2026-01-16T10:15:56.428Z,1768558556.428 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2026-01-16T10:15:56.428Z,1768558556.428 [keepstation:PowerOnly:A] Running Loop=1
2026-01-16T10:15:56.428Z,1768558556.428 [keepstation:PowerOnly:B] Running Loop=1
2026-01-16T10:15:56.428Z,1768558556.428 [keepstation:PowerOnly:C] Running Loop=1
2026-01-16T10:15:56.428Z,1768558556.428 [keepstation:PowerOnly:D] Running Loop=1
2026-01-16T10:15:56.428Z,1768558556.428 [keepstation:PowerOnly:E.Wait] Running Loop=1
2026-01-16T10:15:56.428Z,1768558556.428 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2026-01-16T10:15:56.429Z,1768558556.429 [keepstation:H.Pitch] Running Loop=1
2026-01-16T10:15:56.429Z,1768558556.429 [keepstation:H.Pitch](DEBUG): Initialize.
2026-01-16T10:15:56.429Z,1768558556.429 [keepstation:B] Running Loop=1
2026-01-16T10:15:56.430Z,1768558556.430 [keepstation:H.Pitch] Running Loop=1
2026-01-16T10:15:56.430Z,1768558556.430 [keepstation:PowerOnly] Running Loop=1
2026-01-16T10:15:56.430Z,1768558556.430 [keepstation:PowerOnly:D] Stopped
2026-01-16T10:15:56.430Z,1768558556.430 [keepstation:PowerOnly:C] Stopped
2026-01-16T10:15:56.430Z,1768558556.430 [keepstation:PowerOnly:B] Stopped
2026-01-16T10:15:56.430Z,1768558556.430 [keepstation:PowerOnly:A] Stopped
2026-01-16T10:15:56.430Z,1768558556.430 [keepstation:BackseatDriver] Running Loop=1
2026-01-16T10:15:56.431Z,1768558556.431 [keepstation:StandardEnvelopes] Running Loop=1
2026-01-16T10:15:56.431Z,1768558556.431 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-16T10:15:56.431Z,1768558556.431 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-16T10:15:56.431Z,1768558556.431 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-16T10:15:56.432Z,1768558556.432 [keepstation:B] Stopped
2026-01-16T10:15:56.432Z,1768558556.432 [keepstation:D] Running Loop=1
2026-01-16T10:15:56.851Z,1768558556.851 [keepstation:D] Stopped
2026-01-16T10:15:56.851Z,1768558556.851 [keepstation:E] Running Loop=1
2026-01-16T10:15:57.233Z,1768558557.233 [keepstation:E] Stopped
2026-01-16T10:15:57.234Z,1768558557.234 [keepstation:StartingMission] Running Loop=1
2026-01-16T10:15:57.234Z,1768558557.234 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2026-01-16T10:15:57.628Z,1768558557.628 [keepstation:SurfaceComms] Running Loop=1
2026-01-16T10:15:57.628Z,1768558557.628 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-01-16T10:15:57.628Z,1768558557.628 [keepstation:SurfaceComms:A] Running Loop=1
2026-01-16T10:15:57.629Z,1768558557.629 [keepstation:SurfaceComms:A] Stopped
2026-01-16T10:15:57.629Z,1768558557.629 [keepstation:SurfaceComms:B] Running Loop=1
2026-01-16T10:15:57.629Z,1768558557.629 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-01-16T10:15:58.058Z,1768558558.058 [keepstation:NeedComms] Running Loop=1
2026-01-16T10:15:58.058Z,1768558558.058 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-01-16T10:15:58.058Z,1768558558.058 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-01-16T10:15:58.058Z,1768558558.058 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-16T10:15:58.058Z,1768558558.058 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-16T10:15:58.059Z,1768558558.059 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-16T10:15:58.059Z,1768558558.059 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-16T10:15:58.059Z,1768558558.059 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-16T10:15:58.060Z,1768558558.060 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-16T10:15:58.060Z,1768558558.060 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-16T10:15:58.061Z,1768558558.061 [keepstation:NeedComms:A] Running Loop=1
2026-01-16T10:15:58.062Z,1768558558.062 [keepstation:NeedComms:A](INFO): last time_fix was:  1768558529.000000 second since 1970/01/01T00:00:00Z 
2026-01-16T10:15:58.062Z,1768558558.062 [keepstation:NeedComms:A] Stopped
2026-01-16T10:15:58.062Z,1768558558.062 [keepstation:NeedComms:setActive] Running Loop=1
2026-01-16T10:15:58.062Z,1768558558.062 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-01-16T10:15:58.062Z,1768558558.062 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-01-16T10:15:58.464Z,1768558558.464 [keepstation:NeedComms:setActive:A] Stopped
2026-01-16T10:15:58.464Z,1768558558.464 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-01-16T10:15:58.890Z,1768558558.890 [keepstation:NeedComms:setActive:B] Stopped
2026-01-16T10:15:58.890Z,1768558558.890 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-01-16T10:15:58.890Z,1768558558.890 [keepstation:NeedComms:setActive] Stopped
2026-01-16T10:15:58.890Z,1768558558.890 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-01-16T10:15:59.270Z,1768558559.270 [keepstation:NeedComms:D] Running Loop=1
2026-01-16T10:15:59.674Z,1768558559.674 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-16T10:16:04.874Z,1768558564.874 [DataOverHttps](INFO): Sending 1036 bytes from file Logs/20260116T031527/Express0025.lzma
2026-01-16T10:16:05.870Z,1768558565.870 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0025.lzma.bak
2026-01-16T10:16:05.870Z,1768558565.870 [DataOverHttps](INFO): SBD MOMSN=26577419
2026-01-16T10:18:40.285Z,1768558720.285 [DataOverHttps](IMPORTANT): SBD MTMSN=20260116T101837
2026-01-16T10:18:47.852Z,1768558727.852 [DataOverHttps](INFO): Received command: schedule resume
2026-01-16T10:18:47.942Z,1768558727.942 [CommandExec](IMPORTANT): got command schedule resume
2026-01-16T10:18:55.010Z,1768558735.010 [NAL9602](INFO): SBD MO Status=2, MOMSN=25252, MT Status=2, MTMSN=0
2026-01-16T10:18:55.010Z,1768558735.010 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T10:19:59.247Z,1768558799.247 [NAL9602](INFO): SBD MO Status=1, MOMSN=25252, MT Status=0, MTMSN=0
2026-01-16T10:19:59.248Z,1768558799.248 [NAL9602](INFO): No messages in MT queue
2026-01-16T10:20:00.459Z,1768558800.459 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,101957.00,A,3642.97750,N,12212.74945,W,0.311,228.30,160126,,,D*7E
2026-01-16T10:20:00.462Z,1768558800.462 [NAL9602](INFO): GPS fix at 20260116T101957: (36.716292, -122.212491)
2026-01-16T10:20:00.474Z,1768558800.474 [keepstation:NeedComms:D] Stopped
2026-01-16T10:20:00.474Z,1768558800.474 [keepstation:NeedComms:E] Running Loop=1
2026-01-16T10:20:00.894Z,1768558800.894 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense platform_communications
2026-01-16T10:20:07.894Z,1768558807.894 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20260116T031527/Courier0030.lzma
2026-01-16T10:20:08.894Z,1768558808.894 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0030.lzma.bak
2026-01-16T10:20:08.894Z,1768558808.894 [DataOverHttps](INFO): SBD MOMSN=26577483
2026-01-16T10:20:25.245Z,1768558825.245 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20260116T031527/Express0028.lzma
2026-01-16T10:20:26.246Z,1768558826.246 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0028.lzma.bak
2026-01-16T10:20:26.246Z,1768558826.246 [DataOverHttps](INFO): SBD MOMSN=26577486
2026-01-16T10:20:32.374Z,1768558832.374 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-16T10:20:43.413Z,1768558843.413 [DataOverHttps](INFO): Sending 412 bytes from file Logs/20260116T031527/Express0031.lzma
2026-01-16T10:20:44.414Z,1768558844.414 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0031.lzma.bak
2026-01-16T10:20:44.414Z,1768558844.414 [DataOverHttps](INFO): SBD MOMSN=26577490
2026-01-16T10:21:00.883Z,1768558860.883 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20260116T031527/Express0034.lzma
2026-01-16T10:21:01.886Z,1768558861.886 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0034.lzma.bak
2026-01-16T10:21:01.886Z,1768558861.886 [DataOverHttps](INFO): SBD MOMSN=26577505
2026-01-16T10:21:03.097Z,1768558863.097 [keepstation:NeedComms:E] Stopped
2026-01-16T10:21:03.097Z,1768558863.097 [keepstation:NeedComms:F] Running Loop=1
2026-01-16T10:21:03.509Z,1768558863.509 [keepstation:NeedComms:F](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-16T10:21:05.100Z,1768558865.100 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,102102.00,A,3642.97604,N,12212.75958,W,0.894,277.74,160126,,,D*74
2026-01-16T10:21:05.102Z,1768558865.102 [NAL9602](INFO): GPS fix at 20260116T102102: (36.716267, -122.212660)
2026-01-16T10:21:05.149Z,1768558865.149 [keepstation:NeedComms:F] Stopped
2026-01-16T10:21:05.149Z,1768558865.149 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-01-16T10:21:05.149Z,1768558865.149 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-01-16T10:21:05.149Z,1768558865.149 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-16T10:21:05.547Z,1768558865.547 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-01-16T10:21:05.547Z,1768558865.547 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-01-16T10:21:05.547Z,1768558865.547 [keepstation:NeedComms:setRestoreMode] Stopped
2026-01-16T10:21:05.547Z,1768558865.547 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-01-16T10:21:05.547Z,1768558865.547 [keepstation:NeedComms:setInactive] Running Loop=1
2026-01-16T10:21:05.552Z,1768558865.552 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-01-16T10:21:05.552Z,1768558865.552 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-01-16T10:21:05.963Z,1768558865.963 [keepstation:NeedComms:setInactive:A] Stopped
2026-01-16T10:21:05.963Z,1768558865.963 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-01-16T10:21:05.969Z,1768558865.969 [keepstation:NeedComms:setInactive] Stopped
2026-01-16T10:21:05.969Z,1768558865.969 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-01-16T10:21:05.969Z,1768558865.969 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-01-16T10:21:05.970Z,1768558865.970 [keepstation:NeedComms] Stopped
2026-01-16T10:21:05.970Z,1768558865.970 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-01-16T10:21:05.970Z,1768558865.970 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-01-16T10:21:05.970Z,1768558865.970 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-16T10:21:06.328Z,1768558866.328 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-01-16T10:21:06.329Z,1768558866.329 [keepstation:SurfaceComms:B] Stopped
2026-01-16T10:21:06.329Z,1768558866.329 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-01-16T10:21:06.329Z,1768558866.329 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-01-16T10:21:06.329Z,1768558866.329 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-01-16T10:21:06.329Z,1768558866.329 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-01-16T10:21:06.329Z,1768558866.329 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T10:21:06.329Z,1768558866.329 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-01-16T10:21:06.757Z,1768558866.757 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-01-16T10:21:06.757Z,1768558866.757 [keepstation:SurfaceComms:HandleNan:SetOnStation](INFO): Completed keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T10:21:06.757Z,1768558866.757 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-01-16T10:21:06.758Z,1768558866.758 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T10:21:06.758Z,1768558866.758 [keepstation:SurfaceComms:HandleNan:SetLat] Running Loop=1
2026-01-16T10:21:06.758Z,1768558866.758 [keepstation:SurfaceComms:HandleNan:SetLat](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetLat
2026-01-16T10:21:06.758Z,1768558866.758 [keepstation:SurfaceComms:HandleNan:SetLat:A] Running Loop=1
2026-01-16T10:21:07.164Z,1768558867.164 [keepstation:SurfaceComms:HandleNan:SetLat:A] Stopped
2026-01-16T10:21:07.164Z,1768558867.164 [keepstation:SurfaceComms:HandleNan:SetLat](INFO): Completed keepstation:SurfaceComms:HandleNan:SetLat
2026-01-16T10:21:07.164Z,1768558867.164 [keepstation:SurfaceComms:HandleNan:SetLat] Stopped
2026-01-16T10:21:07.164Z,1768558867.164 [keepstation:SurfaceComms:HandleNan:SetLat](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetLat
2026-01-16T10:21:07.165Z,1768558867.165 [keepstation:SurfaceComms:HandleNan:SetLon] Running Loop=1
2026-01-16T10:21:07.165Z,1768558867.165 [keepstation:SurfaceComms:HandleNan:SetLon](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetLon
2026-01-16T10:21:07.165Z,1768558867.165 [keepstation:SurfaceComms:HandleNan:SetLon:A] Running Loop=1
2026-01-16T10:21:07.541Z,1768558867.541 [keepstation:SurfaceComms:HandleNan:SetLon:A] Stopped
2026-01-16T10:21:07.541Z,1768558867.541 [keepstation:SurfaceComms:HandleNan:SetLon](INFO): Completed keepstation:SurfaceComms:HandleNan:SetLon
2026-01-16T10:21:07.541Z,1768558867.541 [keepstation:SurfaceComms:HandleNan:SetLon] Stopped
2026-01-16T10:21:07.541Z,1768558867.541 [keepstation:SurfaceComms:HandleNan:SetLon](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetLon
2026-01-16T10:21:07.541Z,1768558867.541 [keepstation:SurfaceComms:HandleNan](INFO): Completed keepstation:SurfaceComms:HandleNan
2026-01-16T10:21:07.541Z,1768558867.541 [keepstation:SurfaceComms:HandleNan] Stopped
2026-01-16T10:21:07.541Z,1768558867.541 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-01-16T10:21:07.541Z,1768558867.541 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-01-16T10:21:07.542Z,1768558867.542 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-01-16T10:21:07.542Z,1768558867.542 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-01-16T10:21:07.965Z,1768558867.965 [keepstation:SurfaceComms:setTransit] Stopped
2026-01-16T10:21:07.966Z,1768558867.966 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-01-16T10:21:07.966Z,1768558867.966 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-01-16T10:21:07.966Z,1768558867.966 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-01-16T10:21:07.966Z,1768558867.966 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-01-16T10:21:07.966Z,1768558867.966 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-01-16T10:21:08.353Z,1768558868.353 [keepstation:SurfaceComms:setStation] Stopped
2026-01-16T10:21:08.353Z,1768558868.353 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-01-16T10:21:08.353Z,1768558868.353 [keepstation:SurfaceComms:setStation:A] Stopped
2026-01-16T10:21:08.353Z,1768558868.353 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-01-16T10:21:08.353Z,1768558868.353 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-01-16T10:21:08.354Z,1768558868.354 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-01-16T10:21:08.748Z,1768558868.748 [keepstation:SurfaceComms:setSink:A] Stopped
2026-01-16T10:21:08.748Z,1768558868.748 [keepstation:SurfaceComms:setSink](INFO): Completed keepstation:SurfaceComms:setSink
2026-01-16T10:21:08.748Z,1768558868.748 [keepstation:SurfaceComms:setSink] Stopped
2026-01-16T10:21:08.749Z,1768558868.749 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-01-16T10:21:08.749Z,1768558868.749 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-01-16T10:21:08.749Z,1768558868.749 [keepstation:SurfaceComms] Stopped
2026-01-16T10:21:08.749Z,1768558868.749 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-01-16T10:21:09.147Z,1768558869.147 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2026-01-16T10:21:09.147Z,1768558869.147 [keepstation:StartingMission] Stopped
2026-01-16T10:21:09.147Z,1768558869.147 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2026-01-16T10:21:09.148Z,1768558869.148 [keepstation:TransitToStation] Running Loop=1
2026-01-16T10:21:09.148Z,1768558869.148 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2026-01-16T10:21:09.148Z,1768558869.148 [keepstation:TransitToStation:Dive] Running Loop=1
2026-01-16T10:21:09.148Z,1768558869.148 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2026-01-16T10:21:09.148Z,1768558869.148 [keepstation:TransitToStation:Dive:A] Running Loop=1
2026-01-16T10:21:09.148Z,1768558869.148 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2026-01-16T10:21:09.148Z,1768558869.148 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2026-01-16T10:21:09.149Z,1768558869.149 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2026-01-16T10:21:09.149Z,1768558869.149 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.716267,-122.212660
2026-01-16T10:21:09.573Z,1768558869.573 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.716267,-122.212660
2026-01-16T10:21:09.573Z,1768558869.573 [keepstation:TransitToStation:Dive] Running Loop=1
2026-01-16T10:21:09.574Z,1768558869.574 [keepstation:DiveCmd] Running Loop=1
2026-01-16T10:21:09.574Z,1768558869.574 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2026-01-16T10:21:09.574Z,1768558869.574 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-16T10:21:09.574Z,1768558869.574 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-01-16T10:21:09.574Z,1768558869.574 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-01-16T10:21:09.574Z,1768558869.574 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T10:21:09.574Z,1768558869.574 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-16T10:21:09.574Z,1768558869.574 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-16T10:21:09.574Z,1768558869.574 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-16T10:21:09.574Z,1768558869.574 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-16T10:21:09.575Z,1768558869.575 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-01-16T10:21:09.575Z,1768558869.575 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-01-16T10:21:09.575Z,1768558869.575 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2026-01-16T10:21:09.575Z,1768558869.575 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2026-01-16T10:21:09.575Z,1768558869.575 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2026-01-16T10:21:09.575Z,1768558869.575 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-01-16T10:21:09.575Z,1768558869.575 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-16T10:21:09.575Z,1768558869.575 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-01-16T10:21:09.575Z,1768558869.575 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2026-01-16T10:21:09.575Z,1768558869.575 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-01-16T10:21:09.576Z,1768558869.576 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-16T10:21:09.576Z,1768558869.576 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T10:21:09.576Z,1768558869.576 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-16T10:21:09.576Z,1768558869.576 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T10:21:09.576Z,1768558869.576 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T10:21:09.576Z,1768558869.576 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-16T10:21:09.576Z,1768558869.576 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T10:21:09.577Z,1768558869.577 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-16T10:21:09.577Z,1768558869.577 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-16T10:21:09.577Z,1768558869.577 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-16T10:21:09.577Z,1768558869.577 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-16T10:21:09.578Z,1768558869.578 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-16T10:21:09.578Z,1768558869.578 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-16T10:21:09.578Z,1768558869.578 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-16T10:21:09.578Z,1768558869.578 [keepstation:DiveCmd:TransitToStation] Stopped
