2025-11-19T05:56:20.441Z,1763531780.441 [CommandExec](IMPORTANT): got command schedule clear
2025-11-19T05:56:20.441Z,1763531780.441 [CommandExec](IMPORTANT): Cleared 0 scheduled commands.
2025-11-19T05:56:20.441Z,1763531780.441 [CommandExec](IMPORTANT): got command schedule resume
2025-11-19T05:56:20.442Z,1763531780.442 [CommandExec](IMPORTANT): got command restart logs
2025-11-19T05:56:22.413Z,1763531782.413 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:56:36.153Z,1763531796.153 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:56:45.009Z,1763531805.009 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:56:53.789Z,1763531813.789 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:57:02.409Z,1763531822.409 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:57:11.149Z,1763531831.149 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:57:19.805Z,1763531839.805 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:57:28.589Z,1763531848.589 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:57:37.429Z,1763531857.429 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:57:46.098Z,1763531866.098 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:57:54.889Z,1763531874.889 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:58:03.449Z,1763531883.449 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:58:12.233Z,1763531892.233 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:58:23.854Z,1763531903.854 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:58:33.689Z,1763531913.689 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:58:42.293Z,1763531922.293 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T05:58:46.638Z,1763531926.638 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-11-19T05:58:46.638Z,1763531926.638 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-11-19T05:58:46.638Z,1763531926.638 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-11-19T05:58:46.639Z,1763531926.639 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-11-19T05:58:47.044Z,1763531927.044 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-11-19T05:58:47.044Z,1763531927.044 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-11-19T05:58:47.467Z,1763531927.467 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  6.295336 min 
2025-11-19T05:58:47.467Z,1763531927.467 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-11-19T05:58:47.467Z,1763531927.467 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-11-19T05:58:47.467Z,1763531927.467 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-11-19T05:58:47.467Z,1763531927.467 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-11-19T05:58:47.467Z,1763531927.467 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-11-19T05:58:47.467Z,1763531927.467 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2025-11-19T05:58:47.467Z,1763531927.467 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-11-19T05:58:47.467Z,1763531927.467 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-11-19T05:58:49.440Z,1763531929.440 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,055848.00,A,3647.76602,N,12151.57406,W,0.136,97.18,191125,,,D*44
2025-11-19T05:58:49.442Z,1763531929.442 [NAL9602](INFO): GPS fix at 20251119T055848: (36.796100, -121.859568)
2025-11-19T05:58:49.473Z,1763531929.473 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-11-19T05:58:49.473Z,1763531929.473 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-11-19T05:58:57.940Z,1763531937.940 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20251119T034616/Courier0016.lzma
2025-11-19T05:58:58.943Z,1763531938.943 [DataOverHttps](INFO): Moved sent file to Logs/20251119T034616/Courier0016.lzma.bak
2025-11-19T05:58:58.943Z,1763531938.943 [DataOverHttps](INFO): SBD MOMSN=26319602
2025-11-19T05:59:15.256Z,1763531955.256 [DataOverHttps](INFO): Sending 265 bytes from file Logs/20251119T055620/Courier0000.lzma
2025-11-19T05:59:16.258Z,1763531956.258 [DataOverHttps](INFO): Moved sent file to Logs/20251119T055620/Courier0000.lzma.bak
2025-11-19T05:59:16.259Z,1763531956.259 [DataOverHttps](INFO): SBD MOMSN=26319607
2025-11-19T05:59:32.664Z,1763531972.664 [DataOverHttps](INFO): Sending 106 bytes from file Logs/20251119T034616/Express0017.lzma
2025-11-19T05:59:33.667Z,1763531973.667 [DataOverHttps](INFO): Moved sent file to Logs/20251119T034616/Express0017.lzma.bak
2025-11-19T05:59:33.667Z,1763531973.667 [DataOverHttps](INFO): SBD MOMSN=26319614
2025-11-19T05:59:50.189Z,1763531990.189 [DataOverHttps](INFO): Sending 522 bytes from file Logs/20251119T055620/Express0001.lzma
2025-11-19T05:59:51.190Z,1763531991.190 [DataOverHttps](INFO): Moved sent file to Logs/20251119T055620/Express0001.lzma.bak
2025-11-19T05:59:51.191Z,1763531991.191 [DataOverHttps](INFO): SBD MOMSN=26319617
2025-11-19T06:00:02.560Z,1763532002.560 [NAL9602](INFO): SBD MO Status=1, MOMSN=50486, MT Status=0, MTMSN=0
2025-11-19T06:00:02.560Z,1763532002.560 [NAL9602](INFO): No messages in MT queue
2025-11-19T06:00:07.668Z,1763532007.668 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20251119T055620/Express0002.lzma
2025-11-19T06:00:08.670Z,1763532008.670 [DataOverHttps](INFO): Moved sent file to Logs/20251119T055620/Express0002.lzma.bak
2025-11-19T06:00:08.671Z,1763532008.671 [DataOverHttps](INFO): SBD MOMSN=26319624
2025-11-19T06:00:09.871Z,1763532009.871 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-11-19T06:00:09.871Z,1763532009.871 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-11-19T06:00:09.871Z,1763532009.871 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-11-19T06:00:22.297Z,1763532022.297 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:00:31.005Z,1763532031.005 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:00:33.334Z,1763532033.334 [NAL9602](INFO): Not Powering down - fast GPS
2025-11-19T06:00:39.858Z,1763532039.858 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:00:48.445Z,1763532048.445 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:00:57.205Z,1763532057.205 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:01:06.049Z,1763532066.049 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:01:13.691Z,1763532073.691 [DataOverHttps](IMPORTANT): SBD MTMSN=20251119T060112
2025-11-19T06:01:21.672Z,1763532081.672 [DataOverHttps](INFO): Received command: sched "load Transport/keepstation.tl;set keepstation.NeedCommsTime 5 min;set keepstation.Latitude 36.798 degree;set keepstation.Longitude -121.863 degree;run"
2025-11-19T06:01:21.750Z,1763532081.750 [CommandExec](IMPORTANT): got command schedule "load Transport/keepstation.tl;set keepstation.NeedCommsTime 5 min;set keepstation.Latitude 36.798 degree;set keepstation.Longitude -121.863 degree;run"
2025-11-19T06:01:21.751Z,1763532081.751 [CommandExec](IMPORTANT): Scheduled #1: "load Transport/keepstation.tl;set keepstation.NeedCommsTime 5 min;set keepstation.Latitude 36.798 degree;set keepstation.Longitude -121.863 degree;run", AFTER MISSION
2025-11-19T06:01:21.931Z,1763532081.931 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-11-19T06:01:21.932Z,1763532081.932 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-11-19T06:01:21.932Z,1763532081.932 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-11-19T06:01:21.943Z,1763532081.943 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-11-19T06:01:23.317Z,1763532083.317 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="TransitToStation">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="StationKeep">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="OnStation">
        <False />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" PriorityHere="false" />
        <Aggregate Id="HandleNan">
            <Sequence />
            <Break>
                <Not>
                    <IsNaN>
                        <Arg Name="Latitude" />
                    </IsNaN>
                </Not>
                <And>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </And>
            </Break>
            <Aggregate Id="SetOnStation">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                    <Or>
                        <Not>
                            <IsNaN>
                                <Arg Name="Longitude" />
                            </IsNaN>
                        </Not>
                    </Or>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="OnStation" />
                    <True />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLat">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Latitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Latitude" />
                    <Universal:latitude_fix />
                </Assign>
            </Aggregate>
            <Aggregate Id="SetLon">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Longitude" />
                        </IsNaN>
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="Longitude" />
                    <Universal:longitude_fix />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="setTransit">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Arg Name="OnStation" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="TransitToStation" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setStation">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
                <Or>
                    <Not>
                        <Arg Name="OnStation" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="StationKeep" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" PriorityHere="false" />
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToTransit">
                    <Sequence />
                    <Break>
                        <Arg Name="OnStation" />
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="TransitToStation" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToStation">
                    <Sequence />
                    <Break>
                        <Not>
                            <Arg Name="OnStation" />
                        </Not>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="StationKeep" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TransitToStation">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="TransitToStation" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="ApproachDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="StationKeep">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="StationKeep" />
                </Eq>
            </While>
            <Assign>
                <Parallel />
                <Control:VerticalControl.depthDeadband />
                <Arg Name="DepthDeadband" />
            </Assign>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="Depth" />
                </Setting>
            </Guidance:Pitch>
            <Guidance:KeepStation>
                <Parallel />
                <Setting>
                    <Guidance:KeepStation.latitude />
                    <Arg Name="Latitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.longitude />
                    <Arg Name="Longitude" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.radius />
                    <Arg Name="Radius" />
                </Setting>
                <Setting>
                    <Guidance:KeepStation.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:KeepStation>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="StationKeep" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="OnStation" />
            <True />
        </Assign>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" PriorityHere="false" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" PriorityHere="false" />
        </Aggregate>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-11-19T06:01:23.326Z,1763532083.326 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-11-19T06:01:23.329Z,1763532083.329 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-11-19T06:01:23.332Z,1763532083.332 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-11-19T06:01:23.368Z,1763532083.368 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-11-19T06:01:23.372Z,1763532083.372 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-11-19T06:01:23.387Z,1763532083.387 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-11-19T06:01:23.391Z,1763532083.391 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-11-19T06:01:23.406Z,1763532083.406 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-11-19T06:01:23.441Z,1763532083.441 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-11-19T06:01:23.444Z,1763532083.444 [MissionManager](INFO): DefineArg keepstation.SinkOffSurface = 0 bool
2025-11-19T06:01:23.455Z,1763532083.455 [MissionManager](INFO): DefineArg keepstation.SinkDepth = 10.000000 m
2025-11-19T06:01:23.462Z,1763532083.462 [MissionManager](INFO): DefineArg keepstation.SinkDepthTimeout = 10.000000 min
2025-11-19T06:01:23.481Z,1763532083.481 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-11-19T06:01:23.488Z,1763532083.488 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-11-19T06:01:23.495Z,1763532083.495 [MissionManager](INFO): DefineOutput keepstation.DiveMode = 0.000000 count
2025-11-19T06:01:23.500Z,1763532083.500 [MissionManager](INFO): DefineOutput keepstation.DoingComms = 0.000000 count
2025-11-19T06:01:23.524Z,1763532083.524 [MissionManager](INFO): DefineOutput keepstation.SurfaceSink = 1.000000 count
2025-11-19T06:01:23.534Z,1763532083.534 [MissionManager](INFO): DefineOutput keepstation.TransitToStation = 2.000000 count
2025-11-19T06:01:23.538Z,1763532083.538 [MissionManager](INFO): DefineOutput keepstation.StationKeep = 3.000000 count
2025-11-19T06:01:23.545Z,1763532083.545 [MissionManager](INFO): DefineOutput keepstation.OnStation = 0 bool
2025-11-19T06:01:23.545Z,1763532083.545 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-11-19T06:01:23.545Z,1763532083.545 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-11-19T06:01:23.547Z,1763532083.547 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-11-19T06:01:23.677Z,1763532083.677 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:01:24.173Z,1763532084.173 [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>

