 
   // Timeout checking
   else {
+
     unsigned long current_time = millis();
     // If the time wrapped around, can't just subtract them, take the difference from max and then the current_time
     if ( current_time <= alive ){
       unsigned long max_long = (unsigned long) -1;
       if ( ((max_long - alive) + current_time ) >= ALIVE_TIMEOUT ){
-        Serial.println("Timed out, thrusters off");
+        Serial.println("Overflow Timed out, thrusters off");
         thrustersOff();
         timedout = true;
       }

  }

  //here we put code that we need to run with or without the jetsons attached

}


      if ( !prot[0] ) {
        Serial.println("B1");
      }
      // Handle specific commands
      else if ( prot[0] == 't' ) {
          Serial.println("Thrusters on");
          thrusterCmd;
        }
      else if ( prot[0] == 'd' ) {
          Serial.println("Get depth");
          getDepth();
      }
      else {
          Serial.println("B2");
          Serial.println(prot[0]);
      }

      // Reset buffer position