2026-01-16T10:21:09.578Z,1768558869.578 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2026-01-16T10:21:09.578Z,1768558869.578 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2026-01-16T10:21:09.578Z,1768558869.578 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2026-01-16T10:21:09.578Z,1768558869.578 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2026-01-16T10:21:09.578Z,1768558869.578 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-16T10:21:09.578Z,1768558869.578 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2026-01-16T10:21:09.578Z,1768558869.578 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2026-01-16T10:21:09.578Z,1768558869.578 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-16T10:21:09.578Z,1768558869.578 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-16T10:21:09.579Z,1768558869.579 [keepstation:DiveCmd:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-16T10:21:09.579Z,1768558869.579 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-01-16T10:21:09.579Z,1768558869.579 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-16T10:21:09.579Z,1768558869.579 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-16T10:21:09.579Z,1768558869.579 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-16T10:21:09.580Z,1768558869.580 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-16T10:21:40.651Z,1768558900.651 [NAL9602](INFO): SBD MO Status=1, MOMSN=25253, MT Status=0, MTMSN=0
2026-01-16T10:21:40.651Z,1768558900.651 [NAL9602](INFO): No messages in MT queue
2026-01-16T10:22:11.367Z,1768558931.367 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-16T10:23:04.864Z,1768558984.864 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T10:23:35.988Z,1768559015.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T10:23:45.232Z,1768559025.232 [Radio_Surface](INFO): Powering down
2026-01-16T10:24:07.112Z,1768559047.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T10:24:08.116Z,1768559048.116 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-16T10:24:57.817Z,1768559097.817 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Stopped
2026-01-16T10:24:57.817Z,1768559097.817 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Running Loop=1
2026-01-16T10:24:57.817Z,1768559097.817 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-16T10:24:57.817Z,1768559097.817 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Running Loop=1
2026-01-16T10:24:58.222Z,1768559098.222 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Stopped
2026-01-16T10:24:58.222Z,1768559098.222 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-16T10:24:58.222Z,1768559098.222 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Stopped
2026-01-16T10:24:58.222Z,1768559098.222 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Running Loop=1
2026-01-16T10:24:58.222Z,1768559098.222 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T10:24:58.222Z,1768559098.222 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Running Loop=1
2026-01-16T10:24:58.632Z,1768559098.632 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Stopped
2026-01-16T10:24:58.632Z,1768559098.632 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T10:24:58.632Z,1768559098.632 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Stopped
2026-01-16T10:24:58.632Z,1768559098.632 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T10:24:58.633Z,1768559098.633 [keepstation:DiveCmd:SurfaceSink:sink](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T10:24:58.633Z,1768559098.633 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-01-16T10:24:58.633Z,1768559098.633 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T10:24:58.633Z,1768559098.633 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-16T10:24:58.633Z,1768559098.633 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-16T10:24:58.633Z,1768559098.633 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-16T10:24:58.633Z,1768559098.633 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-16T10:24:58.634Z,1768559098.634 [keepstation:DiveCmd:SurfaceSink](INFO): Completed keepstation:DiveCmd:SurfaceSink
2026-01-16T10:24:59.060Z,1768559099.060 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T10:24:59.060Z,1768559099.060 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-16T10:24:59.060Z,1768559099.060 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T10:24:59.060Z,1768559099.060 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T10:24:59.060Z,1768559099.060 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-16T10:24:59.061Z,1768559099.061 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T10:24:59.061Z,1768559099.061 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-16T10:24:59.061Z,1768559099.061 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T10:24:59.061Z,1768559099.061 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T10:24:59.062Z,1768559099.062 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T10:24:59.062Z,1768559099.062 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T10:25:12.392Z,1768559112.392 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.783264
2026-01-16T10:38:16.123Z,1768559896.123 [DVL_micro](ERROR): Failed to parse:
9.99,+9999.99,+9999.99,+9999.99
2026-01-16T10:40:46.802Z,1768560046.802 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T10:48:49.183Z,1768560529.183 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00000000000000,35.0,+13.8,0000.0,1489.0000000.00,+00000000.00,9999.99,000.00
2026-01-16T10:48:49.183Z,1768560529.183 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+13.8,0000.0,1489.0000000.00,+00000000.00,9999.99,000.00
2026-01-16T10:49:55.838Z,1768560595.838 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T10:49:55.842Z,1768560595.842 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T10:51:42.902Z,1768560702.902 [DVL_micro](ERROR): Failed to parse:
:WI,+00168,-00054,+00091,+00000,A
2026-01-16T10:56:35.395Z,1768560995.395 [DVL_micro](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BI,-00032,+0

2026-01-16T10:56:35.395Z,1768560995.395 [DVL_micro](ERROR): Failed to parse:
:BI,-00032,+0

2026-01-16T11:07:29.071Z,1768561649.071 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-16T11:19:22.547Z,1768562362.547 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2026-01-16T11:19:50.492Z,1768562390.492 [DVL_micro](ERROR): DVL uart error: serial timeout
2026-01-16T11:19:50.492Z,1768562390.492 [DVL_micro] Communications Fault, FailCount= 1
2026-01-16T11:19:50.492Z,1768562390.492 [DVL_micro](ERROR): Communications Fault
2026-01-16T11:19:50.492Z,1768562390.492 [DVL_micro](ERROR): Failed to parse:
2026-01-16T11:19:50.522Z,1768562390.522 [CBIT](ERROR): Communications Fault in component: DVL_micro
2026-01-16T11:19:50.908Z,1768562390.908 [DVL_micro](INFO): Powering down
2026-01-16T11:19:51.650Z,1768562391.650 [CBIT](INFO): Clearing failed state for component DVL_micro
2026-01-16T11:19:51.650Z,1768562391.650 [DVL_micro] No Fault, FailCount= 1
2026-01-16T11:21:48.780Z,1768562508.780 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T11:22:35.658Z,1768562555.658 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2026-01-16T11:30:57.815Z,1768563057.815 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T11:30:57.829Z,1768563057.829 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T11:51:05.386Z,1768564265.386 [keepstation:SurfaceComms] Running Loop=1
2026-01-16T11:51:05.386Z,1768564265.386 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-01-16T11:51:05.387Z,1768564265.387 [keepstation:SurfaceComms:A] Running Loop=1
2026-01-16T11:51:05.387Z,1768564265.387 [keepstation:SurfaceComms:A] Stopped
2026-01-16T11:51:05.387Z,1768564265.387 [keepstation:SurfaceComms:B] Running Loop=1
2026-01-16T11:51:05.400Z,1768564265.400 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-01-16T11:51:05.402Z,1768564265.402 [keepstation:NeedComms] Running Loop=1
2026-01-16T11:51:05.402Z,1768564265.402 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-01-16T11:51:05.402Z,1768564265.402 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-01-16T11:51:05.402Z,1768564265.402 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-16T11:51:05.403Z,1768564265.403 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-16T11:51:05.403Z,1768564265.403 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-16T11:51:05.403Z,1768564265.403 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-16T11:51:05.408Z,1768564265.408 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-16T11:51:05.409Z,1768564265.409 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-16T11:51:05.409Z,1768564265.409 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-16T11:51:05.409Z,1768564265.409 [keepstation:NeedComms:A] Running Loop=1
2026-01-16T11:51:05.411Z,1768564265.411 [keepstation:NeedComms:A](INFO): last time_fix was:  1768558862.000000 second since 1970/01/01T00:00:00Z 
2026-01-16T11:51:05.411Z,1768564265.411 [keepstation:NeedComms:A] Stopped
2026-01-16T11:51:05.411Z,1768564265.411 [keepstation:NeedComms:setActive] Running Loop=1
2026-01-16T11:51:05.411Z,1768564265.411 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-01-16T11:51:05.411Z,1768564265.411 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-01-16T11:51:05.788Z,1768564265.788 [keepstation:TransitToStation:Dive] Stopped
2026-01-16T11:51:05.789Z,1768564265.789 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive
2026-01-16T11:51:05.789Z,1768564265.789 [keepstation:TransitToStation:Dive:A] Stopped
2026-01-16T11:51:05.789Z,1768564265.789 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A
2026-01-16T11:51:05.789Z,1768564265.789 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-16T11:51:05.789Z,1768564265.789 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-16T11:51:05.789Z,1768564265.789 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-16T11:51:05.789Z,1768564265.789 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-16T11:51:05.790Z,1768564265.790 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-16T11:51:05.790Z,1768564265.790 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-16T11:51:05.793Z,1768564265.793 [keepstation:NeedComms:setActive:A] Stopped
2026-01-16T11:51:05.793Z,1768564265.793 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-01-16T11:51:06.207Z,1768564266.207 [keepstation:NeedComms:setActive:B] Stopped
2026-01-16T11:51:06.207Z,1768564266.207 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-01-16T11:51:06.207Z,1768564266.207 [keepstation:NeedComms:setActive] Stopped
2026-01-16T11:51:06.207Z,1768564266.207 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-01-16T11:51:10.265Z,1768564270.265 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.716267,-122.212660
2026-01-16T11:51:10.266Z,1768564270.266 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2026-01-16T11:51:10.266Z,1768564270.266 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2026-01-16T11:51:10.266Z,1768564270.266 [keepstation:TransitToStation:C] Running Loop=1
2026-01-16T11:51:10.639Z,1768564270.639 [keepstation:TransitToStation:C] Stopped
2026-01-16T11:51:10.639Z,1768564270.639 [keepstation:TransitToStation:D] Running Loop=1
2026-01-16T11:51:10.639Z,1768564270.639 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T11:51:10.639Z,1768564270.639 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-16T11:51:10.639Z,1768564270.639 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T11:51:10.639Z,1768564270.639 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T11:51:10.639Z,1768564270.639 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-16T11:51:10.640Z,1768564270.640 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T11:51:10.640Z,1768564270.640 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-16T11:51:11.110Z,1768564271.110 [keepstation:TransitToStation:D] Stopped
2026-01-16T11:51:11.110Z,1768564271.110 [keepstation:TransitToStation:Dive] Running Loop=1
2026-01-16T11:51:11.110Z,1768564271.110 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2026-01-16T11:51:11.111Z,1768564271.111 [keepstation:TransitToStation:Dive:A] Running Loop=1
2026-01-16T11:51:11.111Z,1768564271.111 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2026-01-16T11:51:11.111Z,1768564271.111 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2026-01-16T11:51:11.111Z,1768564271.111 [keepstation:TransitToStation] Stopped
2026-01-16T11:51:11.111Z,1768564271.111 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2026-01-16T11:51:11.111Z,1768564271.111 [keepstation:TransitToStation:Dive] Stopped
2026-01-16T11:51:11.111Z,1768564271.111 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive
2026-01-16T11:51:11.111Z,1768564271.111 [keepstation:TransitToStation:Dive:A] Stopped
2026-01-16T11:51:11.111Z,1768564271.111 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A
2026-01-16T11:51:11.112Z,1768564271.112 [keepstation:OnStation] Running Loop=1
2026-01-16T11:51:11.112Z,1768564271.112 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2026-01-16T11:52:49.741Z,1768564369.741 [keepstation:NeedComms:D] Running Loop=1
2026-01-16T11:52:50.223Z,1768564370.223 [Radio_Surface](INFO): Powering up
2026-01-16T11:52:56.148Z,1768564376.148 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-16T11:53:26.268Z,1768564406.268 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T11:53:57.396Z,1768564437.396 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T11:54:28.525Z,1768564468.525 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T11:54:59.652Z,1768564499.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T11:55:08.352Z,1768564508.352 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003039
2026-01-16T11:57:54.178Z,1768564674.178 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2026-01-16T11:57:59.900Z,1768564679.900 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,115757.00,A,3643.02394,N,12213.73431,W,0.661,234.78,160126,,,A*7A
2026-01-16T11:57:59.903Z,1768564679.903 [NAL9602](INFO): GPS fix at 20260116T115757: (36.717066, -122.228905)
2026-01-16T11:57:59.914Z,1768564679.914 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Rest->Waypoint
2026-01-16T11:57:59.917Z,1768564679.917 [keepstation:NeedComms:D] Stopped
2026-01-16T11:57:59.917Z,1768564679.917 [keepstation:NeedComms:E] Running Loop=1
2026-01-16T11:58:07.857Z,1768564687.857 [DataOverHttps](INFO): Sending 90 bytes from file Logs/20260116T031527/Courier0036.lzma
2026-01-16T11:58:08.858Z,1768564688.858 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0036.lzma.bak
2026-01-16T11:58:08.858Z,1768564688.858 [DataOverHttps](INFO): SBD MOMSN=26577791
2026-01-16T11:58:25.366Z,1768564705.366 [DataOverHttps](INFO): Sending 670 bytes from file Logs/20260116T031527/Express0037.lzma
2026-01-16T11:58:26.366Z,1768564706.366 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0037.lzma.bak
2026-01-16T11:58:26.366Z,1768564706.366 [DataOverHttps](INFO): SBD MOMSN=26577794
2026-01-16T11:58:27.727Z,1768564707.727 [keepstation:NeedComms:E] Stopped
2026-01-16T11:58:27.727Z,1768564707.727 [keepstation:NeedComms:F] Running Loop=1
2026-01-16T11:58:29.743Z,1768564709.743 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,115827.00,A,3643.02232,N,12213.74031,W,0.330,253.13,160126,,,A*71
2026-01-16T11:58:29.749Z,1768564709.749 [NAL9602](INFO): GPS fix at 20260116T115827: (36.717039, -122.229005)
2026-01-16T11:58:29.803Z,1768564709.803 [keepstation:NeedComms:F] Stopped
2026-01-16T11:58:29.803Z,1768564709.803 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-01-16T11:58:29.812Z,1768564709.812 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-01-16T11:58:29.812Z,1768564709.812 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-16T11:58:30.199Z,1768564710.199 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-01-16T11:58:30.204Z,1768564710.204 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-01-16T11:58:30.204Z,1768564710.204 [keepstation:NeedComms:setRestoreMode] Stopped
2026-01-16T11:58:30.204Z,1768564710.204 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-01-16T11:58:30.204Z,1768564710.204 [keepstation:NeedComms:setInactive] Running Loop=1
2026-01-16T11:58:30.204Z,1768564710.204 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-01-16T11:58:30.204Z,1768564710.204 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-01-16T11:58:30.626Z,1768564710.626 [keepstation:NeedComms:setInactive:A] Stopped
2026-01-16T11:58:30.626Z,1768564710.626 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-01-16T11:58:30.626Z,1768564710.626 [keepstation:NeedComms:setInactive] Stopped
2026-01-16T11:58:30.626Z,1768564710.626 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-01-16T11:58:30.627Z,1768564710.627 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-01-16T11:58:30.627Z,1768564710.627 [keepstation:NeedComms] Stopped
2026-01-16T11:58:30.627Z,1768564710.627 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-01-16T11:58:30.627Z,1768564710.627 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-01-16T11:58:30.627Z,1768564710.627 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-16T11:58:30.975Z,1768564710.975 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2026-01-16T11:58:30.975Z,1768564710.975 [keepstation:OnStation] Stopped
2026-01-16T11:58:30.980Z,1768564710.980 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2026-01-16T11:58:30.980Z,1768564710.980 [keepstation:KeepStation] Running Loop=1
2026-01-16T11:58:30.980Z,1768564710.980 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2026-01-16T11:58:30.980Z,1768564710.980 [keepstation:KeepStation:Dive] Running Loop=1
2026-01-16T11:58:30.980Z,1768564710.980 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-01-16T11:58:30.980Z,1768564710.980 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-01-16T11:58:30.980Z,1768564710.980 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-01-16T11:58:30.981Z,1768564710.981 [keepstation:KeepStation:B.Wait] Running Loop=1
2026-01-16T11:58:30.981Z,1768564710.981 [keepstation:KeepStation:B.Wait](DEBUG): Initialize Wait Component.