2025-11-19T06:01:24.180Z,1763532084.180 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-11-19T06:01:24.183Z,1763532084.183 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-11-19T06:01:24.186Z,1763532084.186 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-11-19T06:01:24.189Z,1763532084.189 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-11-19T06:01:24.192Z,1763532084.192 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-11-19T06:01:24.215Z,1763532084.215 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1500.000000 s
2025-11-19T06:01:24.255Z,1763532084.255 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-11-19T06:01:24.258Z,1763532084.258 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-11-19T06:01:24.277Z,1763532084.277 [MissionManager](INFO): DefineArg keepstation:NeedComms.DoingCommsMode = 0.000000 count
2025-11-19T06:01:24.280Z,1763532084.280 [MissionManager](INFO): DefineArg keepstation:NeedComms.RestoreMode = 0.000000 count
2025-11-19T06:01:24.291Z,1763532084.291 [MissionManager](INFO): DefineOutput keepstation:NeedComms.IsActive = 0 bool
2025-11-19T06:01:24.299Z,1763532084.299 [MissionManager](INFO): DefineOutput keepstation:NeedComms.RequiredDiveMode = 0.000000 count
2025-11-19T06:01:24.336Z,1763532084.336 [keepstation:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2025-11-19T06:01:24.410Z,1763532084.410 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-11-19T06:01:24.411Z,1763532084.411 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-11-19T06:01:24.412Z,1763532084.412 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-11-19T06:01:24.619Z,1763532084.619 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-11-19T06:01:24.656Z,1763532084.656 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-11-19T06:01:24.667Z,1763532084.667 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-11-19T06:01:24.678Z,1763532084.678 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-11-19T06:01:24.697Z,1763532084.697 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-11-19T06:01:24.698Z,1763532084.698 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-11-19T06:01:24.726Z,1763532084.726 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-11-19T06:01:24.744Z,1763532084.744 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-11-19T06:01:24.771Z,1763532084.771 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-11-19T06:01:24.771Z,1763532084.771 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-11-19T06:01:24.777Z,1763532084.777 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-11-19T06:01:24.821Z,1763532084.821 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-11-19T06:01:24.827Z,1763532084.827 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-11-19T06:01:24.837Z,1763532084.837 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-11-19T06:01:24.840Z,1763532084.840 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-11-19T06:01:24.857Z,1763532084.857 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-11-19T06:01:24.858Z,1763532084.858 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-11-19T06:01:25.134Z,1763532085.134 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-11-19T06:01:25.156Z,1763532085.156 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-11-19T06:01:25.163Z,1763532085.163 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-11-19T06:01:25.171Z,1763532085.171 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-11-19T06:01:25.175Z,1763532085.175 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-11-19T06:01:25.191Z,1763532085.191 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-11-19T06:01:25.206Z,1763532085.206 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-11-19T06:01:25.208Z,1763532085.208 [keepstation:H.Pitch](DEBUG): Construct.
2025-11-19T06:01:25.310Z,1763532085.310 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-11-19T06:01:25.318Z,1763532085.318 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-11-19T06:01:25.327Z,1763532085.327 [keepstation:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-11-19T06:01:25.361Z,1763532085.361 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-11-19T06:01:25.369Z,1763532085.369 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Construct.
2025-11-19T06:01:25.376Z,1763532085.376 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Construct.
2025-11-19T06:01:25.395Z,1763532085.395 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Construct.
2025-11-19T06:01:25.409Z,1763532085.409 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Construct KeepStation.
2025-11-19T06:01:25.425Z,1763532085.425 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-11-19T06:01:25.486Z,1763532085.486 [keepstation:KeepStation:B.Wait](DEBUG): Construct Wait.
2025-11-19T06:01:25.535Z,1763532085.535 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

