2025-01-16T11:14:13.186Z,1737026053.186 [ballast_and_trim] Stopped
2025-01-16T11:14:13.226Z,1737026053.226 [ballast_and_trim](DEBUG): Aggregate::uninitialize ballast_and_trim
2025-01-16T11:14:13.226Z,1737026053.226 [ballast_and_trim:Science] Stopped
2025-01-16T11:14:13.227Z,1737026053.227 [ballast_and_trim:Science](DEBUG): Aggregate::uninitialize ballast_and_trim:Science
2025-01-16T11:14:13.227Z,1737026053.227 [ballast_and_trim:Science:B] Stopped
2025-01-16T11:14:13.227Z,1737026053.227 [ballast_and_trim:Science:C] Stopped
2025-01-16T11:14:13.227Z,1737026053.227 [ballast_and_trim:Science:E] Stopped
2025-01-16T11:14:13.227Z,1737026053.227 [ballast_and_trim:Science:OceanCurrent] Stopped
2025-01-16T11:14:13.227Z,1737026053.227 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:OceanCurrent
2025-01-16T11:14:13.227Z,1737026053.227 [ballast_and_trim:Science:OceanCurrent:A.] Stopped
2025-01-16T11:14:13.227Z,1737026053.227 [ballast_and_trim:StandardEnvelopes] Stopped
2025-01-16T11:14:13.227Z,1737026053.227 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::uninitialize ballast_and_trim:StandardEnvelopes
2025-01-16T11:14:13.227Z,1737026053.227 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-16T11:14:13.227Z,1737026053.227 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-16T11:14:13.227Z,1737026053.227 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-16T11:14:13.227Z,1737026053.227 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-16T11:14:13.227Z,1737026053.227 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-16T11:14:13.228Z,1737026053.228 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-16T11:14:13.228Z,1737026053.228 [ballast_and_trim:BackseatDriver] Stopped
2025-01-16T11:14:13.228Z,1737026053.228 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::uninitialize ballast_and_trim:BackseatDriver
2025-01-16T11:14:13.228Z,1737026053.228 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Stopped
2025-01-16T11:14:13.228Z,1737026053.228 [ballast_and_trim:PowerOnly] Stopped
2025-01-16T11:14:13.228Z,1737026053.228 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::uninitialize ballast_and_trim:PowerOnly
2025-01-16T11:14:13.228Z,1737026053.228 [ballast_and_trim:PowerOnly:E.Wait] Stopped
2025-01-16T11:14:13.228Z,1737026053.228 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T11:14:13.232Z,1737026053.232 [CommandExec](IMPORTANT): got command restart logs
2025-01-16T11:14:13.342Z,1737026053.342 [WetLabsBB2FL](INFO): Powering down
2025-01-16T11:14:13.845Z,1737026053.845 [MissionManager](IMPORTANT): Started mission Default
2025-01-16T11:14:13.845Z,1737026053.845 [Default] Running Loop=1
2025-01-16T11:14:13.845Z,1737026053.845 [Default](DEBUG): Aggregate::initialize Default
2025-01-16T11:14:13.845Z,1737026053.845 [Default:B.GoToSurface] Running Loop=1
2025-01-16T11:14:13.846Z,1737026053.846 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T11:14:13.846Z,1737026053.846 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T11:14:13.866Z,1737026053.866 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T11:14:13.867Z,1737026053.867 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T11:14:13.867Z,1737026053.867 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T11:14:13.867Z,1737026053.867 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T11:14:13.868Z,1737026053.868 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T11:14:13.868Z,1737026053.868 [Default:A.Wait] Running Loop=1
2025-01-16T11:14:13.868Z,1737026053.868 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-16T11:14:27.176Z,1737026067.176 [Default:A.Wait](INFO): Done Waiting.
2025-01-16T11:14:27.176Z,1737026067.176 [Default:A.Wait] Stopped
2025-01-16T11:14:27.176Z,1737026067.176 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T11:14:27.510Z,1737026067.510 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_slowyo_test.tl
2025-01-16T11:14:27.511Z,1737026067.511 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_slowyo_test.tl
2025-01-16T11:14:27.511Z,1737026067.511 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_slowyo_test.tl
2025-01-16T11:14:27.514Z,1737026067.514 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_slowyo_test.tl
2025-01-16T11:14:32.783Z,1737026072.783 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_slowyo_test.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_slowyo_test">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsSurfaceDepthRate">
        <Units:meter_per_second />
        <Value>0.3</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="SlowYoDiveAngle">
        <Units:degree />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1.0</Value>
    </DefineArg>
    <DefineArg Name="SlowYoMinDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SlowYoMaxDepth">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="SlowYoNumYoYos">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SlowYoTurningWindow">
        <Units:meter />
        <Value>10</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="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectChl">
        <False />
    </DefineArg>
    <DefineArg Name="ShallowBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTrigger">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThreshold">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="ElevatorDefault">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>60</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="InitialDive">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="SlowYo">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="Science" Filename="Insert/Science.tl">
        <RedefineArg Name="PeakDetectChlActive">
            <Arg Name="PeakDetectChl" />
        </RedefineArg>
        <RedefineArg Name="PeakShallowBound">
            <Arg Name="ShallowBoundChl" />
        </RedefineArg>
        <RedefineArg Name="PeakDeepBound">
            <Arg Name="DeepBoundChl" />
        </RedefineArg>
        <RedefineArg Name="ChlThreshTriggerActive">
            <Arg Name="ChlThreshTrigger" />
        </RedefineArg>
        <RedefineArg Name="ChlLowerThresh">
            <Arg Name="ChlLowerThreshold" />
        </RedefineArg>
        <RedefineArg Name="ChlUpperThresh">
            <Arg Name="ChlUpperThreshold" />
        </RedefineArg>
        <RedefineArg Name="NumProfilesThresh">
            <Arg Name="NumProfilesThreshold" />
        </RedefineArg>
    </Insert>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:SurfaceDepthRate" />
        <Arg Name="NeedCommsSurfaceDepthRate" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <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" />
    <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" />
        <Aggregate Id="setInitial">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="InitialDive" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <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="sinkToInit">
                    <Sequence />
                    <Break>
                        <Universal:depth />
                        <Ge>
                            <Arg Name="SlowYoMinDepth" />
                        </Ge>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="InitialDive" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToYo">
                    <Sequence />
                    <Break>
                        <Universal:depth />
                        <Lt>
                            <Arg Name="SlowYoMinDepth" />
                        </Lt>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="SlowYo" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Syslog Severity="Info">Waiting for 1 minute while pumping down to neutral.</Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Units:minute />
                        <Value>1</Value>
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="SlowYoMinDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="Speed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="SlowYoMinDepth" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SlowYo" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SlowYoToWaypoint">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SlowYo" />
                </Eq>
            </While>
            <Aggregate Id="SlowYoTask">
                <Parallel />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.elevatorAngle />
                        <Arg Name="ElevatorDefault" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Aggregate Id="SlowYoLoop">
                    <Sequence Repeat="Repeat" />
                    <Guidance:SlowYo>
                        <Sequence />
                        <Setting>
                            <Guidance:SlowYo.diveAngle />
                            <Arg Name="SlowYoDiveAngle" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.minDepth />
                            <Arg Name="SlowYoMinDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.maxDepth />
                            <Arg Name="SlowYoMaxDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.turningWindow />
                            <Arg Name="SlowYoTurningWindow" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.numYoYos />
                            <Arg Name="SlowYoNumYoYos" />
                        </Setting>
                    </Guidance:SlowYo>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="StopIfTriggered">
        <When>
            <Arg Name="Science:TriggeredOnChl" />
        </When>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>stop</String>
            </Setting>
        </Guidance:Execute>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="Wpt1">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.captureRadius />
                    <Arg Name="CaptureRadius" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt2">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat2" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon2" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt3">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat3" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon3" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt4">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat4" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon4" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt5">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat5" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon5" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt6">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat6" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon6" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt7">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat7" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon7" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
    </Aggregate>
</Mission>