2026-01-16T11:58:30.983Z,1768564710.983 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-01-16T11:58:30.983Z,1768564710.983 [keepstation:SurfaceComms:B] Stopped
2026-01-16T11:58:30.983Z,1768564710.983 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-01-16T11:58:30.983Z,1768564710.983 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-01-16T11:58:30.983Z,1768564710.983 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-01-16T11:58:30.983Z,1768564710.983 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-01-16T11:58:30.983Z,1768564710.983 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T11:58:30.988Z,1768564710.988 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-01-16T11:58:31.371Z,1768564711.371 [keepstation:KeepStation:Dive] Running Loop=1
2026-01-16T11:58:31.395Z,1768564711.395 [keepstation:SurfaceComms:HandleNan] Stopped
2026-01-16T11:58:31.395Z,1768564711.395 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-01-16T11:58:31.395Z,1768564711.395 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-01-16T11:58:31.395Z,1768564711.395 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T11:58:31.395Z,1768564711.395 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-01-16T11:58:31.395Z,1768564711.395 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-01-16T11:58:31.395Z,1768564711.395 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-01-16T11:58:31.400Z,1768564711.400 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-01-16T11:58:31.821Z,1768564711.821 [keepstation:SurfaceComms:setTransit] Stopped
2026-01-16T11:58:31.821Z,1768564711.821 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-01-16T11:58:31.821Z,1768564711.821 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-01-16T11:58:31.821Z,1768564711.821 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-01-16T11:58:31.821Z,1768564711.821 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-01-16T11:58:31.821Z,1768564711.821 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-01-16T11:58:32.192Z,1768564712.192 [keepstation:SurfaceComms:setStation] Stopped
2026-01-16T11:58:32.192Z,1768564712.192 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-01-16T11:58:32.192Z,1768564712.192 [keepstation:SurfaceComms:setStation:A] Stopped
2026-01-16T11:58:32.192Z,1768564712.192 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-01-16T11:58:32.193Z,1768564712.193 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-01-16T11:58:32.193Z,1768564712.193 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-01-16T11:58:32.617Z,1768564712.617 [keepstation:SurfaceComms:setSink:A] Stopped
2026-01-16T11:58:32.617Z,1768564712.617 [keepstation:SurfaceComms:setSink](INFO): Completed keepstation:SurfaceComms:setSink
2026-01-16T11:58:32.617Z,1768564712.617 [keepstation:SurfaceComms:setSink] Stopped
2026-01-16T11:58:32.617Z,1768564712.617 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-01-16T11:58:32.617Z,1768564712.617 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-01-16T11:58:32.617Z,1768564712.617 [keepstation:SurfaceComms] Stopped
2026-01-16T11:58:32.617Z,1768564712.617 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-01-16T11:58:32.989Z,1768564712.989 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-16T11:58:32.989Z,1768564712.989 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-16T11:58:32.989Z,1768564712.989 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-16T11:58:32.989Z,1768564712.989 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-16T11:58:32.989Z,1768564712.989 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-16T11:58:32.989Z,1768564712.989 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-16T11:58:32.989Z,1768564712.989 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-16T11:58:32.989Z,1768564712.989 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-01-16T11:58:32.990Z,1768564712.990 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-01-16T11:58:32.990Z,1768564712.990 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T11:58:32.990Z,1768564712.990 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-16T11:58:32.990Z,1768564712.990 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-16T11:58:32.990Z,1768564712.990 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-16T11:58:32.990Z,1768564712.990 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-16T11:58:32.990Z,1768564712.990 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-01-16T11:58:32.991Z,1768564712.991 [keepstation:DiveCmd:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-16T11:58:32.991Z,1768564712.991 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-01-16T11:58:32.991Z,1768564712.991 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-16T11:58:32.991Z,1768564712.991 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-16T11:58:34.952Z,1768564714.952 [RudderServo](ERROR): getPosition uart error serial timeout
2026-01-16T11:58:34.952Z,1768564714.952 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2026-01-16T11:58:34.952Z,1768564714.952 [RudderServo] Communications Fault, FailCount= 1
2026-01-16T11:58:34.952Z,1768564714.952 [RudderServo](ERROR): Communications Fault
2026-01-16T11:58:34.978Z,1768564714.978 [CBIT](ERROR): Communications Fault in component: RudderServo
2026-01-16T11:58:35.593Z,1768564715.593 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2026-01-16T11:58:35.593Z,1768564715.593 [RudderServo](INFO): Powering down
2026-01-16T11:58:36.102Z,1768564716.102 [RudderServo](DEBUG): Initializing EZServoServo.
2026-01-16T11:58:36.221Z,1768564716.221 [RudderServo](DEBUG): Initializing RudderServo.
2026-01-16T11:58:36.225Z,1768564716.225 [CBIT](INFO): Clearing failed state for component RudderServo
2026-01-16T11:58:36.225Z,1768564716.225 [RudderServo] No Fault, FailCount= 1
2026-01-16T11:59:02.281Z,1768564742.281 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-16T12:00:30.477Z,1768564830.477 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T12:00:47.008Z,1768564847.008 [Radio_Surface](INFO): Powering down
2026-01-16T12:01:01.604Z,1768564861.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T12:01:02.608Z,1768564862.608 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-16T12:02:01.266Z,1768564921.266 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Stopped
2026-01-16T12:02:01.266Z,1768564921.266 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Running Loop=1
2026-01-16T12:02:01.266Z,1768564921.266 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-16T12:02:01.266Z,1768564921.266 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Running Loop=1
2026-01-16T12:02:01.688Z,1768564921.688 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Stopped
2026-01-16T12:02:01.688Z,1768564921.688 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-16T12:02:01.688Z,1768564921.688 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Stopped
2026-01-16T12:02:01.688Z,1768564921.688 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Running Loop=1
2026-01-16T12:02:01.688Z,1768564921.688 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T12:02:01.688Z,1768564921.688 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Running Loop=1
2026-01-16T12:02:02.076Z,1768564922.076 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Stopped
2026-01-16T12:02:02.077Z,1768564922.077 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T12:02:02.077Z,1768564922.077 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Stopped
2026-01-16T12:02:02.077Z,1768564922.077 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T12:02:02.077Z,1768564922.077 [keepstation:DiveCmd:SurfaceSink:sink](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T12:02:02.077Z,1768564922.077 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-01-16T12:02:02.077Z,1768564922.077 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T12:02:02.078Z,1768564922.078 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-16T12:02:02.078Z,1768564922.078 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-16T12:02:02.078Z,1768564922.078 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-16T12:02:02.078Z,1768564922.078 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-16T12:02:02.078Z,1768564922.078 [keepstation:DiveCmd:SurfaceSink](INFO): Completed keepstation:DiveCmd:SurfaceSink
2026-01-16T12:02:02.479Z,1768564922.479 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T12:02:02.479Z,1768564922.479 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-16T12:02:02.479Z,1768564922.479 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T12:02:02.479Z,1768564922.479 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T12:02:02.479Z,1768564922.479 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-16T12:02:02.479Z,1768564922.479 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T12:02:02.479Z,1768564922.479 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-16T12:02:02.480Z,1768564922.480 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Rest->Waypoint
2026-01-16T12:02:05.876Z,1768564925.876 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.555283
2026-01-16T12:11:59.868Z,1768565519.868 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T12:11:59.871Z,1768565519.871 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T12:28:24.080Z,1768566504.080 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+13.8,0000.0,1489.0,000
2026-01-16T12:34:14.722Z,1768566854.722 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T12:35:12.399Z,1768566912.399 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2026-01-16T12:35:14.423Z,1768566914.423 [DVL_micro](ERROR): Failed to parse:
:WI,+00036,-00509,+00128,+00000,A
2026-01-16T12:35:16.454Z,1768566916.454 [DVL_micro](ERROR): Failed to parse:
:BI,+00053,-00656,+00059,+00000,I
2026-01-16T12:35:18.463Z,1768566918.463 [DVL_micro](ERROR): Failed to parse:
:RD,+9999.99,+9999.99,+9999.99,+9999.99
2026-01-16T12:35:18.858Z,1768566918.858 [DVL_micro](ERROR): No DVL communication! Re-initializing
2026-01-16T12:35:18.859Z,1768566918.859 [DVL_micro] Communications Fault, FailCount= 1
2026-01-16T12:35:18.859Z,1768566918.859 [DVL_micro](ERROR): Communications Fault
2026-01-16T12:35:19.071Z,1768566919.071 [CBIT](ERROR): Communications Fault in component: DVL_micro
2026-01-16T12:35:19.344Z,1768566919.344 [DVL_micro](INFO): Powering down
2026-01-16T12:35:20.123Z,1768566920.123 [CBIT](INFO): Clearing failed state for component DVL_micro
2026-01-16T12:35:20.123Z,1768566920.123 [DVL_micro] No Fault, FailCount= 1
2026-01-16T12:43:52.045Z,1768567432.045 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T12:50:46.160Z,1768567846.160 [keepstation:DiveCmd:StationKeep:C.KeepStation](INFO): Waypoint->Rest
2026-01-16T12:50:46.503Z,1768567846.503 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.70 m/s, pitch 20.00 deg, mass-position 30.65 mm.
2026-01-16T12:53:01.409Z,1768567981.409 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T12:53:01.413Z,1768567981.413 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T13:06:08.415Z,1768568768.415 [DVL_micro](ERROR): Failed to parse:
:WI,-00100,-00013,-00073,+00000,A
2026-01-16T13:06:10.448Z,1768568770.448 [DVL_micro](ERROR): Failed to parse:
:BI,-00009,+00110,-00148,+00000,I
2026-01-16T13:06:12.477Z,1768568772.477 [DVL_micro](ERROR): Failed to parse::BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2026-01-16T13:06:14.472Z,1768568774.472 [DVL_micro](ERROR): Failed to parse:
:SA,-00.27,+00.90,207.5
2026-01-16T13:06:14.873Z,1768568774.873 [DVL_micro](ERROR): No DVL communication! Re-initializing
2026-01-16T13:06:14.873Z,1768568774.873 [DVL_micro] Communications Fault, FailCount= 1
2026-01-16T13:06:14.873Z,1768568774.873 [DVL_micro](ERROR): Communications Fault
2026-01-16T13:06:14.896Z,1768568774.896 [CBIT](ERROR): Communications Fault in component: DVL_micro
2026-01-16T13:06:15.368Z,1768568775.368 [DVL_micro](INFO): Powering down
2026-01-16T13:06:16.124Z,1768568776.124 [CBIT](INFO): Clearing failed state for component DVL_micro
2026-01-16T13:06:16.124Z,1768568776.124 [DVL_micro] No Fault, FailCount= 1
2026-01-16T13:24:53.961Z,1768569893.961 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T13:28:30.114Z,1768570110.114 [keepstation:SurfaceComms] Running Loop=1
2026-01-16T13:28:30.114Z,1768570110.114 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-01-16T13:28:30.115Z,1768570110.115 [keepstation:SurfaceComms:A] Running Loop=1
2026-01-16T13:28:30.115Z,1768570110.115 [keepstation:SurfaceComms:A] Stopped
2026-01-16T13:28:30.115Z,1768570110.115 [keepstation:SurfaceComms:B] Running Loop=1
2026-01-16T13:28:30.115Z,1768570110.115 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-01-16T13:28:30.117Z,1768570110.117 [keepstation:NeedComms] Running Loop=1
2026-01-16T13:28:30.117Z,1768570110.117 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-01-16T13:28:30.117Z,1768570110.117 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-01-16T13:28:30.117Z,1768570110.117 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-16T13:28:30.118Z,1768570110.118 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-16T13:28:30.118Z,1768570110.118 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-16T13:28:30.118Z,1768570110.118 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-16T13:28:30.119Z,1768570110.119 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-16T13:28:30.119Z,1768570110.119 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-16T13:28:30.119Z,1768570110.119 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-16T13:28:30.120Z,1768570110.120 [keepstation:NeedComms:A] Running Loop=1
2026-01-16T13:28:30.121Z,1768570110.121 [keepstation:NeedComms:A](INFO): last time_fix was:  1768564707.000000 second since 1970/01/01T00:00:00Z 
2026-01-16T13:28:30.121Z,1768570110.121 [keepstation:NeedComms:A] Stopped
2026-01-16T13:28:30.122Z,1768570110.122 [keepstation:NeedComms:setActive] Running Loop=1
2026-01-16T13:28:30.122Z,1768570110.122 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-01-16T13:28:30.122Z,1768570110.122 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-01-16T13:28:30.546Z,1768570110.546 [keepstation:KeepStation:Dive] Stopped
2026-01-16T13:28:30.546Z,1768570110.546 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-01-16T13:28:30.546Z,1768570110.546 [keepstation:KeepStation:Dive:A] Stopped
2026-01-16T13:28:30.547Z,1768570110.547 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-01-16T13:28:30.547Z,1768570110.547 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-16T13:28:30.547Z,1768570110.547 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-16T13:28:30.548Z,1768570110.548 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-16T13:28:30.548Z,1768570110.548 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-16T13:28:30.548Z,1768570110.548 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-16T13:28:30.548Z,1768570110.548 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-16T13:28:30.553Z,1768570110.553 [keepstation:NeedComms:setActive:A] Stopped
2026-01-16T13:28:30.554Z,1768570110.554 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-01-16T13:28:30.961Z,1768570110.961 [keepstation:NeedComms:setActive:B] Stopped
2026-01-16T13:28:30.961Z,1768570110.961 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-01-16T13:28:30.961Z,1768570110.961 [keepstation:NeedComms:setActive] Stopped
2026-01-16T13:28:30.962Z,1768570110.962 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-01-16T13:29:51.267Z,1768570191.267 [keepstation:NeedComms:D] Running Loop=1
2026-01-16T13:29:51.968Z,1768570191.968 [Radio_Surface](INFO): Powering up
2026-01-16T13:29:57.888Z,1768570197.888 [DataOverHttps](INFO): Radio surface powered ON.