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

    assign in sequence DiveMode = DoingComms

    call priorityHere=false refId="NeedComms"

    aggregate HandleNan {
      run in sequence

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

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

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

        assign in sequence OnStation = true
      }

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

        break if ( not isNaN ( Latitude ) )

        assign in sequence Latitude = Universal:latitude_fix
      }

      aggregate SetLon {
        run in sequence

        break if ( not isNaN ( Longitude ) )

        assign in sequence Longitude = Universal:longitude_fix
      }
    }

    aggregate setTransit {
      run in sequence

      break if (
        SinkOffSurface
        or OnStation
      )

      assign in sequence DiveMode = TransitToStation
    }

    aggregate setStation {
      run in sequence

      break if (
        SinkOffSurface
        or not OnStation
      )

      assign in sequence DiveMode = StationKeep
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

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

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

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

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

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

          set depth = SinkDepth
        }

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

          break if ( OnStation )

          assign in sequence DiveMode = TransitToStation
        }

        aggregate sinkToStation {
          run in sequence

          break if ( not OnStation )

          assign in sequence DiveMode = StationKeep
        }
      }
    }

    aggregate TransitToStation {
      run while ( DiveMode == TransitToStation )

      aggregate dive {
        run in sequence

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set depth = ApproachDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }
      }
    }

    aggregate StationKeep {
      run while ( DiveMode == StationKeep )

      assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

      behavior Guidance:Pitch {
        run in parallel

        set depth = Depth
      }

      behavior Guidance:KeepStation {
        run in parallel

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

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

    run in sequence

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

      call priorityHere=false refId="DiveCmd"
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }

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

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

  aggregate KeepStation {
    run in sequence

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

      call priorityHere=false refId="DiveCmd"
    }

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

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-11-19T06:01:25.536Z,1763532085.536 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-11-19T06:01:36.045Z,1763532096.045 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:01:39.561Z,1763532099.561 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 5 minute
2025-11-19T06:01:39.561Z,1763532099.561 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.798 degree
2025-11-19T06:01:39.562Z,1763532099.562 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.863 degree
2025-11-19T06:01:39.563Z,1763532099.563 [CommandExec](IMPORTANT): got command run
2025-11-19T06:01:39.569Z,1763532099.569 [CommandExec](IMPORTANT): Running 
2025-11-19T06:01:39.662Z,1763532099.662 [DefaultWithUndock] Stopped
2025-11-19T06:01:39.662Z,1763532099.662 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-11-19T06:01:39.662Z,1763532099.662 [DefaultWithUndock:SurfaceDefault] Stopped
2025-11-19T06:01:39.662Z,1763532099.662 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-11-19T06:01:39.662Z,1763532099.662 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-11-19T06:01:39.662Z,1763532099.662 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-11-19T06:01:39.663Z,1763532099.663 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-11-19T06:01:39.663Z,1763532099.663 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-11-19T06:01:39.663Z,1763532099.663 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-11-19T06:01:39.663Z,1763532099.663 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-11-19T06:01:39.663Z,1763532099.663 [MissionManager](IMPORTANT): Started mission keepstation
2025-11-19T06:01:39.663Z,1763532099.663 [keepstation] Running Loop=1
2025-11-19T06:01:39.663Z,1763532099.663 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-11-19T06:01:39.663Z,1763532099.663 [keepstation:StandardEnvelopes] Running Loop=1
2025-11-19T06:01:39.664Z,1763532099.664 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-11-19T06:01:39.664Z,1763532099.664 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-11-19T06:01:39.664Z,1763532099.664 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-11-19T06:01:39.664Z,1763532099.664 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-11-19T06:01:39.664Z,1763532099.664 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-11-19T06:01:39.664Z,1763532099.664 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-11-19T06:01:39.664Z,1763532099.664 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-11-19T06:01:39.664Z,1763532099.664 [keepstation:BackseatDriver] Running Loop=1
2025-11-19T06:01:39.674Z,1763532099.674 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-11-19T06:01:39.674Z,1763532099.674 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-11-19T06:01:39.674Z,1763532099.674 [keepstation:PowerOnly] Running Loop=1
2025-11-19T06:01:39.674Z,1763532099.674 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-11-19T06:01:39.674Z,1763532099.674 [keepstation:PowerOnly:A] Running Loop=1
2025-11-19T06:01:39.674Z,1763532099.674 [keepstation:PowerOnly:B] Running Loop=1
2025-11-19T06:01:39.674Z,1763532099.674 [keepstation:PowerOnly:C] Running Loop=1
2025-11-19T06:01:39.674Z,1763532099.674 [keepstation:PowerOnly:D] Running Loop=1
2025-11-19T06:01:39.674Z,1763532099.674 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-11-19T06:01:39.675Z,1763532099.675 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-11-19T06:01:39.675Z,1763532099.675 [keepstation:H.Pitch] Running Loop=1
2025-11-19T06:01:39.675Z,1763532099.675 [keepstation:H.Pitch](DEBUG): Initialize.
2025-11-19T06:01:39.675Z,1763532099.675 [keepstation:B] Running Loop=1
2025-11-19T06:01:39.676Z,1763532099.676 [keepstation:H.Pitch] Running Loop=1
2025-11-19T06:01:39.685Z,1763532099.685 [keepstation:PowerOnly] Running Loop=1
2025-11-19T06:01:39.685Z,1763532099.685 [keepstation:PowerOnly:D] Stopped
2025-11-19T06:01:39.685Z,1763532099.685 [keepstation:PowerOnly:C] Stopped
2025-11-19T06:01:39.685Z,1763532099.685 [keepstation:PowerOnly:B] Stopped
2025-11-19T06:01:39.685Z,1763532099.685 [keepstation:PowerOnly:A] Stopped
2025-11-19T06:01:39.685Z,1763532099.685 [keepstation:BackseatDriver] Running Loop=1
2025-11-19T06:01:39.685Z,1763532099.685 [keepstation:StandardEnvelopes] Running Loop=1
2025-11-19T06:01:39.685Z,1763532099.685 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-11-19T06:01:39.686Z,1763532099.686 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-11-19T06:01:39.686Z,1763532099.686 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-11-19T06:01:39.687Z,1763532099.687 [keepstation:B] Stopped
2025-11-19T06:01:39.687Z,1763532099.687 [keepstation:D] Running Loop=1
2025-11-19T06:01:40.078Z,1763532100.078 [keepstation:D] Stopped
2025-11-19T06:01:40.078Z,1763532100.078 [keepstation:E] Running Loop=1
2025-11-19T06:01:40.428Z,1763532100.428 [keepstation:E] Stopped
2025-11-19T06:01:40.428Z,1763532100.428 [keepstation:StartingMission] Running Loop=1
2025-11-19T06:01:40.433Z,1763532100.433 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-11-19T06:01:40.841Z,1763532100.841 [keepstation:SurfaceComms] Running Loop=1
2025-11-19T06:01:40.841Z,1763532100.841 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2025-11-19T06:01:40.841Z,1763532100.841 [keepstation:SurfaceComms:A] Running Loop=1
2025-11-19T06:01:40.842Z,1763532100.842 [keepstation:SurfaceComms:A] Stopped
2025-11-19T06:01:40.842Z,1763532100.842 [keepstation:SurfaceComms:B] Running Loop=1
2025-11-19T06:01:40.842Z,1763532100.842 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2025-11-19T06:01:41.235Z,1763532101.235 [keepstation:NeedComms] Running Loop=1
2025-11-19T06:01:41.235Z,1763532101.235 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-11-19T06:01:41.235Z,1763532101.235 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2025-11-19T06:01:41.235Z,1763532101.235 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-11-19T06:01:41.235Z,1763532101.235 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-11-19T06:01:41.236Z,1763532101.236 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-11-19T06:01:41.236Z,1763532101.236 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-11-19T06:01:41.257Z,1763532101.257 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2025-11-19T06:01:41.257Z,1763532101.257 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-11-19T06:01:41.257Z,1763532101.257 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-11-19T06:01:41.258Z,1763532101.258 [keepstation:NeedComms:A] Running Loop=1
2025-11-19T06:01:41.259Z,1763532101.259 [keepstation:NeedComms:A](INFO): last time_fix was:  1763531928.000000 second since 1970/01/01T00:00:00Z 
2025-11-19T06:01:41.259Z,1763532101.259 [keepstation:NeedComms:A] Stopped
2025-11-19T06:01:41.259Z,1763532101.259 [keepstation:NeedComms:setActive] Running Loop=1
2025-11-19T06:01:41.259Z,1763532101.259 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2025-11-19T06:01:41.260Z,1763532101.260 [keepstation:NeedComms:setActive:A] Running Loop=1
2025-11-19T06:01:41.644Z,1763532101.644 [keepstation:NeedComms:setActive:A] Stopped
2025-11-19T06:01:41.644Z,1763532101.644 [keepstation:NeedComms:setActive:B] Running Loop=1
2025-11-19T06:01:42.076Z,1763532102.076 [keepstation:NeedComms:setActive:B] Stopped
2025-11-19T06:01:42.076Z,1763532102.076 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2025-11-19T06:01:42.076Z,1763532102.076 [keepstation:NeedComms:setActive] Stopped
2025-11-19T06:01:42.076Z,1763532102.076 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2025-11-19T06:01:42.463Z,1763532102.463 [keepstation:NeedComms:D] Running Loop=1
2025-11-19T06:01:42.851Z,1763532102.851 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-11-19T06:01:44.444Z,1763532104.444 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,060143.00,A,3647.75770,N,12151.56591,W,0.350,183.08,191125,,,A*7B
2025-11-19T06:01:44.446Z,1763532104.446 [NAL9602](INFO): GPS fix at 20251119T060143: (36.795962, -121.859432)
2025-11-19T06:01:44.459Z,1763532104.459 [keepstation:NeedComms:D] Stopped
2025-11-19T06:01:44.460Z,1763532104.460 [keepstation:NeedComms:E] Running Loop=1
2025-11-19T06:01:44.884Z,1763532104.884 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-11-19T06:01:53.164Z,1763532113.164 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20251119T055620/Courier0005.lzma