2025-01-16T11:14:32.827Z,1737026072.827 [MissionManager](INFO): DefineArg sci2_slowyo_test.MissionTimeout = 2.000000 h
2025-01-16T11:14:32.829Z,1737026072.829 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsTime = 60.000000 min
2025-01-16T11:14:32.836Z,1737026072.836 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsSurfaceDepthRate = 0.300000 m/s
2025-01-16T11:14:32.838Z,1737026072.838 [MissionManager](INFO): DefineArg sci2_slowyo_test.Repeat = 1.000000 count
2025-01-16T11:14:32.844Z,1737026072.844 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat1 = nan arcdeg
2025-01-16T11:14:32.870Z,1737026072.870 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat2 = nan arcdeg
2025-01-16T11:14:32.872Z,1737026072.872 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat3 = nan arcdeg
2025-01-16T11:14:32.887Z,1737026072.887 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat4 = nan arcdeg
2025-01-16T11:14:32.889Z,1737026072.889 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat5 = nan arcdeg
2025-01-16T11:14:32.896Z,1737026072.896 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat6 = nan arcdeg
2025-01-16T11:14:32.907Z,1737026072.907 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat7 = nan arcdeg
2025-01-16T11:14:32.912Z,1737026072.912 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon1 = nan arcdeg
2025-01-16T11:14:32.914Z,1737026072.914 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon2 = nan arcdeg
2025-01-16T11:14:32.916Z,1737026072.916 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon3 = nan arcdeg
2025-01-16T11:14:32.918Z,1737026072.918 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon4 = nan arcdeg
2025-01-16T11:14:32.929Z,1737026072.929 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon5 = nan arcdeg
2025-01-16T11:14:32.931Z,1737026072.931 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon6 = nan arcdeg
2025-01-16T11:14:32.933Z,1737026072.933 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon7 = nan arcdeg
2025-01-16T11:14:32.937Z,1737026072.937 [MissionManager](INFO): DefineArg sci2_slowyo_test.ApproachDepthTimeout = 15.000000 min
2025-01-16T11:14:32.952Z,1737026072.952 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoDiveAngle = 15.000000 arcdeg
2025-01-16T11:14:32.954Z,1737026072.954 [MissionManager](INFO): DefineArg sci2_slowyo_test.Speed = 1.000000 m/s
2025-01-16T11:14:32.957Z,1737026072.957 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMinDepth = 10.000000 m
2025-01-16T11:14:32.971Z,1737026072.971 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMaxDepth = 40.000000 m
2025-01-16T11:14:32.973Z,1737026072.973 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoNumYoYos = 1.000000 count
2025-01-16T11:14:32.999Z,1737026072.999 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoTurningWindow = 10.000000 m
2025-01-16T11:14:33.001Z,1737026073.001 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkOffSurface = 0 bool
2025-01-16T11:14:33.019Z,1737026073.019 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepth = 10.000000 m
2025-01-16T11:14:33.022Z,1737026073.022 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepthTimeout = 10.000000 min
2025-01-16T11:14:33.028Z,1737026073.028 [MissionManager](INFO): DefineArg sci2_slowyo_test.CaptureRadius = nan m
2025-01-16T11:14:33.030Z,1737026073.030 [MissionManager](INFO): DefineArg sci2_slowyo_test.PeakDetectChl = 0 bool
2025-01-16T11:14:33.040Z,1737026073.040 [MissionManager](INFO): DefineArg sci2_slowyo_test.ShallowBoundChl = nan m
2025-01-16T11:14:33.046Z,1737026073.046 [MissionManager](INFO): DefineArg sci2_slowyo_test.DeepBoundChl = nan m
2025-01-16T11:14:33.048Z,1737026073.048 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlThreshTrigger = 0 bool
2025-01-16T11:14:33.055Z,1737026073.055 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlLowerThreshold = nan ug/l
2025-01-16T11:14:33.057Z,1737026073.057 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlUpperThreshold = nan ug/l
2025-01-16T11:14:33.063Z,1737026073.063 [MissionManager](INFO): DefineArg sci2_slowyo_test.NumProfilesThreshold = 5.000000 count
2025-01-16T11:14:33.066Z,1737026073.066 [MissionManager](INFO): DefineArg sci2_slowyo_test.BuoyancyNeutral = 366.667114 cc
2025-01-16T11:14:33.072Z,1737026073.072 [MissionManager](INFO): DefineArg sci2_slowyo_test.ElevatorDefault = 0.000000 arcdeg
2025-01-16T11:14:33.095Z,1737026073.095 [MissionManager](INFO): DefineArg sci2_slowyo_test.MassDefault = 0.856015 cm
2025-01-16T11:14:33.097Z,1737026073.097 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinAltitude = 7.000000 m
2025-01-16T11:14:33.104Z,1737026073.104 [MissionManager](INFO): DefineArg sci2_slowyo_test.MaxDepth = 60.000000 m
2025-01-16T11:14:33.106Z,1737026073.106 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinOffshore = 2.000000 km
2025-01-16T11:14:33.117Z,1737026073.117 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DiveMode = 0.000000 count
2025-01-16T11:14:33.124Z,1737026073.124 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DoingComms = 0.000000 count
2025-01-16T11:14:33.126Z,1737026073.126 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SurfaceSink = 1.000000 count
2025-01-16T11:14:33.152Z,1737026073.152 [MissionManager](INFO): DefineOutput sci2_slowyo_test.InitialDive = 2.000000 count
2025-01-16T11:14:33.163Z,1737026073.163 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SlowYo = 3.000000 count
2025-01-16T11:14:33.164Z,1737026073.164 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-01-16T11:14:33.164Z,1737026073.164 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-01-16T11:14:33.171Z,1737026073.171 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-01-16T11:14:35.914Z,1737026075.914 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PeakShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="PeakDeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-01-16T11:14:35.932Z,1737026075.932 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectChlActive = 0 bool
2025-01-16T11:14:35.935Z,1737026075.935 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.TimeWindowPeakReport = nan min
2025-01-16T11:14:35.936Z,1737026075.936 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestChlPeakReportActive = 0 bool
2025-01-16T11:14:35.938Z,1737026075.938 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestSaltPeakReportActive = 0 bool
2025-01-16T11:14:35.940Z,1737026075.940 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestOilPeakReportActive = 0 bool
2025-01-16T11:14:35.942Z,1737026075.942 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PatchTracking = 0 bool
2025-01-16T11:14:35.944Z,1737026075.944 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.FilterWidthHorizontal = 3.000000 count
2025-01-16T11:14:35.947Z,1737026075.947 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesSlidingwindow = 100.000000 count
2025-01-16T11:14:35.949Z,1737026075.949 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionHorizontal = 80.000000 %
2025-01-16T11:14:35.951Z,1737026075.951 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectNO3Active = 0 bool
2025-01-16T11:14:35.953Z,1737026075.953 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectOilActive = 0 bool
2025-01-16T11:14:35.986Z,1737026075.986 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectFDOMActive = 0 bool
2025-01-16T11:14:35.992Z,1737026075.992 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectSalinityActive = 0 bool
2025-01-16T11:14:35.998Z,1737026075.998 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-01-16T11:14:36.000Z,1737026076.000 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-01-16T11:14:36.010Z,1737026076.010 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-01-16T11:14:36.012Z,1737026076.012 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-01-16T11:14:36.046Z,1737026076.046 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-01-16T11:14:36.049Z,1737026076.049 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledAanderaaO2 = 0 bool
2025-01-16T11:14:36.055Z,1737026076.055 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledNeilBrown = 0 bool
2025-01-16T11:14:36.058Z,1737026076.058 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledSeabird = 1 bool
2025-01-16T11:14:36.077Z,1737026076.077 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsBB2FL = 1 bool
2025-01-16T11:14:36.087Z,1737026076.087 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-01-16T11:14:36.090Z,1737026076.090 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsUBAT = 0 bool
2025-01-16T11:14:36.108Z,1737026076.108 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.LowPassWindowLength = 20.000000 count
2025-01-16T11:14:36.131Z,1737026076.131 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.MedianFilterLen = 5.000000 count
2025-01-16T11:14:36.133Z,1737026076.133 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakShallowBound = nan m
2025-01-16T11:14:36.144Z,1737026076.144 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDeepBound = nan m
2025-01-16T11:14:36.151Z,1737026076.151 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-01-16T11:14:36.152Z,1737026076.152 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = 0 bool
2025-01-16T11:14:36.159Z,1737026076.159 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlLowerThresh = nan ug/l
2025-01-16T11:14:36.164Z,1737026076.164 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlUpperThresh = nan ug/l
2025-01-16T11:14:36.166Z,1737026076.166 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesThresh = 5.000000 count
2025-01-16T11:14:36.168Z,1737026076.168 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChl = nan ug/l
2025-01-16T11:14:36.175Z,1737026076.175 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlDepth = nan m
2025-01-16T11:14:36.177Z,1737026076.177 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlTemperature = nan degC
2025-01-16T11:14:36.188Z,1737026076.188 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLatitude = nan arcdeg
2025-01-16T11:14:36.194Z,1737026076.194 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLongitude = nan arcdeg
2025-01-16T11:14:36.197Z,1737026076.197 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3 = nan umol/l