2026-01-16T13:30:24.073Z,1768570224.073 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2026-01-16T13:30:24.152Z,1768570224.152 [NAL9602](ERROR): received: 
+CSQ:0

OK253, 0, 0, 0, 0

OK
2026-01-16T13:30:28.024Z,1768570228.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T13:30:59.164Z,1768570259.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T13:31:23.864Z,1768570283.864 [NAL9602](INFO): SBD MO Status=2, MOMSN=25254, MT Status=2, MTMSN=0
2026-01-16T13:31:23.864Z,1768570283.864 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T13:31:30.288Z,1768570290.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T13:31:42.853Z,1768570302.853 [NAL9602](INFO): SBD MO Status=2, MOMSN=25254, MT Status=2, MTMSN=0
2026-01-16T13:31:42.854Z,1768570302.854 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T13:32:01.424Z,1768570321.424 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T13:32:10.040Z,1768570330.040 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003076
2026-01-16T13:32:15.574Z,1768570335.574 [NAL9602](INFO): SBD MO Status=2, MOMSN=25254, MT Status=2, MTMSN=0
2026-01-16T13:32:15.574Z,1768570335.574 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T13:32:52.063Z,1768570372.063 [NAL9602](INFO): SBD MO Status=2, MOMSN=25254, MT Status=2, MTMSN=0
2026-01-16T13:32:52.063Z,1768570372.063 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T13:33:20.730Z,1768570400.730 [NAL9602](INFO): SBD MO Status=1, MOMSN=25254, MT Status=0, MTMSN=0
2026-01-16T13:33:20.730Z,1768570400.730 [NAL9602](INFO): No messages in MT queue
2026-01-16T13:33:21.942Z,1768570401.942 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,133319.00,A,3643.08628,N,12214.06524,W,0.603,211.11,160126,,,A*74
2026-01-16T13:33:21.944Z,1768570401.944 [NAL9602](INFO): GPS fix at 20260116T133319: (36.718105, -122.234421)
2026-01-16T13:33:21.976Z,1768570401.976 [UniversalFixResidualReporter](INFO): Fix residual: 120.4 %DT, over the last 1633.4 m. Residual distance 1967.2 m at bearing 94.0 degrees. Fix at (36.7181, -122.2344) with 497.0 m made good.
2026-01-16T13:33:21.979Z,1768570401.979 [keepstation:NeedComms:D] Stopped
2026-01-16T13:33:21.979Z,1768570401.979 [keepstation:NeedComms:E] Running Loop=1
2026-01-16T13:33:22.005Z,1768570402.005 [CBIT](CRITICAL): Navigation error has exceeded threshold. navErrorCriticalReporting is enabled.
2026-01-16T13:33:22.399Z,1768570402.399 [CommandExec](FAULT): Scheduling is paused for 4 commands
2026-01-16T13:33:22.404Z,1768570402.404 [CBIT](INFO): Critical error at 20260116T133322
2026-01-16T13:33:22.404Z,1768570402.404 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2026-01-16T13:33:22.764Z,1768570402.764 [MissionManager](INFO): MissionManager is completed.
2026-01-16T13:33:22.764Z,1768570402.764 [MissionManager](INFO): Uninitializing Mission keepstation
2026-01-16T13:33:22.764Z,1768570402.764 [keepstation] Stopped
2026-01-16T13:33:22.764Z,1768570402.764 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2026-01-16T13:33:22.764Z,1768570402.764 [keepstation:NeedComms] Stopped
2026-01-16T13:33:22.764Z,1768570402.764 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-01-16T13:33:22.764Z,1768570402.764 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-01-16T13:33:22.764Z,1768570402.764 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-16T13:33:22.765Z,1768570402.765 [keepstation:NeedComms:E] Stopped
2026-01-16T13:33:22.765Z,1768570402.765 [keepstation:StandardEnvelopes] Stopped
2026-01-16T13:33:22.765Z,1768570402.765 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2026-01-16T13:33:22.765Z,1768570402.765 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2026-01-16T13:33:22.765Z,1768570402.765 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-16T13:33:22.765Z,1768570402.765 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2026-01-16T13:33:22.765Z,1768570402.765 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2026-01-16T13:33:22.765Z,1768570402.765 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2026-01-16T13:33:22.765Z,1768570402.765 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2026-01-16T13:33:22.765Z,1768570402.765 [keepstation:BackseatDriver] Stopped
2026-01-16T13:33:22.765Z,1768570402.765 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2026-01-16T13:33:22.765Z,1768570402.765 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2026-01-16T13:33:22.765Z,1768570402.765 [keepstation:PowerOnly] Stopped
2026-01-16T13:33:22.766Z,1768570402.766 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2026-01-16T13:33:22.766Z,1768570402.766 [keepstation:PowerOnly:E.Wait] Stopped
2026-01-16T13:33:22.766Z,1768570402.766 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T13:33:22.766Z,1768570402.766 [keepstation:H.Pitch] Stopped
2026-01-16T13:33:22.766Z,1768570402.766 [keepstation:SurfaceComms] Stopped
2026-01-16T13:33:22.766Z,1768570402.766 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-01-16T13:33:22.766Z,1768570402.766 [keepstation:SurfaceComms:B] Stopped
2026-01-16T13:33:22.766Z,1768570402.766 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-01-16T13:33:22.766Z,1768570402.766 [keepstation:DiveCmd] Stopped
2026-01-16T13:33:22.766Z,1768570402.766 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd
2026-01-16T13:33:22.766Z,1768570402.766 [keepstation:DiveCmd:SurfaceSink] Stopped
2026-01-16T13:33:22.766Z,1768570402.766 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2026-01-16T13:33:22.767Z,1768570402.767 [keepstation:KeepStation] Stopped
2026-01-16T13:33:22.767Z,1768570402.767 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2026-01-16T13:33:22.767Z,1768570402.767 [keepstation:KeepStation:B.Wait] Stopped
2026-01-16T13:33:22.767Z,1768570402.767 [keepstation:KeepStation:B.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T13:33:23.172Z,1768570403.172 [MissionManager](IMPORTANT): Started mission Default
2026-01-16T13:33:23.173Z,1768570403.173 [Default] Running Loop=1
2026-01-16T13:33:23.173Z,1768570403.173 [Default](DEBUG): Aggregate::initialize Default
2026-01-16T13:33:23.173Z,1768570403.173 [Default:B.GoToSurface] Running Loop=1
2026-01-16T13:33:23.173Z,1768570403.173 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-16T13:33:23.173Z,1768570403.173 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-01-16T13:33:23.174Z,1768570403.174 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-01-16T13:33:23.174Z,1768570403.174 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-01-16T13:33:23.175Z,1768570403.175 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-01-16T13:33:23.175Z,1768570403.175 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-16T13:33:23.175Z,1768570403.175 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-16T13:33:23.175Z,1768570403.175 [Default:A.Wait] Running Loop=1
2026-01-16T13:33:23.176Z,1768570403.176 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-01-16T13:33:36.525Z,1768570416.525 [Default:A.Wait](INFO): Done Waiting.
2026-01-16T13:33:36.525Z,1768570416.525 [Default:A.Wait] Stopped
2026-01-16T13:33:36.525Z,1768570416.525 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T13:33:36.924Z,1768570416.924 [Default:CheckIn] Running Loop=1
2026-01-16T13:33:36.925Z,1768570416.925 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-16T13:33:36.925Z,1768570416.925 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-16T13:33:38.911Z,1768570418.911 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,133336.00,A,3643.08554,N,12214.06906,W,1.283,165.41,160126,,,A*75
2026-01-16T13:33:38.914Z,1768570418.914 [NAL9602](INFO): GPS fix at 20260116T133336: (36.718092, -122.234484)
2026-01-16T13:33:38.956Z,1768570418.956 [Default:CheckIn:Read_GPS] Stopped
2026-01-16T13:33:38.956Z,1768570418.956 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-16T13:33:39.953Z,1768570419.953 [DataOverHttps](INFO): Sending 177 bytes from file Logs/20260116T031527/Courier0039.lzma
2026-01-16T13:33:40.870Z,1768570420.870 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0039.lzma.bak
2026-01-16T13:33:40.870Z,1768570420.870 [DataOverHttps](INFO): SBD MOMSN=26578087
2026-01-16T13:33:57.176Z,1768570437.176 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2026-01-16T13:33:58.359Z,1768570438.359 [DataOverHttps](INFO): Sending 75 bytes from file Logs/20260116T031527/Courier0042.lzma
2026-01-16T13:33:59.363Z,1768570439.363 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0042.lzma.bak
2026-01-16T13:33:59.363Z,1768570439.363 [DataOverHttps](INFO): SBD MOMSN=26578091
2026-01-16T13:34:03.231Z,1768570443.231 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T13:34:03.235Z,1768570443.235 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T13:34:11.323Z,1768570451.323 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-16T13:34:15.821Z,1768570455.821 [DataOverHttps](INFO): Sending 924 bytes from file Logs/20260116T031527/Express0040.lzma
2026-01-16T13:34:16.822Z,1768570456.822 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0040.lzma.bak
2026-01-16T13:34:16.822Z,1768570456.822 [DataOverHttps](INFO): SBD MOMSN=26578094
2026-01-16T13:34:32.859Z,1768570472.859 [DataOverHttps](INFO): Sending 135 bytes from file Logs/20260116T031527/Express0043.lzma
2026-01-16T13:34:33.862Z,1768570473.862 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0043.lzma.bak
2026-01-16T13:34:33.862Z,1768570473.862 [DataOverHttps](INFO): SBD MOMSN=26578102
2026-01-16T13:34:35.163Z,1768570475.163 [Default:CheckIn:Read_Iridium] Stopped
2026-01-16T13:34:35.168Z,1768570475.168 [Default:CheckIn:C.Wait] Running Loop=1
2026-01-16T13:34:35.168Z,1768570475.168 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-01-16T13:39:35.742Z,1768570775.742 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2026-01-16T13:39:35.742Z,1768570775.742 [Default:CheckIn:C.Wait] Stopped
2026-01-16T13:39:35.742Z,1768570775.742 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T13:39:35.743Z,1768570775.743 [Default:CheckIn:D] Running Loop=1
2026-01-16T13:39:36.153Z,1768570776.153 [Default:CheckIn:D] Stopped
2026-01-16T13:39:36.153Z,1768570776.153 [Default:CheckIn:E] Running Loop=1
2026-01-16T13:39:36.553Z,1768570776.553 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.216329 min 
2026-01-16T13:39:36.553Z,1768570776.553 [Default:CheckIn:E] Stopped
2026-01-16T13:39:36.553Z,1768570776.553 [Default:CheckIn](INFO): Completed Default:CheckIn
2026-01-16T13:39:36.553Z,1768570776.553 [Default:CheckIn] Stopped
2026-01-16T13:39:36.553Z,1768570776.553 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-16T13:39:36.554Z,1768570776.554 [Default:CheckIn](INFO): Running loop #2
2026-01-16T13:39:36.554Z,1768570776.554 [Default:CheckIn] Running Loop=2
2026-01-16T13:39:36.554Z,1768570776.554 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-16T13:39:36.554Z,1768570776.554 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-16T13:39:38.558Z,1768570778.558 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,133935.00,A,3643.07471,N,12214.15919,W,2.624,286.43,160126,,,A*7F
2026-01-16T13:39:38.560Z,1768570778.560 [NAL9602](INFO): GPS fix at 20260116T133935: (36.717912, -122.235986)
2026-01-16T13:39:38.586Z,1768570778.586 [Default:CheckIn:Read_GPS] Stopped
2026-01-16T13:39:38.586Z,1768570778.586 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-16T13:39:45.947Z,1768570785.947 [DataOverHttps](INFO): Sending 90 bytes from file Logs/20260116T031527/Courier0045.lzma
2026-01-16T13:39:46.950Z,1768570786.950 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0045.lzma.bak
2026-01-16T13:39:46.950Z,1768570786.950 [DataOverHttps](INFO): SBD MOMSN=26578138
2026-01-16T13:40:04.508Z,1768570804.508 [DataOverHttps](INFO): Sending 342 bytes from file Logs/20260116T031527/Express0046.lzma
2026-01-16T13:40:05.510Z,1768570805.510 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0046.lzma.bak
2026-01-16T13:40:05.510Z,1768570805.510 [DataOverHttps](INFO): SBD MOMSN=26578141
2026-01-16T13:40:06.879Z,1768570806.879 [Default:CheckIn:Read_Iridium] Stopped
2026-01-16T13:40:06.879Z,1768570806.879 [Default:CheckIn:C.Wait] Running Loop=1
2026-01-16T13:40:06.879Z,1768570806.879 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2026-01-16T13:41:37.157Z,1768570897.157 [NAL9602](INFO): SBD MO Status=2, MOMSN=25255, MT Status=2, MTMSN=0
2026-01-16T13:41:37.157Z,1768570897.157 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T13:42:03.421Z,1768570923.421 [NAL9602](INFO): SBD MO Status=2, MOMSN=25255, MT Status=2, MTMSN=0
2026-01-16T13:42:03.421Z,1768570923.421 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T13:42:16.845Z,1768570936.845 [DataOverHttps](IMPORTANT): SBD MTMSN=20260116T134214
2026-01-16T13:42:24.364Z,1768570944.364 [DataOverHttps](INFO): Received command: resume;schedule resume
2026-01-16T13:42:24.462Z,1768570944.462 [CommandExec](IMPORTANT): got command resume
2026-01-16T13:42:24.463Z,1768570944.463 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2026-01-16T13:42:24.463Z,1768570944.463 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2026-01-16T13:42:24.466Z,1768570944.466 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2026-01-16T13:42:25.840Z,1768570945.840 [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>

2026-01-16T13:42:25.848Z,1768570945.848 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2026-01-16T13:42:25.850Z,1768570945.850 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2026-01-16T13:42:25.853Z,1768570945.853 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2026-01-16T13:42:25.855Z,1768570945.855 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2026-01-16T13:42:25.857Z,1768570945.857 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2026-01-16T13:42:25.859Z,1768570945.859 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2026-01-16T13:42:25.862Z,1768570945.862 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2026-01-16T13:42:25.888Z,1768570945.888 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2026-01-16T13:42:25.890Z,1768570945.890 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2026-01-16T13:42:25.896Z,1768570945.896 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2026-01-16T13:42:25.899Z,1768570945.899 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2026-01-16T13:42:25.905Z,1768570945.905 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2026-01-16T13:42:25.907Z,1768570945.907 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2026-01-16T13:42:25.922Z,1768570945.922 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2026-01-16T13:42:25.928Z,1768570945.928 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2026-01-16T13:42:25.930Z,1768570945.930 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2026-01-16T13:42:25.942Z,1768570945.942 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2026-01-16T13:42:25.948Z,1768570945.948 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2026-01-16T13:42:25.950Z,1768570945.950 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2026-01-16T13:42:25.955Z,1768570945.955 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2026-01-16T13:42:25.955Z,1768570945.955 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-01-16T13:42:25.955Z,1768570945.955 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-01-16T13:42:25.973Z,1768570945.973 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-01-16T13:42:26.318Z,1768570946.318 [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>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <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>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <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 Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2026-01-16T13:42:26.324Z,1768570946.324 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2026-01-16T13:42:26.326Z,1768570946.326 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2026-01-16T13:42:26.328Z,1768570946.328 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-01-16T13:42:26.330Z,1768570946.330 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2026-01-16T13:42:26.333Z,1768570946.333 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-01-16T13:42:26.335Z,1768570946.335 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2026-01-16T13:42:26.337Z,1768570946.337 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2026-01-16T13:42:26.339Z,1768570946.339 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2026-01-16T13:42:26.343Z,1768570946.343 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2026-01-16T13:42:26.346Z,1768570946.346 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2026-01-16T13:42:26.348Z,1768570946.348 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2026-01-16T13:42:26.351Z,1768570946.351 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2026-01-16T13:42:26.359Z,1768570946.359 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-16T13:42:26.455Z,1768570946.455 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-01-16T13:42:26.464Z,1768570946.464 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-01-16T13:42:26.465Z,1768570946.465 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-01-16T13:42:26.586Z,1768570946.586 [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>

2026-01-16T13:42:26.592Z,1768570946.592 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2026-01-16T13:42:26.594Z,1768570946.594 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-01-16T13:42:26.597Z,1768570946.597 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2026-01-16T13:42:26.599Z,1768570946.599 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-01-16T13:42:26.600Z,1768570946.600 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-16T13:42:26.606Z,1768570946.606 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-16T13:42:26.612Z,1768570946.612 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-01-16T13:42:26.619Z,1768570946.619 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-01-16T13:42:26.619Z,1768570946.619 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-01-16T13:42:26.621Z,1768570946.621 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-01-16T13:42:26.638Z,1768570946.638 [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>

2026-01-16T13:42:26.666Z,1768570946.666 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2026-01-16T13:42:26.676Z,1768570946.676 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-01-16T13:42:26.678Z,1768570946.678 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-01-16T13:42:26.678Z,1768570946.678 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-01-16T13:42:26.679Z,1768570946.679 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-01-16T13:42:26.790Z,1768570946.790 [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>

2026-01-16T13:42:26.795Z,1768570946.795 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2026-01-16T13:42:26.804Z,1768570946.804 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2026-01-16T13:42:26.806Z,1768570946.806 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2026-01-16T13:42:26.808Z,1768570946.808 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2026-01-16T13:42:26.810Z,1768570946.810 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2026-01-16T13:42:26.817Z,1768570946.817 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-01-16T13:42:26.818Z,1768570946.818 [keepstation:H.Pitch](DEBUG): Construct.