2025-11-19T06:01:54.166Z,1763532114.166 [DataOverHttps](INFO): Moved sent file to Logs/20251119T055620/Courier0005.lzma.bak
2025-11-19T06:01:54.167Z,1763532114.167 [DataOverHttps](INFO): SBD MOMSN=26319631
2025-11-19T06:02:10.417Z,1763532130.417 [DataOverHttps](INFO): Sending 428 bytes from file Logs/20251119T055620/Express0007.lzma
2025-11-19T06:02:11.419Z,1763532131.419 [DataOverHttps](INFO): Moved sent file to Logs/20251119T055620/Express0007.lzma.bak
2025-11-19T06:02:11.419Z,1763532131.419 [DataOverHttps](INFO): SBD MOMSN=26319636
2025-11-19T06:02:12.483Z,1763532132.483 [keepstation:NeedComms:E] Stopped
2025-11-19T06:02:12.483Z,1763532132.483 [keepstation:NeedComms:F] Running Loop=1
2025-11-19T06:02:12.854Z,1763532132.854 [keepstation:NeedComms:F](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-11-19T06:02:24.617Z,1763532144.617 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:02:33.405Z,1763532153.405 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:02:42.293Z,1763532162.293 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:02:51.181Z,1763532171.181 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:03:00.013Z,1763532180.013 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:03:08.661Z,1763532188.661 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:03:17.689Z,1763532197.689 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:03:26.309Z,1763532206.309 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:03:35.205Z,1763532215.205 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:03:44.089Z,1763532224.089 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:03:52.929Z,1763532232.929 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:04:01.544Z,1763532241.544 [NAL9602](INFO): SBD MO Status=2, MOMSN=50487, MT Status=2, MTMSN=0
2025-11-19T06:04:01.544Z,1763532241.544 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-11-19T06:04:01.789Z,1763532241.789 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:04:08.813Z,1763532248.813 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-11-19T06:04:10.545Z,1763532250.545 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:04:24.001Z,1763532264.001 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:04:24.246Z,1763532264.246 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-11-19T06:04:25.868Z,1763532265.868 [NAL9602](INFO): SBD MO Status=1, MOMSN=50487, MT Status=0, MTMSN=0
2025-11-19T06:04:25.868Z,1763532265.868 [NAL9602](INFO): No messages in MT queue
2025-11-19T06:04:27.080Z,1763532267.080 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,060426.00,A,3647.75107,N,12151.55772,W,0.583,120.88,191125,,,A*7E
2025-11-19T06:04:27.086Z,1763532267.086 [NAL9602](INFO): GPS fix at 20251119T060426: (36.795851, -121.859295)
2025-11-19T06:04:27.138Z,1763532267.138 [keepstation:NeedComms:F] Stopped
2025-11-19T06:04:27.138Z,1763532267.138 [keepstation:NeedComms:setRestoreMode] Running Loop=1
2025-11-19T06:04:27.138Z,1763532267.138 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize keepstation:NeedComms:setRestoreMode
2025-11-19T06:04:27.139Z,1763532267.139 [keepstation:NeedComms:setRestoreMode:A] Running Loop=1
2025-11-19T06:04:27.511Z,1763532267.511 [keepstation:NeedComms:setRestoreMode:A] Stopped
2025-11-19T06:04:27.511Z,1763532267.511 [keepstation:NeedComms:setRestoreMode](INFO): Completed keepstation:NeedComms:setRestoreMode
2025-11-19T06:04:27.511Z,1763532267.511 [keepstation:NeedComms:setRestoreMode] Stopped
2025-11-19T06:04:27.511Z,1763532267.511 [keepstation:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setRestoreMode
2025-11-19T06:04:27.512Z,1763532267.512 [keepstation:NeedComms:setInactive] Running Loop=1
2025-11-19T06:04:27.512Z,1763532267.512 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::initialize keepstation:NeedComms:setInactive
2025-11-19T06:04:27.512Z,1763532267.512 [keepstation:NeedComms:setInactive:A] Running Loop=1
2025-11-19T06:04:27.917Z,1763532267.917 [keepstation:NeedComms:setInactive:A] Stopped
2025-11-19T06:04:27.917Z,1763532267.917 [keepstation:NeedComms:setInactive](INFO): Completed keepstation:NeedComms:setInactive
2025-11-19T06:04:27.918Z,1763532267.918 [keepstation:NeedComms:setInactive] Stopped
2025-11-19T06:04:27.918Z,1763532267.918 [keepstation:NeedComms:setInactive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setInactive
2025-11-19T06:04:27.918Z,1763532267.918 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-11-19T06:04:27.918Z,1763532267.918 [keepstation:NeedComms] Stopped
2025-11-19T06:04:27.919Z,1763532267.919 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-11-19T06:04:27.919Z,1763532267.919 [keepstation:NeedComms:C.GoToSurface] Stopped
2025-11-19T06:04:27.919Z,1763532267.919 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-11-19T06:04:28.453Z,1763532268.453 [keepstation:SurfaceComms:B](INFO): Completed keepstation:SurfaceComms:B
2025-11-19T06:04:28.453Z,1763532268.453 [keepstation:SurfaceComms:B] Stopped
2025-11-19T06:04:28.453Z,1763532268.453 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2025-11-19T06:04:28.453Z,1763532268.453 [keepstation:SurfaceComms:HandleNan] Running Loop=1
2025-11-19T06:04:28.453Z,1763532268.453 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan
2025-11-19T06:04:28.454Z,1763532268.454 [keepstation:SurfaceComms:HandleNan:SetOnStation] Running Loop=1
2025-11-19T06:04:28.454Z,1763532268.454 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:HandleNan:SetOnStation
2025-11-19T06:04:28.454Z,1763532268.454 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Running Loop=1
2025-11-19T06:04:28.726Z,1763532268.726 [keepstation:SurfaceComms:HandleNan] Stopped
2025-11-19T06:04:28.726Z,1763532268.726 [keepstation:SurfaceComms:HandleNan](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan
2025-11-19T06:04:28.726Z,1763532268.726 [keepstation:SurfaceComms:HandleNan:SetOnStation] Stopped
2025-11-19T06:04:28.726Z,1763532268.726 [keepstation:SurfaceComms:HandleNan:SetOnStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:HandleNan:SetOnStation
2025-11-19T06:04:28.726Z,1763532268.726 [keepstation:SurfaceComms:HandleNan:SetOnStation:A] Stopped
2025-11-19T06:04:28.726Z,1763532268.726 [keepstation:SurfaceComms:setTransit] Running Loop=1
2025-11-19T06:04:28.726Z,1763532268.726 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setTransit
2025-11-19T06:04:28.727Z,1763532268.727 [keepstation:SurfaceComms:setTransit:A] Running Loop=1
2025-11-19T06:04:29.123Z,1763532269.123 [keepstation:SurfaceComms:setTransit:A] Stopped
2025-11-19T06:04:29.123Z,1763532269.123 [keepstation:SurfaceComms:setTransit](INFO): Completed keepstation:SurfaceComms:setTransit
2025-11-19T06:04:29.124Z,1763532269.124 [keepstation:SurfaceComms:setTransit] Stopped
2025-11-19T06:04:29.124Z,1763532269.124 [keepstation:SurfaceComms:setTransit](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setTransit
2025-11-19T06:04:29.124Z,1763532269.124 [keepstation:SurfaceComms:setStation] Running Loop=1
2025-11-19T06:04:29.124Z,1763532269.124 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setStation
2025-11-19T06:04:29.124Z,1763532269.124 [keepstation:SurfaceComms:setStation:A] Running Loop=1
2025-11-19T06:04:29.533Z,1763532269.533 [keepstation:SurfaceComms:setStation] Stopped
2025-11-19T06:04:29.533Z,1763532269.533 [keepstation:SurfaceComms:setStation](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setStation
2025-11-19T06:04:29.533Z,1763532269.533 [keepstation:SurfaceComms:setStation:A] Stopped
2025-11-19T06:04:29.534Z,1763532269.534 [keepstation:SurfaceComms:setSink] Running Loop=1
2025-11-19T06:04:29.534Z,1763532269.534 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::initialize keepstation:SurfaceComms:setSink
2025-11-19T06:04:29.534Z,1763532269.534 [keepstation:SurfaceComms:setSink:A] Running Loop=1
2025-11-19T06:04:29.925Z,1763532269.925 [keepstation:SurfaceComms:setSink] Stopped
2025-11-19T06:04:29.925Z,1763532269.925 [keepstation:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:setSink
2025-11-19T06:04:29.925Z,1763532269.925 [keepstation:SurfaceComms:setSink:A] Stopped
2025-11-19T06:04:29.925Z,1763532269.925 [keepstation:SurfaceComms](INFO): Completed keepstation:SurfaceComms
2025-11-19T06:04:29.926Z,1763532269.926 [keepstation:SurfaceComms] Stopped
2025-11-19T06:04:29.926Z,1763532269.926 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2025-11-19T06:04:30.374Z,1763532270.374 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-11-19T06:04:30.374Z,1763532270.374 [keepstation:StartingMission] Stopped