2025-01-16T11:14:36.203Z,1737026076.203 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Depth = nan m
2025-01-16T11:14:36.205Z,1737026076.205 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Latitude = nan arcdeg
2025-01-16T11:14:36.212Z,1737026076.212 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Longitude = nan arcdeg
2025-01-16T11:14:36.214Z,1737026076.214 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOil = nan kg/m3
2025-01-16T11:14:36.220Z,1737026076.220 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilDepth = nan m
2025-01-16T11:14:36.229Z,1737026076.229 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLatitude = nan arcdeg
2025-01-16T11:14:36.237Z,1737026076.237 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLongitude = nan arcdeg
2025-01-16T11:14:36.244Z,1737026076.244 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOM = nan ppb
2025-01-16T11:14:36.259Z,1737026076.259 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMDepth = nan m
2025-01-16T11:14:36.264Z,1737026076.264 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMTemperature = nan degC
2025-01-16T11:14:36.279Z,1737026076.279 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLatitude = nan arcdeg
2025-01-16T11:14:36.281Z,1737026076.281 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLongitude = nan arcdeg
2025-01-16T11:14:36.289Z,1737026076.289 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSalt = nan psu
2025-01-16T11:14:36.307Z,1737026076.307 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltDepth = nan m
2025-01-16T11:14:36.309Z,1737026076.309 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltTemperature = nan degC
2025-01-16T11:14:36.316Z,1737026076.316 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLatitude = nan arcdeg
2025-01-16T11:14:36.318Z,1737026076.318 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLongitude = nan arcdeg
2025-01-16T11:14:36.324Z,1737026076.324 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-01-16T11:14:36.339Z,1737026076.339 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-01-16T11:14:36.341Z,1737026076.341 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-01-16T11:14:36.348Z,1737026076.348 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-01-16T11:14:36.360Z,1737026076.360 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-01-16T11:14:36.379Z,1737026076.379 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-01-16T11:14:36.382Z,1737026076.382 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-01-16T11:14:36.404Z,1737026076.404 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-01-16T11:14:36.411Z,1737026076.411 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-01-16T11:14:36.413Z,1737026076.413 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-01-16T11:14:36.420Z,1737026076.420 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-01-16T11:14:36.455Z,1737026076.455 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-01-16T11:14:36.467Z,1737026076.467 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-01-16T11:14:36.469Z,1737026076.469 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-01-16T11:14:36.476Z,1737026076.476 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-01-16T11:14:36.478Z,1737026076.478 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-01-16T11:14:36.488Z,1737026076.488 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-01-16T11:14:36.507Z,1737026076.507 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-01-16T11:14:36.509Z,1737026076.509 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-01-16T11:14:36.531Z,1737026076.531 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-01-16T11:14:36.533Z,1737026076.533 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChl = nan ug/l
2025-01-16T11:14:36.559Z,1737026076.559 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDepth = nan m
2025-01-16T11:14:36.561Z,1737026076.561 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLatitude = nan arcdeg
2025-01-16T11:14:36.567Z,1737026076.567 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLongitude = nan arcdeg
2025-01-16T11:14:36.569Z,1737026076.569 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDistance = nan m
2025-01-16T11:14:36.580Z,1737026076.580 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSalt = nan psu
2025-01-16T11:14:36.586Z,1737026076.586 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDepth = nan m
2025-01-16T11:14:36.589Z,1737026076.589 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLatitude = nan arcdeg
2025-01-16T11:14:36.595Z,1737026076.595 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLongitude = nan arcdeg
2025-01-16T11:14:36.597Z,1737026076.597 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDistance = nan m
2025-01-16T11:14:36.604Z,1737026076.604 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOil = nan psu
2025-01-16T11:14:36.611Z,1737026076.611 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDepth = nan m
2025-01-16T11:14:36.613Z,1737026076.613 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLatitude = nan arcdeg
2025-01-16T11:14:36.620Z,1737026076.620 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLongitude = nan arcdeg
2025-01-16T11:14:36.626Z,1737026076.626 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDistance = nan m
2025-01-16T11:14:36.628Z,1737026076.628 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.TriggeredOnChl = 0 bool
2025-01-16T11:14:36.646Z,1737026076.646 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.ChlTriggering = nan ug/l
2025-01-16T11:14:36.709Z,1737026076.709 [sci2_slowyo_test:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T11:14:36.733Z,1737026076.733 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T11:14:36.765Z,1737026076.765 [sci2_slowyo_test:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T11:14:36.800Z,1737026076.800 [sci2_slowyo_test:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T11:14:36.859Z,1737026076.859 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T11:14:36.907Z,1737026076.907 [sci2_slowyo_test:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T11:14:36.932Z,1737026076.932 [sci2_slowyo_test:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T11:14:36.964Z,1737026076.964 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T11:14:36.997Z,1737026076.997 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T11:14:37.042Z,1737026077.042 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T11:14:37.061Z,1737026077.061 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T11:14:37.085Z,1737026077.085 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T11:14:37.110Z,1737026077.110 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-01-16T11:14:37.124Z,1737026077.124 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDetectChlActive = reader:sci2_slowyo_test.PeakDetectChl
2025-01-16T11:14:37.126Z,1737026077.126 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakShallowBound = reader:sci2_slowyo_test.ShallowBoundChl
2025-01-16T11:14:37.127Z,1737026077.127 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDeepBound = reader:sci2_slowyo_test.DeepBoundChl
2025-01-16T11:14:37.129Z,1737026077.129 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = reader:sci2_slowyo_test.ChlThreshTrigger
2025-01-16T11:14:37.130Z,1737026077.130 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlLowerThresh = reader:sci2_slowyo_test.ChlLowerThreshold
2025-01-16T11:14:37.132Z,1737026077.132 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlUpperThresh = reader:sci2_slowyo_test.ChlUpperThreshold
2025-01-16T11:14:37.133Z,1737026077.133 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.NumProfilesThresh = reader:sci2_slowyo_test.NumProfilesThreshold
2025-01-16T11:14:37.134Z,1737026077.134 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-16T11:14:37.134Z,1737026077.134 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-16T11:14:37.135Z,1737026077.135 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-16T11:14:37.420Z,1737026077.420 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-01-16T11:14:37.426Z,1737026077.426 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.DiveInterval = 1.000000 h
2025-01-16T11:14:37.429Z,1737026077.429 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-16T11:14:37.437Z,1737026077.437 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-16T11:14:37.440Z,1737026077.440 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceDepthRate = nan m/s
2025-01-16T11:14:37.511Z,1737026077.511 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-16T11:14:37.513Z,1737026077.513 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-16T11:14:37.586Z,1737026077.586 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.GPSTimeout = 7.000000 min
2025-01-16T11:14:37.588Z,1737026077.588 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.CommsTimeout = 30.000000 min
2025-01-16T11:14:37.594Z,1737026077.594 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T11:14:37.609Z,1737026077.609 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-16T11:14:37.609Z,1737026077.609 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-16T11:14:38.515Z,1737026078.515 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-16T11:14:38.603Z,1737026078.603 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-16T11:14:38.607Z,1737026078.607 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-16T11:14:38.610Z,1737026078.610 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-16T11:14:38.612Z,1737026078.612 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-16T11:14:38.621Z,1737026078.621 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-16T11:14:38.621Z,1737026078.621 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-16T11:14:38.627Z,1737026078.627 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-16T11:14:38.633Z,1737026078.633 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-16T11:14:38.641Z,1737026078.641 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-16T11:14:38.642Z,1737026078.642 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-16T11:14:38.643Z,1737026078.643 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-16T11:14:38.697Z,1737026078.697 [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>