2026-01-16T13:42:26.919Z,1768570946.919 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-16T13:42:26.925Z,1768570946.925 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-01-16T13:42:26.934Z,1768570946.934 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-01-16T13:42:26.969Z,1768570946.969 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-16T13:42:26.971Z,1768570946.971 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2026-01-16T13:42:26.980Z,1768570946.980 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2026-01-16T13:42:26.985Z,1768570946.985 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2026-01-16T13:42:26.989Z,1768570946.989 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2026-01-16T13:42:26.997Z,1768570946.997 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2026-01-16T13:42:27.014Z,1768570947.014 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2026-01-16T13:42:27.031Z,1768570947.031 [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
    }
  }
}


2026-01-16T13:42:27.035Z,1768570947.035 [MissionManager](IMPORTANT): Resuming from info in Logs/20260116T031527/Transport_keepstation_tl.state
2026-01-16T13:42:27.051Z,1768570947.051 [MissionManager](INFO): Default->Default:CheckIn/0
2026-01-16T13:42:27.052Z,1768570947.052 [MissionManager](INFO): Default:A.Wait->null/0
2026-01-16T13:42:27.052Z,1768570947.052 [MissionManager](INFO): Default:B.GoToSurface->null/0
2026-01-16T13:42:27.053Z,1768570947.053 [MissionManager](INFO): Default:CheckIn->Default:CheckIn:C.Wait/1
2026-01-16T13:42:27.053Z,1768570947.053 [MissionManager](INFO): Default:CheckIn:Read_GPS->null/0
2026-01-16T13:42:27.053Z,1768570947.053 [MissionManager](INFO): Default:CheckIn:Read_Iridium->null/0
2026-01-16T13:42:27.054Z,1768570947.054 [MissionManager](INFO): Default:CheckIn:C.Wait->null/0
2026-01-16T13:42:27.054Z,1768570947.054 [MissionManager](INFO): Default:CheckIn:D->null/0
2026-01-16T13:42:27.054Z,1768570947.054 [MissionManager](INFO): Default:CheckIn:E->null/0
2026-01-16T13:42:27.055Z,1768570947.055 [MissionManager](INFO): keepstation->keepstation:KeepStation/0
2026-01-16T13:42:27.055Z,1768570947.055 [MissionManager](INFO): keepstation:NeedComms->keepstation:NeedComms:E/0
2026-01-16T13:42:27.084Z,1768570947.084 [MissionManager](INFO): keepstation:NeedComms:A->null/0
2026-01-16T13:42:27.084Z,1768570947.084 [MissionManager](INFO): keepstation:NeedComms:setActive->null/0
2026-01-16T13:42:27.085Z,1768570947.085 [MissionManager](INFO): keepstation:NeedComms:setActive:A->null/0
2026-01-16T13:42:27.085Z,1768570947.085 [MissionManager](INFO): keepstation:NeedComms:setActive:B->null/0
2026-01-16T13:42:27.085Z,1768570947.085 [MissionManager](INFO): keepstation:NeedComms:C.GoToSurface->null/0
2026-01-16T13:42:27.086Z,1768570947.086 [MissionManager](INFO): keepstation:NeedComms:D->null/0
2026-01-16T13:42:27.086Z,1768570947.086 [MissionManager](INFO): keepstation:NeedComms:E->null/0
2026-01-16T13:42:27.087Z,1768570947.087 [MissionManager](INFO): keepstation:NeedComms:F->null/0
2026-01-16T13:42:27.087Z,1768570947.087 [MissionManager](INFO): keepstation:NeedComms:setRestoreMode->null/0
2026-01-16T13:42:27.087Z,1768570947.087 [MissionManager](INFO): keepstation:NeedComms:setRestoreMode:A->null/0
2026-01-16T13:42:27.092Z,1768570947.092 [MissionManager](INFO): keepstation:NeedComms:setInactive->null/0
2026-01-16T13:42:27.092Z,1768570947.092 [MissionManager](INFO): keepstation:NeedComms:setInactive:A->null/0
2026-01-16T13:42:27.093Z,1768570947.093 [MissionManager](INFO): keepstation:B->null/0
2026-01-16T13:42:27.093Z,1768570947.093 [MissionManager](INFO): keepstation:D->null/0
2026-01-16T13:42:27.093Z,1768570947.093 [MissionManager](INFO): keepstation:E->null/0
2026-01-16T13:42:27.094Z,1768570947.094 [MissionManager](INFO): keepstation:BackseatDriver->keepstation:BackseatDriver:A.BackseatDriver/0
2026-01-16T13:42:27.094Z,1768570947.094 [MissionManager](INFO): keepstation:BackseatDriver:A.BackseatDriver->null/0
2026-01-16T13:42:27.095Z,1768570947.095 [MissionManager](INFO): keepstation:PowerOnly->keepstation:PowerOnly:E.Wait/0
2026-01-16T13:42:27.095Z,1768570947.095 [MissionManager](INFO): keepstation:PowerOnly:E.Wait->null/0
2026-01-16T13:42:27.095Z,1768570947.095 [MissionManager](INFO): keepstation:SurfaceComms->keepstation:SurfaceComms:B/0
2026-01-16T13:42:27.098Z,1768570947.098 [MissionManager](INFO): keepstation:SurfaceComms:A->null/0
2026-01-16T13:42:27.099Z,1768570947.099 [MissionManager](INFO): keepstation:SurfaceComms:B->null/0
2026-01-16T13:42:27.099Z,1768570947.099 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan->keepstation:SurfaceComms:HandleNan:SetOnStation/0
2026-01-16T13:42:27.099Z,1768570947.099 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan:SetOnStation->keepstation:SurfaceComms:HandleNan:SetOnStation:A/0
2026-01-16T13:42:27.112Z,1768570947.112 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan:SetOnStation:A->null/0
2026-01-16T13:42:27.112Z,1768570947.112 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan:SetLat->null/0
2026-01-16T13:42:27.113Z,1768570947.113 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan:SetLat:A->null/0
2026-01-16T13:42:27.113Z,1768570947.113 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan:SetLon->null/0
2026-01-16T13:42:27.113Z,1768570947.113 [MissionManager](INFO): keepstation:SurfaceComms:HandleNan:SetLon:A->null/0
2026-01-16T13:42:27.114Z,1768570947.114 [MissionManager](INFO): keepstation:SurfaceComms:setTransit->keepstation:SurfaceComms:setTransit:A/0
2026-01-16T13:42:27.114Z,1768570947.114 [MissionManager](INFO): keepstation:SurfaceComms:setTransit:A->null/0
2026-01-16T13:42:27.115Z,1768570947.115 [MissionManager](INFO): keepstation:SurfaceComms:setStation->keepstation:SurfaceComms:setStation:A/0
2026-01-16T13:42:27.115Z,1768570947.115 [MissionManager](INFO): keepstation:SurfaceComms:setStation:A->null/0
2026-01-16T13:42:27.115Z,1768570947.115 [MissionManager](INFO): keepstation:SurfaceComms:setSink->null/0
2026-01-16T13:42:27.120Z,1768570947.120 [MissionManager](INFO): keepstation:SurfaceComms:setSink:A->null/0
2026-01-16T13:42:27.120Z,1768570947.120 [MissionManager](INFO): keepstation:StartingMission->null/0
2026-01-16T13:42:27.121Z,1768570947.121 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink->null/0
2026-01-16T13:42:27.121Z,1768570947.121 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink->null/0
2026-01-16T13:42:27.122Z,1768570947.122 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink:C->null/0
2026-01-16T13:42:27.122Z,1768570947.122 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink:D.Pitch->null/0
2026-01-16T13:42:27.122Z,1768570947.122 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit->keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A/0
2026-01-16T13:42:27.123Z,1768570947.123 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A->null/0
2026-01-16T13:42:27.123Z,1768570947.123 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink:sinkToStation->null/0
2026-01-16T13:42:27.123Z,1768570947.123 [MissionManager](INFO): keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A->null/0
2026-01-16T13:42:27.128Z,1768570947.128 [MissionManager](INFO): keepstation:DiveCmd:TransitToStation->keepstation:DiveCmd:TransitToStation:dive/0
2026-01-16T13:42:27.128Z,1768570947.128 [MissionManager](INFO): keepstation:DiveCmd:TransitToStation:dive->null/0
2026-01-16T13:42:27.129Z,1768570947.129 [MissionManager](INFO): keepstation:TransitToStation->null/0
2026-01-16T13:42:27.129Z,1768570947.129 [MissionManager](INFO): keepstation:TransitToStation:Dive->keepstation:TransitToStation:Dive:A/0
2026-01-16T13:42:27.130Z,1768570947.130 [MissionManager](INFO): keepstation:TransitToStation:Dive:A->null/0
2026-01-16T13:42:27.130Z,1768570947.130 [MissionManager](INFO): keepstation:TransitToStation:Wpt1.Waypoint->null/0
2026-01-16T13:42:27.130Z,1768570947.130 [MissionManager](INFO): keepstation:TransitToStation:C->null/0
2026-01-16T13:42:27.131Z,1768570947.131 [MissionManager](INFO): keepstation:TransitToStation:D->null/0
2026-01-16T13:42:27.131Z,1768570947.131 [MissionManager](INFO): keepstation:OnStation->null/0
2026-01-16T13:42:27.131Z,1768570947.131 [MissionManager](INFO): keepstation:KeepStation->keepstation:KeepStation:B.Wait/0
2026-01-16T13:42:27.136Z,1768570947.136 [MissionManager](INFO): keepstation:KeepStation:Dive->keepstation:KeepStation:Dive:A/0
2026-01-16T13:42:27.136Z,1768570947.136 [MissionManager](INFO): keepstation:KeepStation:Dive:A->null/0
2026-01-16T13:42:27.137Z,1768570947.137 [MissionManager](INFO): keepstation:KeepStation:B.Wait->null/0
2026-01-16T13:42:27.137Z,1768570947.137 [CommandExec](IMPORTANT): Resuming mission and schedule
2026-01-16T13:42:27.137Z,1768570947.137 [CommandExec](IMPORTANT): Scheduling is resumed
2026-01-16T13:42:27.138Z,1768570947.138 [CommandExec](IMPORTANT): Scheduled #7: "restart logs", AT TIME: 2026-01-16T14:45:00Z
2026-01-16T13:42:27.139Z,1768570947.139 [CommandExec](IMPORTANT): Scheduled #8 (#1 of 3 with id='3jxzg'): "load Science/profile_station_vt.tl;set profile_station.MissionTimeout 14 h;set profile_station.NeedCommsTime 90 min;set profile_station.Lat 36.71211 degree;set profile_station.Lon -122.187028 degree", AT TIME: 2026-01-16T14:45:00Z
2026-01-16T13:42:27.144Z,1768570947.144 [CommandExec](IMPORTANT): Scheduled #9 (#2 of 3 with id='3jxzg'): "set profile_station.Radius 3000 m;set profile_station.YoYoMinDepth 4 m;set profile_station.YoYoMaxDepth 50 m;set profile_station.Speed .9 m/s;set profile_station.SinkOffSurface 1 bool", AT TIME: 2026-01-16T14:45:00Z
2026-01-16T13:42:27.145Z,1768570947.145 [CommandExec](IMPORTANT): Scheduled #10 (#3 of 3 with id='3jxzg'): "set profile_station.SinkDepthTimeout 2 min;set profile_station.MaxDepth 70 m;set profile_station:BackseatDriver.EnableBackseat 1 bool;run", AT TIME: 2026-01-16T14:45:00Z
2026-01-16T13:42:27.146Z,1768570947.146 [CommandExec](IMPORTANT): got command schedule resume
2026-01-16T13:42:27.267Z,1768570947.267 [Default] Stopped
2026-01-16T13:42:27.267Z,1768570947.267 [Default](DEBUG): Aggregate::uninitialize Default
2026-01-16T13:42:27.267Z,1768570947.267 [Default:B.GoToSurface] Stopped
2026-01-16T13:42:27.289Z,1768570947.289 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-16T13:42:27.289Z,1768570947.289 [Default:CheckIn] Stopped
2026-01-16T13:42:27.289Z,1768570947.289 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-16T13:42:27.289Z,1768570947.289 [Default:CheckIn:C.Wait] Stopped
2026-01-16T13:42:27.289Z,1768570947.289 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T13:42:27.289Z,1768570947.289 [MissionManager](IMPORTANT): Started mission keepstation
2026-01-16T13:42:27.289Z,1768570947.289 [keepstation] Running Loop=1
2026-01-16T13:42:27.290Z,1768570947.290 [keepstation](DEBUG): Aggregate::initialize keepstation
2026-01-16T13:42:27.290Z,1768570947.290 [keepstation:StandardEnvelopes] Running Loop=1
2026-01-16T13:42:27.290Z,1768570947.290 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2026-01-16T13:42:27.290Z,1768570947.290 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-16T13:42:27.290Z,1768570947.290 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-16T13:42:27.290Z,1768570947.290 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-16T13:42:27.290Z,1768570947.290 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-16T13:42:27.290Z,1768570947.290 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-16T13:42:27.290Z,1768570947.290 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2026-01-16T13:42:27.290Z,1768570947.290 [keepstation:BackseatDriver] Running Loop=1
2026-01-16T13:42:27.291Z,1768570947.291 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2026-01-16T13:42:27.291Z,1768570947.291 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2026-01-16T13:42:27.291Z,1768570947.291 [keepstation:PowerOnly] Running Loop=1
2026-01-16T13:42:27.291Z,1768570947.291 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2026-01-16T13:42:27.291Z,1768570947.291 [keepstation:PowerOnly:A] Running Loop=1
2026-01-16T13:42:27.291Z,1768570947.291 [keepstation:PowerOnly:B] Running Loop=1
2026-01-16T13:42:27.291Z,1768570947.291 [keepstation:PowerOnly:C] Running Loop=1
2026-01-16T13:42:27.291Z,1768570947.291 [keepstation:PowerOnly:D] Running Loop=1
2026-01-16T13:42:27.291Z,1768570947.291 [keepstation:PowerOnly:E.Wait] Running Loop=1
2026-01-16T13:42:27.291Z,1768570947.291 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2026-01-16T13:42:27.291Z,1768570947.291 [keepstation:H.Pitch] Running Loop=1
2026-01-16T13:42:27.291Z,1768570947.291 [keepstation:H.Pitch](DEBUG): Initialize.