2025-11-19T06:04:30.374Z,1763532270.374 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-11-19T06:04:30.374Z,1763532270.374 [keepstation:TransitToStation] Running Loop=1
2025-11-19T06:04:30.374Z,1763532270.374 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-11-19T06:04:30.374Z,1763532270.374 [keepstation:TransitToStation:Dive] Running Loop=1
2025-11-19T06:04:30.374Z,1763532270.374 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive
2025-11-19T06:04:30.374Z,1763532270.374 [keepstation:TransitToStation:Dive:A] Running Loop=1
2025-11-19T06:04:30.374Z,1763532270.374 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::initialize keepstation:TransitToStation:Dive:A
2025-11-19T06:04:30.375Z,1763532270.375 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-11-19T06:04:30.375Z,1763532270.375 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-11-19T06:04:30.376Z,1763532270.376 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.798000,-121.862999
2025-11-19T06:04:30.738Z,1763532270.738 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.798000,-121.862999
2025-11-19T06:04:30.738Z,1763532270.738 [keepstation:TransitToStation:Dive] Running Loop=1
2025-11-19T06:04:30.738Z,1763532270.738 [keepstation:DiveCmd] Running Loop=1
2025-11-19T06:04:30.738Z,1763532270.738 [keepstation:DiveCmd](DEBUG): Aggregate::initialize keepstation:DiveCmd
2025-11-19T06:04:30.738Z,1763532270.738 [keepstation:DiveCmd:SurfaceSink] Running Loop=1
2025-11-19T06:04:30.739Z,1763532270.739 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink
2025-11-19T06:04:30.739Z,1763532270.739 [keepstation:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-11-19T06:04:30.739Z,1763532270.739 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize keepstation:DiveCmd:SurfaceSink:sink
2025-11-19T06:04:30.739Z,1763532270.739 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-11-19T06:04:30.739Z,1763532270.739 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-11-19T06:04:30.739Z,1763532270.739 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-11-19T06:04:30.739Z,1763532270.739 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-11-19T06:04:30.739Z,1763532270.739 [keepstation:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-11-19T06:04:30.739Z,1763532270.739 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2025-11-19T06:04:30.739Z,1763532270.739 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation
2025-11-19T06:04:30.740Z,1763532270.740 [keepstation:DiveCmd:TransitToStation:dive] Running Loop=1
2025-11-19T06:04:30.740Z,1763532270.740 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::initialize keepstation:DiveCmd:TransitToStation:dive
2025-11-19T06:04:30.740Z,1763532270.740 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2025-11-19T06:04:30.740Z,1763532270.740 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-11-19T06:04:30.740Z,1763532270.740 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2025-11-19T06:04:30.740Z,1763532270.740 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch](DEBUG): Initialize.
2025-11-19T06:04:30.740Z,1763532270.740 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2025-11-19T06:04:30.740Z,1763532270.740 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Initialize.
2025-11-19T06:04:30.741Z,1763532270.741 [keepstation:DiveCmd:StationKeep] Running Loop=1
2025-11-19T06:04:30.741Z,1763532270.741 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::initialize keepstation:DiveCmd:StationKeep
2025-11-19T06:04:30.741Z,1763532270.741 [keepstation:DiveCmd:StationKeep:A] Running Loop=1
2025-11-19T06:04:30.741Z,1763532270.741 [keepstation:DiveCmd:StationKeep:B.Pitch] Running Loop=1
2025-11-19T06:04:30.741Z,1763532270.741 [keepstation:DiveCmd:StationKeep:B.Pitch](DEBUG): Initialize.
2025-11-19T06:04:30.741Z,1763532270.741 [keepstation:DiveCmd:StationKeep:C.KeepStation] Running Loop=1
2025-11-19T06:04:30.741Z,1763532270.741 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-11-19T06:04:30.742Z,1763532270.742 [keepstation:DiveCmd:StationKeep] Stopped
2025-11-19T06:04:30.742Z,1763532270.742 [keepstation:DiveCmd:StationKeep](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:StationKeep
2025-11-19T06:04:30.742Z,1763532270.742 [keepstation:DiveCmd:StationKeep:A] Stopped
2025-11-19T06:04:30.742Z,1763532270.742 [keepstation:DiveCmd:StationKeep:B.Pitch] Stopped
2025-11-19T06:04:30.742Z,1763532270.742 [keepstation:DiveCmd:StationKeep:C.KeepStation] Stopped
2025-11-19T06:04:30.742Z,1763532270.742 [keepstation:DiveCmd:StationKeep:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-11-19T06:04:30.742Z,1763532270.742 [keepstation:DiveCmd:TransitToStation] Running Loop=1
2025-11-19T06:04:30.743Z,1763532270.743 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Running Loop=1
2025-11-19T06:04:30.743Z,1763532270.743 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Running Loop=1
2025-11-19T06:04:30.743Z,1763532270.743 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Running Loop=1
2025-11-19T06:04:30.743Z,1763532270.743 [keepstation:DiveCmd:SurfaceSink] Stopped
2025-11-19T06:04:30.744Z,1763532270.744 [keepstation:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink
2025-11-19T06:04:30.744Z,1763532270.744 [keepstation:DiveCmd:SurfaceSink:sink] Stopped
2025-11-19T06:04:30.744Z,1763532270.744 [keepstation:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:SurfaceSink:sink
2025-11-19T06:04:30.744Z,1763532270.744 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-11-19T06:04:30.744Z,1763532270.744 [keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-11-19T06:04:30.744Z,1763532270.744 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-11-19T06:04:30.744Z,1763532270.744 [keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-11-19T06:04:30.744Z,1763532270.744 [keepstation:DiveCmd:SurfaceSink:sink:C] Stopped
2025-11-19T06:04:34.093Z,1763532274.093 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:04:39.627Z,1763532279.627 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-11-19T06:04:43.437Z,1763532283.437 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:04:53.173Z,1763532293.173 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:04:54.746Z,1763532294.746 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-11-19T06:04:59.278Z,1763532299.278 [NAL9602](INFO): Not Powering down - fast GPS
2025-11-19T06:05:02.253Z,1763532302.253 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:05:09.967Z,1763532309.967 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-11-19T06:05:11.674Z,1763532311.674 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:05:21.269Z,1763532321.269 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:05:25.464Z,1763532325.464 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-11-19T06:05:40.431Z,1763532340.431 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-11-19T06:05:52.422Z,1763532352.422 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:05:55.797Z,1763532355.797 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-11-19T06:06:11.141Z,1763532371.141 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-11-19T06:06:20.533Z,1763532380.533 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.267521
2025-11-19T06:06:21.537Z,1763532381.537 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:06:43.789Z,1763532403.789 [Radio_Surface](INFO): Powering down
2025-11-19T06:06:51.674Z,1763532411.674 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-11-19T06:06:52.678Z,1763532412.678 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-11-19T06:06:52.678Z,1763532412.678 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:07:22.797Z,1763532442.797 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-11-19T06:07:23.802Z,1763532443.802 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:07:53.921Z,1763532473.921 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-11-19T06:07:54.925Z,1763532474.925 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:08:25.081Z,1763532505.081 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-11-19T06:08:26.085Z,1763532506.085 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:08:50.350Z,1763532530.350 [BPC1](FAULT): Battery stick #7 (s/n: 02BB) reported TERMINATE_CHARGE_ALARM. Status code: 0x42D0.
2025-11-19T06:08:50.351Z,1763532530.351 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-11-19T06:08:50.354Z,1763532530.354 [BPC1](INFO): Received data from all battery sticks.