2025-01-16T11:14:38.701Z,1737026078.701 [MissionManager](INFO): DefineArg sci2_slowyo_test:BackseatDriver.EnableBackseat = 0 bool
2025-01-16T11:14:38.708Z,1737026078.708 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-16T11:14:38.710Z,1737026078.710 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-16T11:14:38.714Z,1737026078.714 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-16T11:14:38.715Z,1737026078.715 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-16T11:14:38.820Z,1737026078.820 [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>

2025-01-16T11:14:38.824Z,1737026078.824 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleAll = 0 bool
2025-01-16T11:14:38.825Z,1737026078.825 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad1 = 0 bool
2025-01-16T11:14:38.827Z,1737026078.827 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad2 = 0 bool
2025-01-16T11:14:38.829Z,1737026078.829 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad3 = 0 bool
2025-01-16T11:14:38.832Z,1737026078.832 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-16T11:14:38.838Z,1737026078.838 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-16T11:14:38.906Z,1737026078.906 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T11:14:38.928Z,1737026078.928 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-01-16T11:14:38.937Z,1737026078.937 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-01-16T11:14:38.969Z,1737026078.969 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Construct.
2025-01-16T11:14:38.976Z,1737026078.976 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T11:14:38.983Z,1737026078.983 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Construct Wait.
2025-01-16T11:14:38.988Z,1737026078.988 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-01-16T11:14:38.991Z,1737026078.991 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-01-16T11:14:38.997Z,1737026078.997 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-01-16T11:14:39.002Z,1737026079.002 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T11:14:39.004Z,1737026079.004 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Construct.
2025-01-16T11:14:39.009Z,1737026079.009 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Construct.
2025-01-16T11:14:39.012Z,1737026079.012 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Construct SlowYo.
2025-01-16T11:14:39.018Z,1737026079.018 [sci2_slowyo_test:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-01-16T11:14:39.035Z,1737026079.035 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T11:14:39.041Z,1737026079.041 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T11:14:39.055Z,1737026079.055 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T11:14:39.060Z,1737026079.060 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T11:14:39.073Z,1737026079.073 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T11:14:39.088Z,1737026079.088 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T11:14:39.093Z,1737026079.093 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T11:14:39.145Z,1737026079.145 [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.

#! TethysL version initially based on automated translation from original Science/sci2.xml
#! and then (syntactically) simplified with use of array/macro extensions in TethysL.

mission sci2_slowyo_test {
  """
  Vehicle yo-yo's to the specified waypoints, with science turned on.
  """

  arguments {
    MissionTimeout = 2 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 60 minute
      """
      How often to surface for communications
      """

    NeedCommsSurfaceDepthRate = 0.3 meter_per_second
      """
      How quickly to ascend for comms
      """

    Repeat = 1 count
      """
      Number of times the vehicle should try to cycle through waypoints..
      """

    Lat[1..7] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..7] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    ApproachDepthTimeout = 15 minute
      """
      Maximum time duration for the vehicle to reach the target depth
      """

    SlowYoDiveAngle = 15 degree
      """
      Dive Angle while performing SlowYo
      """

    Speed = 1.0 meter_per_second
      """
      Speed while performing the YoYo behavior.
      """

    SlowYoMinDepth = 10 meter
      """
      Min Depth while performing SlowYo
      """

    SlowYoMaxDepth = 40 meter
      """
      Max Depth while performing SlowYo
      """

    SlowYoNumYoYos = 1 count
      """
      Min number of SlowYos for success
      """

    SlowYoTurningWindow = 10 meter
      """
      Distance from min or max depth to start a smooth transition
      """

    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
      """

    CaptureRadius = NaN meter
      """
      Acceptable distance from waypoint.
      """

    PeakDetectChl = false
      """
      Whether to enable peak chl detection on each yo-yo profile
      """

    ShallowBoundChl = NaN meter
      """
      Used only when PeakDetectChl is true. Shallow depth bound for peak chl detection
      """

    DeepBoundChl = NaN meter
      """
      Used only when PeakDetectChl is true. Deep depth bound for peak chl detection
      """

    ChlThreshTrigger = false
      """
      Whether to enable chl threshold triggering
      """

    ChlLowerThreshold = NaN microgram_per_liter
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChllowerThreshold is ignored if NaN.
      """

    ChlUpperThreshold = NaN microgram_per_liter
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
      """

    NumProfilesThreshold = 5 count
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
      """

    BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
      """
      Buoyancy bladder position while performing the YoYo behavior. Defaults
      to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
      for active buoyancy
      """

    ElevatorDefault = 0 degree
      """
      Shuts off the elevators.
      """

    MassDefault = Control:VerticalControl.massDefault
      """
      Static setting for mass during the mission. Set to NaN mm for active
      mass position.
      """

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 60 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum offshore distance for the entire mission.
      """
  }

  output {
    DiveMode = 0 count

    DoingComms = 0 count

    SurfaceSink = 1 count

    InitialDive = 2 count

    SlowYo = 3 count
  }

  timeout duration=MissionTimeout

  insert id="Science" Insert/Science.tl {
    """
    Most missions will run the science sensors. If you don't place this
    aggregate above NeedComms, science instruments get turned off on the
    last upcast and while floating on the surface.
    """

    redefineArg PeakDetectChlActive = PeakDetectChl
    redefineArg PeakShallowBound = ShallowBoundChl
    redefineArg PeakDeepBound = DeepBoundChl
    redefineArg ChlThreshTriggerActive = ChlThreshTrigger
    redefineArg ChlLowerThresh = ChlLowerThreshold
    redefineArg ChlUpperThresh = ChlUpperThreshold
    redefineArg NumProfilesThresh = NumProfilesThreshold
  }

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:SurfaceDepthRate = NeedCommsSurfaceDepthRate