2026-01-16T13:42:27.297Z,1768570947.297 [keepstation:KeepStation] Running Loop=1
2026-01-16T13:42:27.297Z,1768570947.297 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2026-01-16T13:42:27.297Z,1768570947.297 [keepstation:KeepStation:Dive] Running Loop=1
2026-01-16T13:42:27.297Z,1768570947.297 [keepstation:KeepStation:Dive](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive
2026-01-16T13:42:27.297Z,1768570947.297 [keepstation:KeepStation:Dive:A] Running Loop=1
2026-01-16T13:42:27.297Z,1768570947.297 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::initialize keepstation:KeepStation:Dive:A
2026-01-16T13:42:27.297Z,1768570947.297 [keepstation:KeepStation:B.Wait] Running Loop=1
2026-01-16T13:42:27.298Z,1768570947.298 [keepstation:KeepStation:B.Wait](DEBUG): Initialize Wait Component.
2026-01-16T13:42:27.299Z,1768570947.299 [keepstation:KeepStation:Dive] Stopped
2026-01-16T13:42:27.299Z,1768570947.299 [keepstation:KeepStation:Dive](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive
2026-01-16T13:42:27.299Z,1768570947.299 [keepstation:KeepStation:Dive:A] Stopped
2026-01-16T13:42:27.299Z,1768570947.299 [keepstation:KeepStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:KeepStation:Dive:A
2026-01-16T13:42:27.299Z,1768570947.299 [keepstation:DiveCmd] Running Loop=1
2026-01-16T13:42:27.299Z,1768570947.299 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2026-01-16T13:42:27.299Z,1768570947.299 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-16T13:42:27.299Z,1768570947.299 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-01-16T13:42:27.299Z,1768570947.299 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-01-16T13:42:27.299Z,1768570947.299 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T13:42:27.304Z,1768570947.304 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-16T13:42:27.304Z,1768570947.304 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-16T13:42:27.304Z,1768570947.304 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-16T13:42:27.304Z,1768570947.304 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-16T13:42:27.304Z,1768570947.304 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-01-16T13:42:27.304Z,1768570947.304 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-01-16T13:42:27.304Z,1768570947.304 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2026-01-16T13:42:27.305Z,1768570947.305 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2026-01-16T13:42:27.305Z,1768570947.305 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2026-01-16T13:42:27.305Z,1768570947.305 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-01-16T13:42:27.305Z,1768570947.305 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-16T13:42:27.305Z,1768570947.305 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-01-16T13:42:27.305Z,1768570947.305 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2026-01-16T13:42:27.305Z,1768570947.305 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-01-16T13:42:27.305Z,1768570947.305 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-16T13:42:27.305Z,1768570947.305 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T13:42:27.305Z,1768570947.305 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-16T13:42:27.306Z,1768570947.306 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T13:42:27.306Z,1768570947.306 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T13:42:27.306Z,1768570947.306 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-16T13:42:27.306Z,1768570947.306 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T13:42:27.306Z,1768570947.306 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-16T13:42:27.307Z,1768570947.307 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-16T13:42:27.307Z,1768570947.307 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-16T13:42:27.307Z,1768570947.307 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-16T13:42:27.307Z,1768570947.307 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-16T13:42:27.307Z,1768570947.307 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-16T13:42:27.307Z,1768570947.307 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-16T13:42:27.307Z,1768570947.307 [keepstation:DiveCmd:TransitToStation] Stopped
2026-01-16T13:42:27.307Z,1768570947.307 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2026-01-16T13:42:27.307Z,1768570947.307 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2026-01-16T13:42:27.307Z,1768570947.307 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2026-01-16T13:42:27.307Z,1768570947.307 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2026-01-16T13:42:27.307Z,1768570947.307 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-16T13:42:27.307Z,1768570947.307 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2026-01-16T13:42:27.312Z,1768570947.312 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2026-01-16T13:42:27.312Z,1768570947.312 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-16T13:42:27.312Z,1768570947.312 [keepstation:DiveCmd:SurfaceSink] Stopped
2026-01-16T13:42:27.312Z,1768570947.312 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2026-01-16T13:42:27.312Z,1768570947.312 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-01-16T13:42:27.312Z,1768570947.312 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T13:42:27.312Z,1768570947.312 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-16T13:42:27.312Z,1768570947.312 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-16T13:42:27.312Z,1768570947.312 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-16T13:42:27.313Z,1768570947.313 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-16T13:42:27.313Z,1768570947.313 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-01-16T13:42:27.313Z,1768570947.313 [keepstation:H.Pitch] Running Loop=1
2026-01-16T13:42:27.313Z,1768570947.313 [keepstation:PowerOnly] Running Loop=1
2026-01-16T13:42:27.313Z,1768570947.313 [keepstation:PowerOnly:D] Stopped
2026-01-16T13:42:27.313Z,1768570947.313 [keepstation:PowerOnly:C] Stopped
2026-01-16T13:42:27.313Z,1768570947.313 [keepstation:PowerOnly:B] Stopped
2026-01-16T13:42:27.314Z,1768570947.314 [keepstation:PowerOnly:A] Stopped
2026-01-16T13:42:27.314Z,1768570947.314 [keepstation:BackseatDriver] Running Loop=1
2026-01-16T13:42:27.314Z,1768570947.314 [keepstation:StandardEnvelopes] Running Loop=1
2026-01-16T13:42:27.314Z,1768570947.314 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-16T13:42:27.314Z,1768570947.314 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-16T13:42:27.314Z,1768570947.314 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-16T13:42:36.573Z,1768570956.573 [NAL9602](INFO): SBD MO Status=2, MOMSN=25255, MT Status=2, MTMSN=0
2026-01-16T13:42:36.573Z,1768570956.573 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T13:42:58.050Z,1768570978.050 [NAL9602](INFO): SBD MO Status=1, MOMSN=25255, MT Status=0, MTMSN=0
2026-01-16T13:42:58.050Z,1768570978.050 [NAL9602](INFO): No messages in MT queue
2026-01-16T13:43:28.756Z,1768571008.756 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-16T13:49:34.602Z,1768571374.602 [DataOverHttps](IMPORTANT): SBD MTMSN=20260116T134931
2026-01-16T13:49:42.316Z,1768571382.316 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Depth 20 m;set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m" 3kudu 1 2
2026-01-16T13:49:42.352Z,1768571382.352 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Depth 20 m;set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m" 3kudu 1 2.000000
2026-01-16T13:49:42.352Z,1768571382.352 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3kudu
2026-01-16T13:49:42.353Z,1768571382.353 [CommandExec](IMPORTANT): Scheduled #15 (#1 of 2 with id='3kudu'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 14 h;set keepstation.NeedCommsTime 90 min;set keepstation.Depth 20 m;set keepstation.Speed .7 m/s;set keepstation.SinkOffSurface 1 bool;set keepstation.MaxDepth 40 m", ASAP
2026-01-16T13:49:43.318Z,1768571383.318 [DataOverHttps](IMPORTANT): SBD MTMSN=20260116T134940
2026-01-16T13:49:50.860Z,1768571390.860 [DataOverHttps](INFO): Received command: sched asap "set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run" 3kudu 2 2
2026-01-16T13:49:50.903Z,1768571390.903 [CommandExec](IMPORTANT): got command schedule asap "set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run" 3kudu 2 2.000000
2026-01-16T13:49:50.903Z,1768571390.903 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3kudu
2026-01-16T13:49:50.904Z,1768571390.904 [CommandExec](IMPORTANT): Scheduled #16 (#2 of 2 with id='3kudu'): "set keepstation:NeedComms.SurfaceSpeed 1 m/s;set keepstation:NeedComms.CommsTimeout 30 min;run", ASAP
2026-01-16T13:49:51.018Z,1768571391.018 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2026-01-16T13:49:51.018Z,1768571391.018 [MissionManager](INFO): Uninitializing Mission keepstation
2026-01-16T13:49:51.018Z,1768571391.018 [keepstation] Stopped
2026-01-16T13:49:51.018Z,1768571391.018 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2026-01-16T13:49:51.018Z,1768571391.018 [keepstation:StandardEnvelopes] Stopped
2026-01-16T13:49:51.018Z,1768571391.018 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2026-01-16T13:49:51.018Z,1768571391.018 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2026-01-16T13:49:51.018Z,1768571391.018 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2026-01-16T13:49:51.019Z,1768571391.019 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2026-01-16T13:49:51.019Z,1768571391.019 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2026-01-16T13:49:51.019Z,1768571391.019 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2026-01-16T13:49:51.019Z,1768571391.019 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2026-01-16T13:49:51.019Z,1768571391.019 [keepstation:BackseatDriver] Stopped
2026-01-16T13:49:51.019Z,1768571391.019 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2026-01-16T13:49:51.019Z,1768571391.019 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2026-01-16T13:49:51.019Z,1768571391.019 [keepstation:PowerOnly] Stopped
2026-01-16T13:49:51.019Z,1768571391.019 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2026-01-16T13:49:51.019Z,1768571391.019 [keepstation:PowerOnly:E.Wait] Stopped
2026-01-16T13:49:51.019Z,1768571391.019 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T13:49:51.019Z,1768571391.019 [keepstation:H.Pitch] Stopped
2026-01-16T13:49:51.019Z,1768571391.019 [keepstation:DiveCmd] Stopped
2026-01-16T13:49:51.020Z,1768571391.020 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd
2026-01-16T13:49:51.020Z,1768571391.020 [keepstation:KeepStation] Stopped
2026-01-16T13:49:51.020Z,1768571391.020 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2026-01-16T13:49:51.020Z,1768571391.020 [keepstation:KeepStation:B.Wait] Stopped
2026-01-16T13:49:51.020Z,1768571391.020 [keepstation:KeepStation:B.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T13:49:51.065Z,1768571391.065 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2026-01-16T13:49:51.065Z,1768571391.065 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2026-01-16T13:49:51.068Z,1768571391.068 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2026-01-16T13:49:52.499Z,1768571392.499 [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>

2026-01-16T13:49:52.507Z,1768571392.507 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2026-01-16T13:49:52.519Z,1768571392.519 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2026-01-16T13:49:52.521Z,1768571392.521 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2026-01-16T13:49:52.523Z,1768571392.523 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2026-01-16T13:49:52.526Z,1768571392.526 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2026-01-16T13:49:52.528Z,1768571392.528 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2026-01-16T13:49:52.530Z,1768571392.530 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2026-01-16T13:49:52.550Z,1768571392.550 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2026-01-16T13:49:52.553Z,1768571392.553 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2026-01-16T13:49:52.555Z,1768571392.555 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2026-01-16T13:49:52.557Z,1768571392.557 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2026-01-16T13:49:52.559Z,1768571392.559 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2026-01-16T13:49:52.598Z,1768571392.598 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2026-01-16T13:49:52.607Z,1768571392.607 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2026-01-16T13:49:52.626Z,1768571392.626 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2026-01-16T13:49:52.640Z,1768571392.640 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2026-01-16T13:49:52.643Z,1768571392.643 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2026-01-16T13:49:52.653Z,1768571392.653 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2026-01-16T13:49:52.664Z,1768571392.664 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2026-01-16T13:49:52.666Z,1768571392.666 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2026-01-16T13:49:52.667Z,1768571392.667 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2026-01-16T13:49:52.667Z,1768571392.667 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2026-01-16T13:49:52.680Z,1768571392.680 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2026-01-16T13:49:53.073Z,1768571393.073 [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>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <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>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <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 Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2026-01-16T13:49:53.079Z,1768571393.079 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2026-01-16T13:49:53.081Z,1768571393.081 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2026-01-16T13:49:53.083Z,1768571393.083 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2026-01-16T13:49:53.085Z,1768571393.085 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2026-01-16T13:49:53.087Z,1768571393.087 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2026-01-16T13:49:53.107Z,1768571393.107 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2026-01-16T13:49:53.123Z,1768571393.123 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2026-01-16T13:49:53.126Z,1768571393.126 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2026-01-16T13:49:53.128Z,1768571393.128 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2026-01-16T13:49:53.130Z,1768571393.130 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2026-01-16T13:49:53.132Z,1768571393.132 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2026-01-16T13:49:53.135Z,1768571393.135 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2026-01-16T13:49:53.174Z,1768571393.174 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2026-01-16T13:49:53.197Z,1768571393.197 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2026-01-16T13:49:53.197Z,1768571393.197 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2026-01-16T13:49:53.198Z,1768571393.198 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2026-01-16T13:49:53.267Z,1768571393.267 [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>

2026-01-16T13:49:53.271Z,1768571393.271 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2026-01-16T13:49:53.273Z,1768571393.273 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2026-01-16T13:49:53.276Z,1768571393.276 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2026-01-16T13:49:53.278Z,1768571393.278 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2026-01-16T13:49:53.279Z,1768571393.279 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2026-01-16T13:49:53.285Z,1768571393.285 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2026-01-16T13:49:53.292Z,1768571393.292 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2026-01-16T13:49:53.324Z,1768571393.324 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2026-01-16T13:49:53.325Z,1768571393.325 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2026-01-16T13:49:53.326Z,1768571393.326 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2026-01-16T13:49:53.373Z,1768571393.373 [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>

2026-01-16T13:49:53.389Z,1768571393.389 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2026-01-16T13:49:53.391Z,1768571393.391 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2026-01-16T13:49:53.394Z,1768571393.394 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2026-01-16T13:49:53.394Z,1768571393.394 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2026-01-16T13:49:53.395Z,1768571393.395 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2026-01-16T13:49:53.548Z,1768571393.548 [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>

2026-01-16T13:49:53.552Z,1768571393.552 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2026-01-16T13:49:53.554Z,1768571393.554 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2026-01-16T13:49:53.556Z,1768571393.556 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2026-01-16T13:49:53.558Z,1768571393.558 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2026-01-16T13:49:53.582Z,1768571393.582 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 1 bool
2026-01-16T13:49:53.591Z,1768571393.591 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2026-01-16T13:49:53.593Z,1768571393.593 [keepstation:H.Pitch](DEBUG): Construct.