2025-11-19T06:08:56.213Z,1763532536.213 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-11-19T06:08:57.217Z,1763532537.217 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:09:25.113Z,1763532565.113 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,-32768,-3276,V
2025-11-19T06:09:27.151Z,1763532567.151 [keepstation:SurfaceComms] Running Loop=1
2025-11-19T06:09:27.151Z,1763532567.151 [keepstation:SurfaceComms](DEBUG): Aggregate::initialize keepstation:SurfaceComms
2025-11-19T06:09:27.151Z,1763532567.151 [keepstation:SurfaceComms:A] Running Loop=1
2025-11-19T06:09:27.152Z,1763532567.152 [keepstation:SurfaceComms:A] Stopped
2025-11-19T06:09:27.152Z,1763532567.152 [keepstation:SurfaceComms:B] Running Loop=1
2025-11-19T06:09:27.154Z,1763532567.154 [keepstation:SurfaceComms:B](DEBUG): Aggregate::initialize keepstation:SurfaceComms:B
2025-11-19T06:09:27.156Z,1763532567.156 [keepstation:NeedComms] Running Loop=1
2025-11-19T06:09:27.156Z,1763532567.156 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-11-19T06:09:27.158Z,1763532567.158 [keepstation:NeedComms:C.GoToSurface] Running Loop=1
2025-11-19T06:09:27.158Z,1763532567.158 [keepstation:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-11-19T06:09:27.159Z,1763532567.159 [keepstation:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-11-19T06:09:27.160Z,1763532567.160 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-11-19T06:09:27.160Z,1763532567.160 [keepstation:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-11-19T06:09:27.161Z,1763532567.161 [keepstation:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2025-11-19T06:09:27.161Z,1763532567.161 [keepstation:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-11-19T06:09:27.161Z,1763532567.161 [keepstation:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-11-19T06:09:27.161Z,1763532567.161 [keepstation:NeedComms:A] Running Loop=1
2025-11-19T06:09:27.163Z,1763532567.163 [keepstation:NeedComms:A](INFO): last time_fix was:  1763532266.000000 second since 1970/01/01T00:00:00Z 
2025-11-19T06:09:27.163Z,1763532567.163 [keepstation:NeedComms:A] Stopped
2025-11-19T06:09:27.163Z,1763532567.163 [keepstation:NeedComms:setActive] Running Loop=1
2025-11-19T06:09:27.163Z,1763532567.163 [keepstation:NeedComms:setActive](DEBUG): Aggregate::initialize keepstation:NeedComms:setActive
2025-11-19T06:09:27.163Z,1763532567.163 [keepstation:NeedComms:setActive:A] Running Loop=1
2025-11-19T06:09:27.353Z,1763532567.353 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-11-19T06:09:27.530Z,1763532567.530 [keepstation:TransitToStation:Dive] Stopped
2025-11-19T06:09:27.530Z,1763532567.530 [keepstation:TransitToStation:Dive](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive
2025-11-19T06:09:27.530Z,1763532567.530 [keepstation:TransitToStation:Dive:A] Stopped
2025-11-19T06:09:27.530Z,1763532567.530 [keepstation:TransitToStation:Dive:A](DEBUG): Aggregate::uninitialize keepstation:TransitToStation:Dive:A
2025-11-19T06:09:27.530Z,1763532567.530 [keepstation:DiveCmd:TransitToStation] Stopped
2025-11-19T06:09:27.530Z,1763532567.530 [keepstation:DiveCmd:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation
2025-11-19T06:09:27.530Z,1763532567.530 [keepstation:DiveCmd:TransitToStation:dive] Stopped
2025-11-19T06:09:27.531Z,1763532567.531 [keepstation:DiveCmd:TransitToStation:dive](DEBUG): Aggregate::uninitialize keepstation:DiveCmd:TransitToStation:dive
2025-11-19T06:09:27.531Z,1763532567.531 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy] Stopped
2025-11-19T06:09:27.531Z,1763532567.531 [keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-11-19T06:09:27.531Z,1763532567.531 [keepstation:DiveCmd:TransitToStation:dive:B.Pitch] Stopped
2025-11-19T06:09:27.531Z,1763532567.531 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed] Stopped
2025-11-19T06:09:27.531Z,1763532567.531 [keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed](DEBUG): Uninitialize.
2025-11-19T06:09:27.534Z,1763532567.534 [keepstation:NeedComms:setActive:A] Stopped
2025-11-19T06:09:27.534Z,1763532567.534 [keepstation:NeedComms:setActive:B] Running Loop=1
2025-11-19T06:09:27.933Z,1763532567.933 [keepstation:NeedComms:setActive:B] Stopped
2025-11-19T06:09:27.933Z,1763532567.933 [keepstation:NeedComms:setActive](INFO): Completed keepstation:NeedComms:setActive
2025-11-19T06:09:27.933Z,1763532567.933 [keepstation:NeedComms:setActive] Stopped
2025-11-19T06:09:27.933Z,1763532567.933 [keepstation:NeedComms:setActive](DEBUG): Aggregate::uninitialize keepstation:NeedComms:setActive
2025-11-19T06:09:28.357Z,1763532568.357 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:09:40.057Z,1763532580.057 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, +739,  -116,A
2025-11-19T06:09:58.477Z,1763532598.477 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-11-19T06:09:59.481Z,1763532599.481 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:10:16.450Z,1763532616.450 [keepstation:NeedComms:D] Running Loop=1
2025-11-19T06:10:17.101Z,1763532617.101 [Radio_Surface](INFO): Powering up
2025-11-19T06:10:22.353Z,1763532622.353 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.10
2025-11-19T06:10:22.354Z,1763532622.354 [Radio_Surface](INFO): Found local IP address 10.89.10.2 for eth0
2025-11-19T06:10:29.605Z,1763532629.605 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-11-19T06:10:30.609Z,1763532630.609 [DataOverHttps](INFO): Radio surface powered ON.
2025-11-19T06:10:30.609Z,1763532630.609 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:11:00.729Z,1763532660.729 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-11-19T06:11:01.733Z,1763532661.733 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:11:31.861Z,1763532691.861 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-11-19T06:11:32.865Z,1763532692.865 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:12:02.985Z,1763532722.985 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-11-19T06:12:03.989Z,1763532723.989 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:12:34.113Z,1763532754.113 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-11-19T06:12:35.120Z,1763532755.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:12:44.487Z,1763532764.487 [NAL9602](INFO): SBD MO Status=2, MOMSN=50488, MT Status=2, MTMSN=0
2025-11-19T06:12:44.487Z,1763532764.487 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-11-19T06:13:05.237Z,1763532785.237 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-11-19T06:13:06.242Z,1763532786.242 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:13:18.822Z,1763532798.822 [NAL9602](INFO): SBD MO Status=2, MOMSN=50488, MT Status=2, MTMSN=0
2025-11-19T06:13:18.822Z,1763532798.822 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-11-19T06:13:28.922Z,1763532808.922 [NAL9602](INFO): SBD MO Status=1, MOMSN=50488, MT Status=0, MTMSN=0
2025-11-19T06:13:28.922Z,1763532808.922 [NAL9602](INFO): No messages in MT queue
2025-11-19T06:13:30.163Z,1763532810.163 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,061329.00,A,3647.80986,N,12151.67454,W,0.564,152.10,191125,,,A*77
2025-11-19T06:13:30.166Z,1763532810.166 [NAL9602](INFO): GPS fix at 20251119T061329: (36.796831, -121.861242)
2025-11-19T06:13:30.248Z,1763532810.248 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.798000,-121.862999
2025-11-19T06:13:30.262Z,1763532810.262 [keepstation:NeedComms:D] Stopped
2025-11-19T06:13:30.263Z,1763532810.263 [keepstation:NeedComms:E] Running Loop=1
2025-11-19T06:13:36.377Z,1763532816.377 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-11-19T06:13:37.381Z,1763532817.381 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:13:48.851Z,1763532828.851 [NAL9602](INFO): SBD MO Status=2, MOMSN=50489, MT Status=2, MTMSN=0
2025-11-19T06:13:48.851Z,1763532828.851 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-11-19T06:14:05.869Z,1763532845.869 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002810
2025-11-19T06:14:14.121Z,1763532854.121 [DataOverHttps](INFO): Sending 200 bytes from file Logs/20251119T055620/Courier0009.lzma
2025-11-19T06:14:15.123Z,1763532855.123 [DataOverHttps](INFO): Moved sent file to Logs/20251119T055620/Courier0009.lzma.bak
2025-11-19T06:14:15.123Z,1763532855.123 [DataOverHttps](INFO): SBD MOMSN=26319734
2025-11-19T06:14:18.480Z,1763532858.480 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=50489, MT Status=1, MTMSN=2781
2025-11-19T06:14:18.545Z,1763532858.545 [NAL9602](INFO): Sent 200 bytes from file Logs/20251119T055620/Courier0009.lzma
2025-11-19T06:14:18.545Z,1763532858.545 [NAL9602](INFO): Packets left to send: 0
2025-11-19T06:14:18.973Z,1763532858.973 [NAL9602](INFO): Received command: stop