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    aggregate setInitial {
      run in sequence

      break if ( SinkOffSurface )

      assign in sequence DiveMode = InitialDive
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

  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
        }

        # Skip initial dive if we're already at start-of-slowyo depth
        aggregate sinkToInit {
          run in sequence

          break if ( Universal:depth >= SlowYoMinDepth )

          assign in sequence DiveMode = InitialDive
        }

        aggregate sinkToYo {
          run in sequence

          break if ( Universal:depth < SlowYoMinDepth )

          assign in sequence DiveMode = SlowYo
        }
      }
    }

    aggregate InitialDive {
      """
      Descend from the surface to target depth, limit pitch and
      depth-rate.
      """

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

        syslog info "Waiting for 1 minute while pumping down to neutral."

        behavior Guidance:Wait {
          """
          Take a few moments to ensure the VBS reaches neutral.
          """

          run in sequence

          set duration = 1 minute
        }

        syslog "Moving to " + SlowYoMinDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = Speed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = SlowYoMinDepth
          }
        }

        assign in sequence DiveMode = SlowYo
      }
    }

    aggregate SlowYoToWaypoint {
      run while ( DiveMode == SlowYo )

      aggregate SlowYoTask {
        run in parallel

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set elevatorAngle = ElevatorDefault
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }

        aggregate SlowYoLoop {
          run in sequence repeat=Repeat

          behavior Guidance:SlowYo {
            run in sequence

            set diveAngle = SlowYoDiveAngle
            set minDepth = SlowYoMinDepth
            set maxDepth = SlowYoMaxDepth
            set turningWindow = SlowYoTurningWindow
            set numYoYos = SlowYoNumYoYos
          }
        }
      }
    }
  }

  aggregate StopIfTriggered {
    """
    If peak chlorophyll values on NumProfilesThresh consecutive yo-yo profiles fall in [ChlLowerThreshold ChlUpperThreshold], stop mission.
    """

    run when ( Science:TriggeredOnChl )

    behavior Guidance:Execute {
      run in sequence

      set command = "stop"
    }
  }

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat[1]
        set longitude = Lon[1]
        set captureRadius = CaptureRadius
      }
    }

    macro $i = 2..7 {
      aggregate Wpt$i {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat[$i]
          set longitude = Lon[$i]
        }
      }
    }
  }
}