2026-01-16T13:49:53.630Z,1768571393.630 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-16T13:49:53.633Z,1768571393.633 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2026-01-16T13:49:53.637Z,1768571393.637 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2026-01-16T13:49:53.650Z,1768571393.650 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2026-01-16T13:49:53.653Z,1768571393.653 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2026-01-16T13:49:53.657Z,1768571393.657 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2026-01-16T13:49:53.662Z,1768571393.662 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2026-01-16T13:49:53.676Z,1768571393.676 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2026-01-16T13:49:53.684Z,1768571393.684 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2026-01-16T13:49:53.695Z,1768571393.695 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2026-01-16T13:49:53.712Z,1768571393.712 [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
    }
  }
}


2026-01-16T13:49:53.713Z,1768571393.713 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2026-01-16T13:49:53.790Z,1768571393.790 [MissionManager](IMPORTANT): Started mission Default
2026-01-16T13:49:53.790Z,1768571393.790 [Default] Running Loop=1
2026-01-16T13:49:53.790Z,1768571393.790 [Default](DEBUG): Aggregate::initialize Default
2026-01-16T13:49:53.790Z,1768571393.790 [Default:B.GoToSurface] Running Loop=1
2026-01-16T13:49:53.790Z,1768571393.790 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-16T13:49:53.791Z,1768571393.791 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2026-01-16T13:49:53.791Z,1768571393.791 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2026-01-16T13:49:53.791Z,1768571393.791 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2026-01-16T13:49:53.796Z,1768571393.796 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2026-01-16T13:49:53.796Z,1768571393.796 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-16T13:49:53.797Z,1768571393.797 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-16T13:49:53.797Z,1768571393.797 [Default:A.Wait] Running Loop=1
2026-01-16T13:49:53.797Z,1768571393.797 [Default:A.Wait](DEBUG): Initialize Wait Component.
2026-01-16T13:50:07.122Z,1768571407.122 [Default:A.Wait](INFO): Done Waiting.
2026-01-16T13:50:07.122Z,1768571407.122 [Default:A.Wait] Stopped
2026-01-16T13:50:07.122Z,1768571407.122 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2026-01-16T13:50:07.545Z,1768571407.545 [Default:CheckIn] Running Loop=1
2026-01-16T13:50:07.545Z,1768571407.545 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2026-01-16T13:50:07.545Z,1768571407.545 [Default:CheckIn:Read_GPS] Running Loop=1
2026-01-16T13:50:09.539Z,1768571409.539 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135006.00,A,3643.03576,N,12214.30594,W,0.933,233.53,160126,,,A*78
2026-01-16T13:50:09.541Z,1768571409.541 [NAL9602](INFO): GPS fix at 20260116T135006: (36.717263, -122.238432)
2026-01-16T13:50:09.575Z,1768571409.575 [Default:CheckIn:Read_GPS] Stopped
2026-01-16T13:50:09.575Z,1768571409.575 [Default:CheckIn:Read_Iridium] Running Loop=1
2026-01-16T13:50:17.642Z,1768571417.642 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 14 hour
2026-01-16T13:50:17.643Z,1768571417.643 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 90 minute
2026-01-16T13:50:17.643Z,1768571417.643 [CommandExec](IMPORTANT): got command set keepstation.Depth 20 meter
2026-01-16T13:50:17.648Z,1768571417.648 [CommandExec](IMPORTANT): got command set keepstation.Speed .7 meter_per_second
2026-01-16T13:50:17.649Z,1768571417.649 [CommandExec](IMPORTANT): got command set keepstation.SinkOffSurface 1 bool
2026-01-16T13:50:17.650Z,1768571417.650 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 40 meter
2026-01-16T13:50:21.135Z,1768571421.135 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20260116T031527/Courier0048.lzma
2026-01-16T13:50:22.138Z,1768571422.138 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0048.lzma.bak
2026-01-16T13:50:22.138Z,1768571422.138 [DataOverHttps](INFO): SBD MOMSN=26578184
2026-01-16T13:50:33.716Z,1768571433.716 [CommandExec](IMPORTANT): got command set keepstation:NeedComms.SurfaceSpeed 1 meter_per_second
2026-01-16T13:50:33.717Z,1768571433.717 [CommandExec](IMPORTANT): got command set keepstation:NeedComms.CommsTimeout 30 minute
2026-01-16T13:50:33.718Z,1768571433.718 [CommandExec](IMPORTANT): got command run
2026-01-16T13:50:33.729Z,1768571433.729 [CommandExec](IMPORTANT): Running 
2026-01-16T13:50:33.911Z,1768571433.911 [Default] Stopped
2026-01-16T13:50:33.912Z,1768571433.912 [Default](DEBUG): Aggregate::uninitialize Default
2026-01-16T13:50:33.912Z,1768571433.912 [Default:B.GoToSurface] Stopped
2026-01-16T13:50:33.912Z,1768571433.912 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-16T13:50:33.912Z,1768571433.912 [Default:CheckIn] Stopped
2026-01-16T13:50:33.912Z,1768571433.912 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2026-01-16T13:50:33.912Z,1768571433.912 [Default:CheckIn:Read_Iridium] Stopped
2026-01-16T13:50:33.912Z,1768571433.912 [MissionManager](IMPORTANT): Started mission keepstation
2026-01-16T13:50:33.913Z,1768571433.913 [keepstation] Running Loop=1
2026-01-16T13:50:33.913Z,1768571433.913 [keepstation](DEBUG): Aggregate::initialize keepstation
2026-01-16T13:50:33.913Z,1768571433.913 [keepstation:StandardEnvelopes] Running Loop=1
2026-01-16T13:50:33.913Z,1768571433.913 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2026-01-16T13:50:33.913Z,1768571433.913 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-16T13:50:33.913Z,1768571433.913 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2026-01-16T13:50:33.913Z,1768571433.913 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-16T13:50:33.913Z,1768571433.913 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2026-01-16T13:50:33.913Z,1768571433.913 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-16T13:50:33.914Z,1768571433.914 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2026-01-16T13:50:33.914Z,1768571433.914 [keepstation:BackseatDriver] Running Loop=1
2026-01-16T13:50:33.914Z,1768571433.914 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2026-01-16T13:50:33.914Z,1768571433.914 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2026-01-16T13:50:33.914Z,1768571433.914 [keepstation:PowerOnly] Running Loop=1
2026-01-16T13:50:33.914Z,1768571433.914 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2026-01-16T13:50:33.914Z,1768571433.914 [keepstation:PowerOnly:A] Running Loop=1
2026-01-16T13:50:33.914Z,1768571433.914 [keepstation:PowerOnly:B] Running Loop=1
2026-01-16T13:50:33.914Z,1768571433.914 [keepstation:PowerOnly:C] Running Loop=1
2026-01-16T13:50:33.914Z,1768571433.914 [keepstation:PowerOnly:D] Running Loop=1
2026-01-16T13:50:33.914Z,1768571433.914 [keepstation:PowerOnly:E.Wait] Running Loop=1
2026-01-16T13:50:33.915Z,1768571433.915 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2026-01-16T13:50:33.915Z,1768571433.915 [keepstation:H.Pitch] Running Loop=1
2026-01-16T13:50:33.915Z,1768571433.915 [keepstation:H.Pitch](DEBUG): Initialize.
2026-01-16T13:50:33.915Z,1768571433.915 [keepstation:B] Running Loop=1
2026-01-16T13:50:33.937Z,1768571433.937 [keepstation:H.Pitch] Running Loop=1
2026-01-16T13:50:33.937Z,1768571433.937 [keepstation:PowerOnly] Running Loop=1
2026-01-16T13:50:33.937Z,1768571433.937 [keepstation:PowerOnly:D] Stopped
2026-01-16T13:50:33.937Z,1768571433.937 [keepstation:PowerOnly:C] Stopped
2026-01-16T13:50:33.937Z,1768571433.937 [keepstation:PowerOnly:B] Stopped
2026-01-16T13:50:33.937Z,1768571433.937 [keepstation:PowerOnly:A] Stopped
2026-01-16T13:50:33.937Z,1768571433.937 [keepstation:BackseatDriver] Running Loop=1
2026-01-16T13:50:33.938Z,1768571433.938 [keepstation:StandardEnvelopes] Running Loop=1
2026-01-16T13:50:33.938Z,1768571433.938 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2026-01-16T13:50:33.938Z,1768571433.938 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2026-01-16T13:50:33.938Z,1768571433.938 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2026-01-16T13:50:33.939Z,1768571433.939 [keepstation:B] Stopped
2026-01-16T13:50:33.939Z,1768571433.939 [keepstation:D] Running Loop=1
2026-01-16T13:50:34.333Z,1768571434.333 [keepstation:D] Stopped
2026-01-16T13:50:34.333Z,1768571434.333 [keepstation:E] Running Loop=1
2026-01-16T13:50:34.749Z,1768571434.749 [keepstation:E] Stopped
2026-01-16T13:50:34.749Z,1768571434.749 [keepstation:StartingMission] Running Loop=1
2026-01-16T13:50:34.749Z,1768571434.749 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2026-01-16T13:50:35.298Z,1768571435.298 [keepstation:SurfaceComms] Running Loop=1
2026-01-16T13:50:35.298Z,1768571435.298 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2026-01-16T13:50:35.298Z,1768571435.298 [keepstation:SurfaceComms:A] Running Loop=1
2026-01-16T13:50:35.298Z,1768571435.298 [keepstation:SurfaceComms:A] Stopped
2026-01-16T13:50:35.298Z,1768571435.298 [keepstation:SurfaceComms:B] Running Loop=1
2026-01-16T13:50:35.299Z,1768571435.299 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2026-01-16T13:50:35.677Z,1768571435.677 [keepstation:NeedComms] Running Loop=1
2026-01-16T13:50:35.677Z,1768571435.677 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2026-01-16T13:50:35.677Z,1768571435.677 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2026-01-16T13:50:35.678Z,1768571435.678 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2026-01-16T13:50:35.678Z,1768571435.678 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2026-01-16T13:50:35.678Z,1768571435.678 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2026-01-16T13:50:35.679Z,1768571435.679 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2026-01-16T13:50:35.679Z,1768571435.679 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2026-01-16T13:50:35.679Z,1768571435.679 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2026-01-16T13:50:35.684Z,1768571435.684 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2026-01-16T13:50:35.684Z,1768571435.684 [keepstation:NeedComms:A] Running Loop=1
2026-01-16T13:50:35.685Z,1768571435.685 [keepstation:NeedComms:A](INFO): last time_fix was:  1768571406.000000 second since 1970/01/01T00:00:00Z 
2026-01-16T13:50:35.686Z,1768571435.686 [keepstation:NeedComms:A] Stopped
2026-01-16T13:50:35.686Z,1768571435.686 [keepstation:NeedComms:setActive] Running Loop=1
2026-01-16T13:50:35.686Z,1768571435.686 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2026-01-16T13:50:35.686Z,1768571435.686 [keepstation:NeedComms:setActive:A] Running Loop=1
2026-01-16T13:50:35.980Z,1768571435.980 [keepstation:NeedComms:setActive:A] Stopped
2026-01-16T13:50:35.980Z,1768571435.980 [keepstation:NeedComms:setActive:B] Running Loop=1
2026-01-16T13:50:36.351Z,1768571436.351 [keepstation:NeedComms:setActive:B] Stopped
2026-01-16T13:50:36.351Z,1768571436.351 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2026-01-16T13:50:36.352Z,1768571436.352 [keepstation:NeedComms:setActive] Stopped
2026-01-16T13:50:36.352Z,1768571436.352 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2026-01-16T13:50:36.761Z,1768571436.761 [NAL9602](INFO): SBD MO Status=2, MOMSN=25256, MT Status=2, MTMSN=0
2026-01-16T13:50:36.761Z,1768571436.761 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T13:50:36.773Z,1768571436.773 [keepstation:NeedComms:D] Running Loop=1
2026-01-16T13:50:37.197Z,1768571437.197 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-16T13:50:42.071Z,1768571442.071 [DataOverHttps](INFO): Sending 40 bytes from file Logs/20260116T031527/Courier0051.lzma
2026-01-16T13:50:43.070Z,1768571443.070 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0051.lzma.bak
2026-01-16T13:50:43.070Z,1768571443.070 [DataOverHttps](INFO): SBD MOMSN=26578187
2026-01-16T13:51:00.569Z,1768571460.569 [NAL9602](INFO): SBD MO Status=2, MOMSN=25256, MT Status=2, MTMSN=0
2026-01-16T13:51:00.569Z,1768571460.569 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T13:51:29.267Z,1768571489.267 [NAL9602](INFO): SBD MO Status=2, MOMSN=25256, MT Status=2, MTMSN=0
2026-01-16T13:51:29.267Z,1768571489.267 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T13:51:43.796Z,1768571503.796 [NAL9602](INFO): SBD MO Status=2, MOMSN=25256, MT Status=2, MTMSN=0
2026-01-16T13:51:43.796Z,1768571503.796 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2026-01-16T13:51:44.609Z,1768571504.609 [DVL_micro](ERROR): Failed to parse:
:BD,+00000000.00,+00000000.00,+00000000.00,9999.99,000.00
2026-01-16T13:52:12.071Z,1768571532.071 [NAL9602](INFO): SBD MO Status=1, MOMSN=25256, MT Status=0, MTMSN=0
2026-01-16T13:52:12.071Z,1768571532.071 [NAL9602](INFO): No messages in MT queue
2026-01-16T13:52:13.286Z,1768571533.286 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135210.00,A,3643.03017,N,12214.32920,W,0.525,330.52,160126,,,A*76
2026-01-16T13:52:13.288Z,1768571533.288 [NAL9602](INFO): GPS fix at 20260116T135210: (36.717169, -122.238820)
2026-01-16T13:52:13.301Z,1768571533.301 [keepstation:NeedComms:D] Stopped
2026-01-16T13:52:13.301Z,1768571533.301 [keepstation:NeedComms:E] Running Loop=1
2026-01-16T13:52:13.714Z,1768571533.714 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense platform_communications
2026-01-16T13:52:14.267Z,1768571534.267 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20260116T031527/Courier0054.lzma
2026-01-16T13:52:15.202Z,1768571535.202 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Courier0054.lzma.bak
2026-01-16T13:52:15.202Z,1768571535.202 [DataOverHttps](INFO): SBD MOMSN=26578189
2026-01-16T13:52:31.581Z,1768571551.581 [DataOverHttps](INFO): Sending 846 bytes from file Logs/20260116T031527/Express0049.lzma
2026-01-16T13:52:32.582Z,1768571552.582 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0049.lzma.bak
2026-01-16T13:52:32.582Z,1768571552.582 [DataOverHttps](INFO): SBD MOMSN=26578192
2026-01-16T13:52:45.614Z,1768571565.614 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-16T13:52:49.095Z,1768571569.095 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20260116T031527/Express0052.lzma
2026-01-16T13:52:51.102Z,1768571571.102 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0052.lzma.bak
2026-01-16T13:52:51.102Z,1768571571.102 [DataOverHttps](INFO): SBD MOMSN=26578218
2026-01-16T13:53:07.496Z,1768571587.496 [DataOverHttps](INFO): Sending 363 bytes from file Logs/20260116T031527/Express0055.lzma
2026-01-16T13:53:08.498Z,1768571588.498 [DataOverHttps](INFO): Moved sent file to Logs/20260116T031527/Express0055.lzma.bak
2026-01-16T13:53:08.498Z,1768571588.498 [DataOverHttps](INFO): SBD MOMSN=26578220
2026-01-16T13:53:09.854Z,1768571589.854 [keepstation:NeedComms:E] Stopped
2026-01-16T13:53:09.855Z,1768571589.855 [keepstation:NeedComms:F] Running Loop=1
2026-01-16T13:53:10.302Z,1768571590.302 [keepstation:NeedComms:F](DEBUG): Initialize ReadDataComponent to sense time_fix
2026-01-16T13:53:11.859Z,1768571591.859 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135309.00,A,3643.02724,N,12214.34058,W,1.127,275.87,160126,,,A*76
2026-01-16T13:53:11.861Z,1768571591.861 [NAL9602](INFO): GPS fix at 20260116T135309: (36.717121, -122.239010)
2026-01-16T13:53:11.919Z,1768571591.919 [keepstation:NeedComms:F] Stopped
2026-01-16T13:53:11.929Z,1768571591.929 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2026-01-16T13:53:11.929Z,1768571591.929 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2026-01-16T13:53:11.929Z,1768571591.929 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2026-01-16T13:53:12.345Z,1768571592.345 [keepstation:NeedComms:setRestoreMode:A] Stopped
2026-01-16T13:53:12.346Z,1768571592.346 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2026-01-16T13:53:12.346Z,1768571592.346 [keepstation:NeedComms:setRestoreMode] Stopped
2026-01-16T13:53:12.346Z,1768571592.346 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2026-01-16T13:53:12.346Z,1768571592.346 [keepstation:NeedComms:setInactive] Running Loop=1
2026-01-16T13:53:12.346Z,1768571592.346 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2026-01-16T13:53:12.346Z,1768571592.346 [keepstation:NeedComms:setInactive:A] Running Loop=1
2026-01-16T13:53:12.705Z,1768571592.705 [keepstation:NeedComms:setInactive:A] Stopped
2026-01-16T13:53:12.705Z,1768571592.705 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2026-01-16T13:53:12.705Z,1768571592.705 [keepstation:NeedComms:setInactive] Stopped
2026-01-16T13:53:12.706Z,1768571592.706 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2026-01-16T13:53:12.706Z,1768571592.706 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2026-01-16T13:53:12.706Z,1768571592.706 [keepstation:NeedComms] Stopped