2025-11-19T06:14:19.021Z,1763532859.021 [CommandExec](IMPORTANT): got command stop
2025-11-19T06:14:19.022Z,1763532859.022 [CommandExec](IMPORTANT): Scheduling is paused
2025-11-19T06:14:19.022Z,1763532859.022 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-11-19T06:14:19.036Z,1763532859.036 [MissionManager](INFO): MissionManager is completed.
2025-11-19T06:14:19.036Z,1763532859.036 [MissionManager](INFO): Uninitializing Mission keepstation
2025-11-19T06:14:19.036Z,1763532859.036 [keepstation] Stopped
2025-11-19T06:14:19.036Z,1763532859.036 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-11-19T06:14:19.036Z,1763532859.036 [keepstation:NeedComms] Stopped
2025-11-19T06:14:19.036Z,1763532859.036 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-11-19T06:14:19.036Z,1763532859.036 [keepstation:NeedComms:C.GoToSurface] Stopped
2025-11-19T06:14:19.049Z,1763532859.049 [keepstation:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-11-19T06:14:19.049Z,1763532859.049 [keepstation:NeedComms:E] Stopped
2025-11-19T06:14:19.049Z,1763532859.049 [keepstation:StandardEnvelopes] Stopped
2025-11-19T06:14:19.049Z,1763532859.049 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-11-19T06:14:19.049Z,1763532859.049 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-11-19T06:14:19.049Z,1763532859.049 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-11-19T06:14:19.049Z,1763532859.049 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-11-19T06:14:19.049Z,1763532859.049 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-11-19T06:14:19.049Z,1763532859.049 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-11-19T06:14:19.049Z,1763532859.049 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-11-19T06:14:19.049Z,1763532859.049 [keepstation:BackseatDriver] Stopped
2025-11-19T06:14:19.049Z,1763532859.049 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-11-19T06:14:19.050Z,1763532859.050 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-11-19T06:14:19.050Z,1763532859.050 [keepstation:PowerOnly] Stopped
2025-11-19T06:14:19.050Z,1763532859.050 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-11-19T06:14:19.050Z,1763532859.050 [keepstation:PowerOnly:E.Wait] Stopped
2025-11-19T06:14:19.050Z,1763532859.050 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-11-19T06:14:19.050Z,1763532859.050 [keepstation:H.Pitch] Stopped
2025-11-19T06:14:19.050Z,1763532859.050 [keepstation:SurfaceComms] Stopped
2025-11-19T06:14:19.050Z,1763532859.050 [keepstation:SurfaceComms](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms
2025-11-19T06:14:19.050Z,1763532859.050 [keepstation:SurfaceComms:B] Stopped
2025-11-19T06:14:19.050Z,1763532859.050 [keepstation:SurfaceComms:B](DEBUG): Aggregate::uninitialize keepstation:SurfaceComms:B
2025-11-19T06:14:19.050Z,1763532859.050 [keepstation:DiveCmd] Stopped
2025-11-19T06:14:19.050Z,1763532859.050 [keepstation:DiveCmd](DEBUG): Aggregate::uninitialize keepstation:DiveCmd
2025-11-19T06:14:19.051Z,1763532859.051 [keepstation:TransitToStation] Stopped
2025-11-19T06:14:19.051Z,1763532859.051 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-11-19T06:14:19.051Z,1763532859.051 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-11-19T06:14:19.051Z,1763532859.051 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-11-19T06:14:19.609Z,1763532859.609 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-11-19T06:14:19.609Z,1763532859.609 [DefaultWithUndock] Running Loop=1
2025-11-19T06:14:19.609Z,1763532859.609 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-11-19T06:14:19.610Z,1763532859.610 [DefaultWithUndock:A.Wait] Running Loop=1
2025-11-19T06:14:19.610Z,1763532859.610 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-11-19T06:14:35.405Z,1763532875.405 [DataOverHttps](INFO): Sending 372 bytes from file Logs/20251119T055620/Express0013.lzma
2025-11-19T06:14:36.406Z,1763532876.406 [DataOverHttps](INFO): Moved sent file to Logs/20251119T055620/Express0013.lzma.bak
2025-11-19T06:14:36.407Z,1763532876.407 [DataOverHttps](INFO): SBD MOMSN=26319742
2025-11-19T06:14:37.409Z,1763532877.409 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:14:46.101Z,1763532886.101 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:14:49.798Z,1763532889.798 [NAL9602](INFO): Not Powering down - fast GPS
2025-11-19T06:14:49.830Z,1763532889.830 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-11-19T06:14:49.830Z,1763532889.830 [DefaultWithUndock:A.Wait] Stopped
2025-11-19T06:14:49.830Z,1763532889.830 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-11-19T06:14:49.830Z,1763532889.830 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-11-19T06:14:49.830Z,1763532889.830 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-11-19T06:14:49.830Z,1763532889.830 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-11-19T06:14:49.830Z,1763532889.830 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-11-19T06:14:49.830Z,1763532889.830 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-11-19T06:14:49.831Z,1763532889.831 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-11-19T06:14:49.831Z,1763532889.831 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-11-19T06:14:50.329Z,1763532890.329 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-11-19T06:14:50.329Z,1763532890.329 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-11-19T06:14:50.330Z,1763532890.330 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.029698 m.
2025-11-19T06:14:50.330Z,1763532890.330 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-11-19T06:14:50.330Z,1763532890.330 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-11-19T06:14:50.670Z,1763532890.670 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-11-19T06:14:51.044Z,1763532891.044 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-11-19T06:14:51.162Z,1763532891.162 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-11-19T06:14:54.989Z,1763532894.989 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:15:04.030Z,1763532904.030 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-11-19T06:15:10.817Z,1763532910.817 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-11-19T06:15:11.222Z,1763532911.222 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-11-19T06:15:11.641Z,1763532911.641 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-11-19T06:15:11.641Z,1763532911.641 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-11-19T06:15:11.641Z,1763532911.641 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-11-19T06:15:11.641Z,1763532911.641 [DefaultWithUndock:LeaveDock] Stopped
2025-11-19T06:15:11.642Z,1763532911.642 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-11-19T06:15:11.642Z,1763532911.642 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-11-19T06:15:11.642Z,1763532911.642 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-11-19T06:15:11.642Z,1763532911.642 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-11-19T06:15:11.642Z,1763532911.642 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-11-19T06:15:11.642Z,1763532911.642 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-11-19T06:15:11.643Z,1763532911.643 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-11-19T06:15:11.643Z,1763532911.643 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-11-19T06:15:11.643Z,1763532911.643 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-11-19T06:15:11.643Z,1763532911.643 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-11-19T06:15:11.644Z,1763532911.644 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-11-19T06:15:11.946Z,1763532911.946 [DataOverHttps](IMPORTANT): SBD MTMSN=20251119T061510
2025-11-19T06:15:12.020Z,1763532912.020 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-11-19T06:15:12.021Z,1763532912.021 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-11-19T06:15:12.021Z,1763532912.021 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-11-19T06:15:14.035Z,1763532914.035 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,061513.00,A,3647.80506,N,12151.66724,W,0.933,145.51,191125,,,A*74
2025-11-19T06:15:14.038Z,1763532914.038 [NAL9602](INFO): GPS fix at 20251119T061513: (36.796751, -121.861121)
2025-11-19T06:15:14.050Z,1763532914.050 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-11-19T06:15:14.050Z,1763532914.050 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-11-19T06:15:20.048Z,1763532920.048 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20251119T055620/Courier0015.lzma
2025-11-19T06:15:20.050Z,1763532920.050 [DataOverHttps](INFO): Received command: schedule resume;restart logs