2025-01-16T11:14:39.146Z,1737026079.146 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_slowyo_test.tl id=sci2_slowyo_test
2025-01-16T11:14:39.304Z,1737026079.304 [Default:CheckIn] Running Loop=1
2025-01-16T11:14:39.304Z,1737026079.304 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T11:14:39.304Z,1737026079.304 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T11:14:41.289Z,1737026081.289 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,111440.00,A,3647.69118,N,12154.27002,W,0.661,245.39,160125,,,A*71
2025-01-16T11:14:41.291Z,1737026081.291 [NAL9602](INFO): GPS fix at 20250116T111440: (36.794853, -121.904500)
2025-01-16T11:14:41.346Z,1737026081.346 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T11:14:41.347Z,1737026081.347 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T11:14:51.838Z,1737026091.838 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250116T064146/Courier0144.lzma
2025-01-16T11:14:52.841Z,1737026092.841 [DataOverHttps](INFO): Moved sent file to Logs/20250116T064146/Courier0144.lzma.bak
2025-01-16T11:14:52.841Z,1737026092.841 [DataOverHttps](INFO): SBD MOMSN=23910432
2025-01-16T11:14:53.701Z,1737026093.701 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MissionTimeout 4 hour
2025-01-16T11:14:53.702Z,1737026093.702 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lat1 36.79636 degree
2025-01-16T11:14:53.703Z,1737026093.703 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lon1 -121.90301 degree
2025-01-16T11:14:53.704Z,1737026093.704 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lat2 36.797 degree
2025-01-16T11:15:13.583Z,1737026113.583 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T11:15:23.086Z,1737026123.086 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20250116T111413/Courier0000.lzma
2025-01-16T11:15:24.088Z,1737026124.088 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Courier0000.lzma.bak
2025-01-16T11:15:24.088Z,1737026124.088 [DataOverHttps](INFO): SBD MOMSN=23910435
2025-01-16T11:15:25.015Z,1737026125.015 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lon2 -121.847 degree
2025-01-16T11:15:25.016Z,1737026125.016 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoDiveAngle 10 degree
2025-01-16T11:15:25.016Z,1737026125.016 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Speed 0.925 meter_per_second
2025-01-16T11:15:25.017Z,1737026125.017 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoMaxDepth 150 meter
2025-01-16T11:15:25.018Z,1737026125.018 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoTurningWindow 30 meter
2025-01-16T11:15:48.447Z,1737026148.447 [DataOverHttps](INFO): Sending 290 bytes from file Logs/20250116T064146/Express0145.lzma
2025-01-16T11:15:49.449Z,1737026149.449 [DataOverHttps](INFO): Moved sent file to Logs/20250116T064146/Express0145.lzma.bak
2025-01-16T11:15:49.449Z,1737026149.449 [DataOverHttps](INFO): SBD MOMSN=23910439
2025-01-16T11:15:49.896Z,1737026149.896 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SinkOffSurface 1 bool
2025-01-16T11:15:49.897Z,1737026149.897 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MassDefault NaN millimeter
2025-01-16T11:15:49.897Z,1737026149.897 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MinAltitude 20 meter
2025-01-16T11:15:49.898Z,1737026149.898 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MaxDepth 170 meter
2025-01-16T11:15:49.899Z,1737026149.899 [CommandExec](IMPORTANT): got command set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool
2025-01-16T11:15:49.900Z,1737026149.900 [CommandExec](IMPORTANT): got command run
2025-01-16T11:15:49.902Z,1737026149.902 [CommandExec](IMPORTANT): Running 
2025-01-16T11:15:49.992Z,1737026149.992 [Default] Stopped
2025-01-16T11:15:49.992Z,1737026149.992 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-16T11:15:49.992Z,1737026149.992 [Default:B.GoToSurface] Stopped
2025-01-16T11:15:49.992Z,1737026149.992 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T11:15:49.992Z,1737026149.992 [Default:CheckIn] Stopped
2025-01-16T11:15:49.992Z,1737026149.992 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T11:15:49.992Z,1737026149.992 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T11:15:49.993Z,1737026149.993 [MissionManager](IMPORTANT): Started mission sci2_slowyo_test
2025-01-16T11:15:49.993Z,1737026149.993 [sci2_slowyo_test] Running Loop=1
2025-01-16T11:15:49.993Z,1737026149.993 [sci2_slowyo_test](DEBUG): Aggregate::initialize sci2_slowyo_test
2025-01-16T11:15:49.993Z,1737026149.993 [sci2_slowyo_test:Science] Running Loop=1
2025-01-16T11:15:49.993Z,1737026149.993 [sci2_slowyo_test:Science](DEBUG): Aggregate::initialize sci2_slowyo_test:Science
2025-01-16T11:15:49.993Z,1737026149.993 [sci2_slowyo_test:Science:A] Running Loop=1
2025-01-16T11:15:49.993Z,1737026149.993 [sci2_slowyo_test:Science:B] Running Loop=1
2025-01-16T11:15:49.993Z,1737026149.993 [sci2_slowyo_test:Science:C] Running Loop=1
2025-01-16T11:15:49.993Z,1737026149.993 [sci2_slowyo_test:Science:D] Running Loop=1
2025-01-16T11:15:49.993Z,1737026149.993 [sci2_slowyo_test:Science:E] Running Loop=1
2025-01-16T11:15:49.994Z,1737026149.994 [sci2_slowyo_test:Science:F] Running Loop=1
2025-01-16T11:15:49.994Z,1737026149.994 [sci2_slowyo_test:Science:Read_Oil] Running Loop=1
2025-01-16T11:15:49.994Z,1737026149.994 [sci2_slowyo_test:Science:PeakDetectChl] Running Loop=1
2025-01-16T11:15:49.994Z,1737026149.994 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectChl
2025-01-16T11:15:49.994Z,1737026149.994 [sci2_slowyo_test:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T11:15:50.002Z,1737026150.002 [sci2_slowyo_test:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T11:15:50.003Z,1737026150.003 [sci2_slowyo_test:Science:HighestChlPeakReport] Running Loop=1
2025-01-16T11:15:50.004Z,1737026150.004 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-01-16T11:15:50.004Z,1737026150.004 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T11:15:50.004Z,1737026150.004 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T11:15:50.004Z,1737026150.004 [sci2_slowyo_test:Science:PeakDetectNO3] Running Loop=1
2025-01-16T11:15:50.004Z,1737026150.004 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectNO3
2025-01-16T11:15:50.004Z,1737026150.004 [sci2_slowyo_test:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T11:15:50.005Z,1737026150.005 [sci2_slowyo_test:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T11:15:50.006Z,1737026150.006 [sci2_slowyo_test:Science:PeakDetectOil] Running Loop=1
2025-01-16T11:15:50.010Z,1737026150.010 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectOil
2025-01-16T11:15:50.010Z,1737026150.010 [sci2_slowyo_test:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T11:15:50.010Z,1737026150.010 [sci2_slowyo_test:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T11:15:50.012Z,1737026150.012 [sci2_slowyo_test:Science:HighestOilPeakReport] Running Loop=1
2025-01-16T11:15:50.012Z,1737026150.012 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-01-16T11:15:50.012Z,1737026150.012 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T11:15:50.012Z,1737026150.012 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T11:15:50.013Z,1737026150.013 [sci2_slowyo_test:Science:PeakDetectFDOM] Running Loop=1
2025-01-16T11:15:50.013Z,1737026150.013 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-01-16T11:15:50.013Z,1737026150.013 [sci2_slowyo_test:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T11:15:50.013Z,1737026150.013 [sci2_slowyo_test:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T11:15:50.014Z,1737026150.014 [sci2_slowyo_test:Science:PeakDetectSalinity] Running Loop=1
2025-01-16T11:15:50.018Z,1737026150.018 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-01-16T11:15:50.018Z,1737026150.018 [sci2_slowyo_test:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T11:15:50.018Z,1737026150.018 [sci2_slowyo_test:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T11:15:50.020Z,1737026150.020 [sci2_slowyo_test:Science:HighestSaltPeakReport] Running Loop=1
2025-01-16T11:15:50.020Z,1737026150.020 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-01-16T11:15:50.020Z,1737026150.020 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T11:15:50.020Z,1737026150.020 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T11:15:50.020Z,1737026150.020 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-01-16T11:15:50.020Z,1737026150.020 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-01-16T11:15:50.021Z,1737026150.021 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T11:15:50.021Z,1737026150.021 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T11:15:50.021Z,1737026150.021 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-16T11:15:50.027Z,1737026150.027 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-01-16T11:15:50.027Z,1737026150.027 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-01-16T11:15:50.027Z,1737026150.027 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T11:15:50.027Z,1737026150.027 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T11:15:50.028Z,1737026150.028 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-16T11:15:50.028Z,1737026150.028 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-01-16T11:15:50.029Z,1737026150.029 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-01-16T11:15:50.029Z,1737026150.029 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T11:15:50.029Z,1737026150.029 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T11:15:50.029Z,1737026150.029 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_diatoms , but backseat URI detected. Waiting for presence.