2026-01-16T13:53:12.707Z,1768571592.707 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2026-01-16T13:53:12.707Z,1768571592.707 [keepstation:NeedComms:C.GoToSurface] Stopped
2026-01-16T13:53:12.707Z,1768571592.707 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2026-01-16T13:53:13.099Z,1768571593.099 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2026-01-16T13:53:13.099Z,1768571593.099 [keepstation:SurfaceComms:B] Stopped
2026-01-16T13:53:13.099Z,1768571593.099 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2026-01-16T13:53:13.099Z,1768571593.099 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2026-01-16T13:53:13.099Z,1768571593.099 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2026-01-16T13:53:13.099Z,1768571593.099 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2026-01-16T13:53:13.124Z,1768571593.124 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T13:53:13.124Z,1768571593.124 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2026-01-16T13:53:13.497Z,1768571593.497 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2026-01-16T13:53:13.497Z,1768571593.497 [keepstation:SurfaceComms:HandleNan:SetOnStation](INFO): Completed keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T13:53:13.497Z,1768571593.497 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2026-01-16T13:53:13.497Z,1768571593.497 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2026-01-16T13:53:13.497Z,1768571593.497 [keepstation:SurfaceComms:HandleNan:SetLat] Running Loop=1
2026-01-16T13:53:13.497Z,1768571593.497 [keepstation:SurfaceComms:HandleNan:SetLat](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetLat
2026-01-16T13:53:13.497Z,1768571593.497 [keepstation:SurfaceComms:HandleNan:SetLat:A] Running Loop=1
2026-01-16T13:53:13.963Z,1768571593.963 [keepstation:SurfaceComms:HandleNan:SetLat:A] Stopped
2026-01-16T13:53:13.963Z,1768571593.963 [keepstation:SurfaceComms:HandleNan:SetLat](INFO): Completed keepstation:SurfaceComms:HandleNan:SetLat
2026-01-16T13:53:13.963Z,1768571593.963 [keepstation:SurfaceComms:HandleNan:SetLat] Stopped
2026-01-16T13:53:13.968Z,1768571593.968 [keepstation:SurfaceComms:HandleNan:SetLat](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetLat
2026-01-16T13:53:13.968Z,1768571593.968 [keepstation:SurfaceComms:HandleNan:SetLon] Running Loop=1
2026-01-16T13:53:13.968Z,1768571593.968 [keepstation:SurfaceComms:HandleNan:SetLon](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetLon
2026-01-16T13:53:13.968Z,1768571593.968 [keepstation:SurfaceComms:HandleNan:SetLon:A] Running Loop=1
2026-01-16T13:53:14.346Z,1768571594.346 [keepstation:SurfaceComms:HandleNan:SetLon:A] Stopped
2026-01-16T13:53:14.346Z,1768571594.346 [keepstation:SurfaceComms:HandleNan:SetLon](INFO): Completed keepstation:SurfaceComms:HandleNan:SetLon
2026-01-16T13:53:14.346Z,1768571594.346 [keepstation:SurfaceComms:HandleNan:SetLon] Stopped
2026-01-16T13:53:14.346Z,1768571594.346 [keepstation:SurfaceComms:HandleNan:SetLon](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetLon
2026-01-16T13:53:14.346Z,1768571594.346 [keepstation:SurfaceComms:HandleNan](INFO): Completed keepstation:SurfaceComms:HandleNan
2026-01-16T13:53:14.346Z,1768571594.346 [keepstation:SurfaceComms:HandleNan] Stopped
2026-01-16T13:53:14.346Z,1768571594.346 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2026-01-16T13:53:14.346Z,1768571594.346 [keepstation:SurfaceComms:setTransit] Running Loop=1
2026-01-16T13:53:14.346Z,1768571594.346 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2026-01-16T13:53:14.347Z,1768571594.347 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2026-01-16T13:53:14.716Z,1768571594.716 [keepstation:SurfaceComms:setTransit] Stopped
2026-01-16T13:53:14.716Z,1768571594.716 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2026-01-16T13:53:14.716Z,1768571594.716 [keepstation:SurfaceComms:setTransit:A] Stopped
2026-01-16T13:53:14.716Z,1768571594.716 [keepstation:SurfaceComms:setStation] Running Loop=1
2026-01-16T13:53:14.716Z,1768571594.716 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2026-01-16T13:53:14.717Z,1768571594.717 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2026-01-16T13:53:15.155Z,1768571595.155 [keepstation:SurfaceComms:setStation] Stopped
2026-01-16T13:53:15.155Z,1768571595.155 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2026-01-16T13:53:15.155Z,1768571595.155 [keepstation:SurfaceComms:setStation:A] Stopped
2026-01-16T13:53:15.155Z,1768571595.155 [keepstation:SurfaceComms:setSink] Running Loop=1
2026-01-16T13:53:15.155Z,1768571595.155 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2026-01-16T13:53:15.371Z,1768571595.371 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2026-01-16T13:53:15.550Z,1768571595.550 [keepstation:SurfaceComms:setSink:A] Stopped
2026-01-16T13:53:15.550Z,1768571595.550 [keepstation:SurfaceComms:setSink](INFO): Completed keepstation:SurfaceComms:setSink
2026-01-16T13:53:15.550Z,1768571595.550 [keepstation:SurfaceComms:setSink] Stopped
2026-01-16T13:53:15.551Z,1768571595.551 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2026-01-16T13:53:15.551Z,1768571595.551 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2026-01-16T13:53:15.551Z,1768571595.551 [keepstation:SurfaceComms] Stopped
2026-01-16T13:53:15.551Z,1768571595.551 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2026-01-16T13:53:15.921Z,1768571595.921 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2026-01-16T13:53:15.921Z,1768571595.921 [keepstation:StartingMission] Stopped
2026-01-16T13:53:15.921Z,1768571595.921 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2026-01-16T13:53:15.921Z,1768571595.921 [keepstation:TransitToStation] Running Loop=1
2026-01-16T13:53:15.922Z,1768571595.922 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2026-01-16T13:53:15.922Z,1768571595.922 [keepstation:TransitToStation:Dive] Running Loop=1
2026-01-16T13:53:15.922Z,1768571595.922 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2026-01-16T13:53:15.922Z,1768571595.922 [keepstation:TransitToStation:Dive:A] Running Loop=1
2026-01-16T13:53:15.922Z,1768571595.922 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2026-01-16T13:53:15.922Z,1768571595.922 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2026-01-16T13:53:15.922Z,1768571595.922 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2026-01-16T13:53:15.923Z,1768571595.923 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.717121,-122.239010
2026-01-16T13:53:16.318Z,1768571596.318 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.717121,-122.239010
2026-01-16T13:53:16.318Z,1768571596.318 [keepstation:TransitToStation:Dive] Running Loop=1
2026-01-16T13:53:16.318Z,1768571596.318 [keepstation:DiveCmd] Running Loop=1
2026-01-16T13:53:16.318Z,1768571596.318 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2026-01-16T13:53:16.318Z,1768571596.318 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-16T13:53:16.319Z,1768571596.319 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2026-01-16T13:53:16.319Z,1768571596.319 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2026-01-16T13:53:16.319Z,1768571596.319 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T13:53:16.319Z,1768571596.319 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-16T13:53:16.319Z,1768571596.319 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-16T13:53:16.319Z,1768571596.319 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-16T13:53:16.319Z,1768571596.319 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2026-01-16T13:53:16.319Z,1768571596.319 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2026-01-16T13:53:16.319Z,1768571596.319 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2026-01-16T13:53:16.319Z,1768571596.319 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2026-01-16T13:53:16.320Z,1768571596.320 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2026-01-16T13:53:16.320Z,1768571596.320 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2026-01-16T13:53:16.320Z,1768571596.320 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2026-01-16T13:53:16.320Z,1768571596.320 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2026-01-16T13:53:16.320Z,1768571596.320 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2026-01-16T13:53:16.320Z,1768571596.320 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2026-01-16T13:53:16.320Z,1768571596.320 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2026-01-16T13:53:16.320Z,1768571596.320 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2026-01-16T13:53:16.321Z,1768571596.321 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T13:53:16.321Z,1768571596.321 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-16T13:53:16.321Z,1768571596.321 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T13:53:16.321Z,1768571596.321 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T13:53:16.321Z,1768571596.321 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-16T13:53:16.321Z,1768571596.321 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T13:53:16.321Z,1768571596.321 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-16T13:53:16.322Z,1768571596.322 [keepstation:DiveCmd:StationKeep] Stopped
2026-01-16T13:53:16.322Z,1768571596.322 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2026-01-16T13:53:16.322Z,1768571596.322 [keepstation:DiveCmd:StationKeep:A] Stopped
2026-01-16T13:53:16.322Z,1768571596.322 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2026-01-16T13:53:16.322Z,1768571596.322 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2026-01-16T13:53:16.322Z,1768571596.322 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2026-01-16T13:53:16.322Z,1768571596.322 [keepstation:DiveCmd:TransitToStation] Stopped
2026-01-16T13:53:16.322Z,1768571596.322 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2026-01-16T13:53:16.323Z,1768571596.323 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2026-01-16T13:53:16.323Z,1768571596.323 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2026-01-16T13:53:16.323Z,1768571596.323 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2026-01-16T13:53:16.323Z,1768571596.323 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-16T13:53:16.323Z,1768571596.323 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2026-01-16T13:53:16.323Z,1768571596.323 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2026-01-16T13:53:16.323Z,1768571596.323 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2026-01-16T13:53:16.323Z,1768571596.323 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2026-01-16T13:53:16.324Z,1768571596.324 [keepstation:DiveCmd:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2026-01-16T13:53:16.324Z,1768571596.324 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2026-01-16T13:53:16.324Z,1768571596.324 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Running Loop=1
2026-01-16T13:53:16.324Z,1768571596.324 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2026-01-16T13:53:16.324Z,1768571596.324 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2026-01-16T13:53:16.325Z,1768571596.325 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2026-01-16T13:53:34.530Z,1768571614.530 [NAL9602](INFO): SBD MO Status=1, MOMSN=25257, MT Status=0, MTMSN=0
2026-01-16T13:53:34.530Z,1768571614.530 [NAL9602](INFO): No messages in MT queue
2026-01-16T13:54:05.233Z,1768571645.233 [NAL9602](INFO): Not Powering down - fast GPS
2026-01-16T13:55:10.912Z,1768571710.912 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T13:55:42.045Z,1768571742.045 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T13:56:13.189Z,1768571773.189 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T13:56:21.100Z,1768571781.100 [Radio_Surface](INFO): Powering down
2026-01-16T13:56:44.320Z,1768571804.320 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2026-01-16T13:56:45.324Z,1768571805.324 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2026-01-16T13:57:18.456Z,1768571838.456 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.775314
2026-01-16T13:57:43.800Z,1768571863.800 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch] Stopped
2026-01-16T13:57:43.801Z,1768571863.801 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Running Loop=1
2026-01-16T13:57:43.801Z,1768571863.801 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-16T13:57:43.801Z,1768571863.801 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Running Loop=1
2026-01-16T13:57:44.201Z,1768571864.201 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit] Stopped
2026-01-16T13:57:44.201Z,1768571864.201 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit
2026-01-16T13:57:44.201Z,1768571864.201 [keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A] Stopped
2026-01-16T13:57:44.201Z,1768571864.201 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Running Loop=1
2026-01-16T13:57:44.202Z,1768571864.202 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T13:57:44.202Z,1768571864.202 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Running Loop=1
2026-01-16T13:57:44.681Z,1768571864.681 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A] Stopped
2026-01-16T13:57:44.681Z,1768571864.681 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T13:57:44.681Z,1768571864.681 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation] Stopped
2026-01-16T13:57:44.682Z,1768571864.682 [keepstation:DiveCmd:SurfaceSink:sink:sinkToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink:sinkToStation
2026-01-16T13:57:44.682Z,1768571864.682 [keepstation:DiveCmd:SurfaceSink:sink](INFO): Completed keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T13:57:44.682Z,1768571864.682 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2026-01-16T13:57:44.682Z,1768571864.682 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2026-01-16T13:57:44.682Z,1768571864.682 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2026-01-16T13:57:44.682Z,1768571864.682 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2026-01-16T13:57:44.683Z,1768571864.683 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2026-01-16T13:57:44.683Z,1768571864.683 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2026-01-16T13:57:44.683Z,1768571864.683 [keepstation:DiveCmd:SurfaceSink](INFO): Completed keepstation:DiveCmd:SurfaceSink
2026-01-16T13:57:45.044Z,1768571865.044 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T13:57:45.044Z,1768571865.044 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2026-01-16T13:57:45.044Z,1768571865.044 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T13:57:45.044Z,1768571865.044 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T13:57:45.044Z,1768571865.044 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2026-01-16T13:57:45.044Z,1768571865.044 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T13:57:45.045Z,1768571865.045 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2026-01-16T13:57:45.045Z,1768571865.045 [keepstation:DiveCmd:StationKeep] Running Loop=1
2026-01-16T13:57:45.045Z,1768571865.045 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2026-01-16T13:57:45.045Z,1768571865.045 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2026-01-16T13:57:45.046Z,1768571865.046 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2026-01-16T13:59:47.006Z,1768571987.006 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2026-01-16T14:05:55.505Z,1768572355.505 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2026-01-16T14:15:05.311Z,1768572905.311 [BPC1](INFO): Calculating totals. Valid battery stick count: 49. Valid reserve battery stick count: 5.
2026-01-16T14:15:05.314Z,1768572905.314 [BPC1](FAULT): Failed to receive data from 8 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8.
2026-01-16T14:34:16.065Z,1768574056.065 [GFScanner](IMPORTANT): Beginning ground fault scan
2026-01-16T14:34:20.633Z,1768574060.633 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.011367
CHAN A1 (24V): 0.002638
CHAN A2 (12V): -0.007972
CHAN A3 (5V): -0.006947
CHAN B0 (3.3V): -0.003059
CHAN B1 (3.15aV): -0.002094
CHAN B2 (3.15bV): -0.001049
CHAN B3 (GND): -0.001539
OPEN: 0.011897
Full Scale: +/- 1 mA
2026-01-16T14:35:08.428Z,1768574108.428 [DVL_micro](ERROR): Failed to parse:
:WI,+00201,+00061,-00012,+00000,A
2026-01-16T14:35:37.910Z,1768574137.910 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00489.0,000
2026-01-16T14:35:37.910Z,1768574137.910 [DVL_micro](ERROR): Failed to parse:
:TS,00489.0,000