2025-01-16T11:15:50.030Z,1737026150.030 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-01-16T11:15:50.034Z,1737026150.034 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-16T11:15:50.034Z,1737026150.034 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T11:15:50.034Z,1737026150.034 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T11:15:50.035Z,1737026150.035 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_dinoflagellates , but backseat URI detected. Waiting for presence.
2025-01-16T11:15:50.036Z,1737026150.036 [sci2_slowyo_test:Science:ChlThreshTrigger] Running Loop=1
2025-01-16T11:15:50.036Z,1737026150.036 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-01-16T11:15:50.036Z,1737026150.036 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-01-16T11:15:50.036Z,1737026150.036 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-01-16T11:15:50.036Z,1737026150.036 [sci2_slowyo_test:Science:OceanCurrent] Running Loop=1
2025-01-16T11:15:50.036Z,1737026150.036 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:OceanCurrent
2025-01-16T11:15:50.036Z,1737026150.036 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-01-16T11:15:50.037Z,1737026150.037 [sci2_slowyo_test:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-01-16T11:15:50.037Z,1737026150.037 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-01-16T11:15:50.037Z,1737026150.037 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_slowyo_test:StandardEnvelopes
2025-01-16T11:15:50.037Z,1737026150.037 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T11:15:50.037Z,1737026150.037 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-16T11:15:50.037Z,1737026150.037 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T11:15:50.037Z,1737026150.037 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-16T11:15:50.037Z,1737026150.037 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T11:15:50.037Z,1737026150.037 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-16T11:15:50.037Z,1737026150.037 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-01-16T11:15:50.038Z,1737026150.038 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::initialize sci2_slowyo_test:BackseatDriver
2025-01-16T11:15:50.038Z,1737026150.038 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-16T11:15:50.038Z,1737026150.038 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-01-16T11:15:50.038Z,1737026150.038 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::initialize sci2_slowyo_test:PowerOnly
2025-01-16T11:15:50.038Z,1737026150.038 [sci2_slowyo_test:PowerOnly:A] Running Loop=1
2025-01-16T11:15:50.042Z,1737026150.042 [sci2_slowyo_test:PowerOnly:B] Running Loop=1
2025-01-16T11:15:50.042Z,1737026150.042 [sci2_slowyo_test:PowerOnly:C] Running Loop=1
2025-01-16T11:15:50.042Z,1737026150.042 [sci2_slowyo_test:PowerOnly:D] Running Loop=1
2025-01-16T11:15:50.042Z,1737026150.042 [sci2_slowyo_test:PowerOnly:E.Wait] Running Loop=1
2025-01-16T11:15:50.043Z,1737026150.043 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-16T11:15:50.043Z,1737026150.043 [sci2_slowyo_test:C] Running Loop=1
2025-01-16T11:15:50.044Z,1737026150.044 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-01-16T11:15:50.044Z,1737026150.044 [sci2_slowyo_test:PowerOnly:D] Stopped
2025-01-16T11:15:50.044Z,1737026150.044 [sci2_slowyo_test:PowerOnly:C] Stopped
2025-01-16T11:15:50.044Z,1737026150.044 [sci2_slowyo_test:PowerOnly:B] Stopped
2025-01-16T11:15:50.044Z,1737026150.044 [sci2_slowyo_test:PowerOnly:A] Stopped
2025-01-16T11:15:50.044Z,1737026150.044 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-01-16T11:15:50.044Z,1737026150.044 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-01-16T11:15:50.093Z,1737026150.093 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-01-16T11:15:50.093Z,1737026150.093 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T11:15:50.093Z,1737026150.093 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T11:15:50.094Z,1737026150.094 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T11:15:50.094Z,1737026150.094 [sci2_slowyo_test:C] Stopped
2025-01-16T11:15:50.094Z,1737026150.094 [sci2_slowyo_test:E] Running Loop=1
2025-01-16T11:15:50.095Z,1737026150.095 [sci2_slowyo_test:Science] Running Loop=1
2025-01-16T11:15:50.097Z,1737026150.097 [sci2_slowyo_test:Science:ChlThreshTrigger] Stopped
2025-01-16T11:15:50.097Z,1737026150.097 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-01-16T11:15:50.097Z,1737026150.097 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-01-16T11:15:50.097Z,1737026150.097 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-01-16T11:15:50.097Z,1737026150.097 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-01-16T11:15:50.097Z,1737026150.097 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-16T11:15:50.098Z,1737026150.098 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Stopped
2025-01-16T11:15:50.098Z,1737026150.098 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T11:15:50.098Z,1737026150.098 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-01-16T11:15:50.098Z,1737026150.098 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-01-16T11:15:50.098Z,1737026150.098 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Stopped
2025-01-16T11:15:50.098Z,1737026150.098 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T11:15:50.102Z,1737026150.102 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-01-16T11:15:50.102Z,1737026150.102 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-01-16T11:15:50.103Z,1737026150.103 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-16T11:15:50.103Z,1737026150.103 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T11:15:50.103Z,1737026150.103 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-01-16T11:15:50.103Z,1737026150.103 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-01-16T11:15:50.103Z,1737026150.103 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-16T11:15:50.103Z,1737026150.103 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T11:15:50.103Z,1737026150.103 [sci2_slowyo_test:Science:HighestSaltPeakReport] Stopped
2025-01-16T11:15:50.103Z,1737026150.103 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-01-16T11:15:50.103Z,1737026150.103 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T11:15:50.103Z,1737026150.103 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T11:15:50.103Z,1737026150.103 [sci2_slowyo_test:Science:PeakDetectSalinity] Stopped
2025-01-16T11:15:50.103Z,1737026150.103 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-01-16T11:15:50.103Z,1737026150.103 [sci2_slowyo_test:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2025-01-16T11:15:50.104Z,1737026150.104 [sci2_slowyo_test:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T11:15:50.104Z,1737026150.104 [sci2_slowyo_test:Science:PeakDetectFDOM] Stopped
2025-01-16T11:15:50.104Z,1737026150.104 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-01-16T11:15:50.104Z,1737026150.104 [sci2_slowyo_test:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2025-01-16T11:15:50.104Z,1737026150.104 [sci2_slowyo_test:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T11:15:50.104Z,1737026150.104 [sci2_slowyo_test:Science:HighestOilPeakReport] Stopped
2025-01-16T11:15:50.104Z,1737026150.104 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-01-16T11:15:50.104Z,1737026150.104 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T11:15:50.104Z,1737026150.104 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T11:15:50.104Z,1737026150.104 [sci2_slowyo_test:Science:PeakDetectOil] Stopped
2025-01-16T11:15:50.104Z,1737026150.104 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectOil
2025-01-16T11:15:50.104Z,1737026150.104 [sci2_slowyo_test:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2025-01-16T11:15:50.104Z,1737026150.104 [sci2_slowyo_test:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T11:15:50.105Z,1737026150.105 [sci2_slowyo_test:Science:PeakDetectNO3] Stopped
2025-01-16T11:15:50.105Z,1737026150.105 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectNO3
2025-01-16T11:15:50.105Z,1737026150.105 [sci2_slowyo_test:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2025-01-16T11:15:50.105Z,1737026150.105 [sci2_slowyo_test:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T11:15:50.105Z,1737026150.105 [sci2_slowyo_test:Science:HighestChlPeakReport] Stopped
2025-01-16T11:15:50.105Z,1737026150.105 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-01-16T11:15:50.105Z,1737026150.105 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T11:15:50.105Z,1737026150.105 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T11:15:50.105Z,1737026150.105 [sci2_slowyo_test:Science:PeakDetectChl] Stopped
2025-01-16T11:15:50.105Z,1737026150.105 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectChl
2025-01-16T11:15:50.105Z,1737026150.105 [sci2_slowyo_test:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2025-01-16T11:15:50.105Z,1737026150.105 [sci2_slowyo_test:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T11:15:50.106Z,1737026150.106 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-01-16T11:15:50.106Z,1737026150.106 [sci2_slowyo_test:Science:Read_Oil] Stopped
2025-01-16T11:15:50.106Z,1737026150.106 [sci2_slowyo_test:Science:F] Stopped
2025-01-16T11:15:50.106Z,1737026150.106 [sci2_slowyo_test:Science:E] Running Loop=1
2025-01-16T11:15:50.111Z,1737026150.111 [sci2_slowyo_test:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-01-16T11:15:50.111Z,1737026150.111 [sci2_slowyo_test:Science:D] Stopped
2025-01-16T11:15:50.111Z,1737026150.111 [sci2_slowyo_test:Science:C] Running Loop=1
2025-01-16T11:15:50.112Z,1737026150.112 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-01-16T11:15:50.112Z,1737026150.112 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-01-16T11:15:50.112Z,1737026150.112 [sci2_slowyo_test:Science:B] Running Loop=1
2025-01-16T11:15:50.113Z,1737026150.113 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-01-16T11:15:50.113Z,1737026150.113 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-01-16T11:15:50.113Z,1737026150.113 [sci2_slowyo_test:Science:A] Stopped
2025-01-16T11:15:50.160Z,1737026150.160 [WetLabsBB2FL](INFO): Powering up
2025-01-16T11:15:50.231Z,1737026150.231 [BackseatComponent](INFO): Powering up
2025-01-16T11:15:50.231Z,1737026150.231 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-01-16T11:15:50.375Z,1737026150.375 [sci2_slowyo_test:E] Stopped
2025-01-16T11:15:50.375Z,1737026150.375 [sci2_slowyo_test:F] Running Loop=1
2025-01-16T11:15:50.778Z,1737026150.778 [sci2_slowyo_test:F] Stopped
2025-01-16T11:15:50.779Z,1737026150.779 [sci2_slowyo_test:G] Running Loop=1
2025-01-16T11:15:51.182Z,1737026151.182 [sci2_slowyo_test:G] Stopped
2025-01-16T11:15:51.183Z,1737026151.183 [sci2_slowyo_test:StartingMission] Running Loop=1
2025-01-16T11:15:51.183Z,1737026151.183 [sci2_slowyo_test:StartingMission](DEBUG): Aggregate::initialize sci2_slowyo_test:StartingMission
2025-01-16T11:15:51.570Z,1737026151.570 [sci2_slowyo_test:SurfaceComms] Running Loop=1
2025-01-16T11:15:51.570Z,1737026151.570 [sci2_slowyo_test:SurfaceComms](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms
2025-01-16T11:15:51.570Z,1737026151.570 [sci2_slowyo_test:SurfaceComms:A] Running Loop=1
2025-01-16T11:15:51.571Z,1737026151.571 [sci2_slowyo_test:SurfaceComms:A] Stopped
2025-01-16T11:15:51.571Z,1737026151.571 [sci2_slowyo_test:SurfaceComms:B] Running Loop=1
2025-01-16T11:15:51.571Z,1737026151.571 [sci2_slowyo_test:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:B
2025-01-16T11:15:51.979Z,1737026151.979 [sci2_slowyo_test:NeedComms] Running Loop=1
2025-01-16T11:15:51.979Z,1737026151.979 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::initialize sci2_slowyo_test:NeedComms
2025-01-16T11:15:51.979Z,1737026151.979 [sci2_slowyo_test:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T11:15:51.979Z,1737026151.979 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T11:15:51.980Z,1737026151.980 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received depth rate setting 0.300000 m/s.
2025-01-16T11:15:51.980Z,1737026151.980 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T11:15:51.980Z,1737026151.980 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T11:15:51.981Z,1737026151.981 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T11:15:51.981Z,1737026151.981 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T11:15:51.981Z,1737026151.981 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T11:15:51.982Z,1737026151.982 [sci2_slowyo_test:NeedComms:A] Running Loop=1
2025-01-16T11:15:51.983Z,1737026151.983 [sci2_slowyo_test:NeedComms:A](INFO): last time_fix was:  1737026080.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T11:15:51.983Z,1737026151.983 [sci2_slowyo_test:NeedComms:A] Stopped
2025-01-16T11:15:52.388Z,1737026152.388 [sci2_slowyo_test:NeedComms:C] Running Loop=1
2025-01-16T11:15:52.812Z,1737026152.812 [sci2_slowyo_test:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T11:15:53.251Z,1737026153.251 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-01-16T11:15:54.389Z,1737026154.389 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,111553.00,A,3647.69217,N,12154.27869,W,0.194,286.86,160125,,,D*78
2025-01-16T11:15:54.391Z,1737026154.391 [NAL9602](INFO): GPS fix at 20250116T111553: (36.794869, -121.904645)
2025-01-16T11:15:54.435Z,1737026154.435 [sci2_slowyo_test:NeedComms:C] Stopped
2025-01-16T11:15:54.435Z,1737026154.435 [sci2_slowyo_test:NeedComms:D] Running Loop=1
2025-01-16T11:15:54.992Z,1737026154.992 [sci2_slowyo_test:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-16T11:16:07.766Z,1737026167.766 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250116T111413/Courier0003.lzma
2025-01-16T11:16:08.768Z,1737026168.768 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Courier0003.lzma.bak
2025-01-16T11:16:08.768Z,1737026168.768 [DataOverHttps](INFO): SBD MOMSN=23910441
2025-01-16T11:16:14.281Z,1737026174.281 [NAL9602](INFO): SBD MO Status=1, MOMSN=11840, MT Status=0, MTMSN=0
2025-01-16T11:16:14.281Z,1737026174.281 [NAL9602](INFO): No messages in MT queue
2025-01-16T11:16:26.303Z,1737026186.303 [DataOverHttps](INFO): Sending 510 bytes from file Logs/20250116T111413/Express0001.lzma
2025-01-16T11:16:27.304Z,1737026187.304 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Express0001.lzma.bak
2025-01-16T11:16:27.304Z,1737026187.304 [DataOverHttps](INFO): SBD MOMSN=23910445
2025-01-16T11:16:44.555Z,1737026204.555 [DataOverHttps](INFO): Sending 828 bytes from file Logs/20250116T111413/Express0004.lzma
2025-01-16T11:16:44.988Z,1737026204.988 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T11:16:45.552Z,1737026205.552 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Express0004.lzma.bak
2025-01-16T11:16:45.552Z,1737026205.552 [DataOverHttps](INFO): SBD MOMSN=23910451
2025-01-16T11:16:47.027Z,1737026207.027 [sci2_slowyo_test:NeedComms:D] Stopped
2025-01-16T11:16:47.028Z,1737026207.028 [sci2_slowyo_test:NeedComms:E] Running Loop=1
2025-01-16T11:16:47.424Z,1737026207.424 [sci2_slowyo_test:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T11:16:49.145Z,1737026209.145 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,111648.00,A,3647.69282,N,12154.28126,W,2.138,356.06,160125,,,D*70
2025-01-16T11:16:49.152Z,1737026209.152 [NAL9602](INFO): GPS fix at 20250116T111648: (36.794880, -121.904688)
2025-01-16T11:16:49.187Z,1737026209.187 [sci2_slowyo_test:NeedComms:E] Stopped
2025-01-16T11:16:49.188Z,1737026209.188 [sci2_slowyo_test:NeedComms](INFO): Completed sci2_slowyo_test:NeedComms
2025-01-16T11:16:49.188Z,1737026209.188 [sci2_slowyo_test:NeedComms] Stopped
2025-01-16T11:16:49.188Z,1737026209.188 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:NeedComms
2025-01-16T11:16:49.188Z,1737026209.188 [sci2_slowyo_test:NeedComms:B.GoToSurface] Stopped
2025-01-16T11:16:49.188Z,1737026209.188 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T11:16:49.496Z,1737026209.496 [sci2_slowyo_test:SurfaceComms:B](INFO): Completed sci2_slowyo_test:SurfaceComms:B
2025-01-16T11:16:49.496Z,1737026209.496 [sci2_slowyo_test:SurfaceComms:B] Stopped
2025-01-16T11:16:49.496Z,1737026209.496 [sci2_slowyo_test:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:B
2025-01-16T11:16:49.496Z,1737026209.496 [sci2_slowyo_test:SurfaceComms:setInitial] Running Loop=1
2025-01-16T11:16:49.496Z,1737026209.496 [sci2_slowyo_test:SurfaceComms:setInitial](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:setInitial
2025-01-16T11:16:49.496Z,1737026209.496 [sci2_slowyo_test:SurfaceComms:setInitial:A] Running Loop=1
2025-01-16T11:16:49.872Z,1737026209.872 [sci2_slowyo_test:SurfaceComms:setInitial] Stopped
2025-01-16T11:16:49.872Z,1737026209.872 [sci2_slowyo_test:SurfaceComms:setInitial](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:setInitial
2025-01-16T11:16:49.872Z,1737026209.872 [sci2_slowyo_test:SurfaceComms:setInitial:A] Stopped
2025-01-16T11:16:49.872Z,1737026209.872 [sci2_slowyo_test:SurfaceComms:setSink] Running Loop=1
2025-01-16T11:16:49.872Z,1737026209.872 [sci2_slowyo_test:SurfaceComms:setSink](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:setSink
2025-01-16T11:16:49.872Z,1737026209.872 [sci2_slowyo_test:SurfaceComms:setSink:A] Running Loop=1
2025-01-16T11:16:50.284Z,1737026210.284 [sci2_slowyo_test:SurfaceComms:setSink:A] Stopped
2025-01-16T11:16:50.284Z,1737026210.284 [sci2_slowyo_test:SurfaceComms:setSink](INFO): Completed sci2_slowyo_test:SurfaceComms:setSink
2025-01-16T11:16:50.284Z,1737026210.284 [sci2_slowyo_test:SurfaceComms:setSink] Stopped
2025-01-16T11:16:50.285Z,1737026210.285 [sci2_slowyo_test:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:setSink
2025-01-16T11:16:50.285Z,1737026210.285 [sci2_slowyo_test:SurfaceComms](INFO): Completed sci2_slowyo_test:SurfaceComms
2025-01-16T11:16:50.285Z,1737026210.285 [sci2_slowyo_test:SurfaceComms] Stopped
2025-01-16T11:16:50.285Z,1737026210.285 [sci2_slowyo_test:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms
2025-01-16T11:16:50.664Z,1737026210.664 [sci2_slowyo_test:StartingMission](INFO): Completed sci2_slowyo_test:StartingMission
2025-01-16T11:16:50.664Z,1737026210.664 [sci2_slowyo_test:StartingMission] Stopped
2025-01-16T11:16:50.664Z,1737026210.664 [sci2_slowyo_test:StartingMission](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StartingMission
2025-01-16T11:16:50.664Z,1737026210.664 [sci2_slowyo_test:Lap] Running Loop=1
2025-01-16T11:16:50.665Z,1737026210.665 [sci2_slowyo_test:Lap](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap
2025-01-16T11:16:50.665Z,1737026210.665 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-01-16T11:16:50.665Z,1737026210.665 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive
2025-01-16T11:16:50.665Z,1737026210.665 [sci2_slowyo_test:Lap:Dive:A] Running Loop=1
2025-01-16T11:16:50.665Z,1737026210.665 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive:A
2025-01-16T11:16:50.665Z,1737026210.665 [sci2_slowyo_test:Lap:Wpt1] Running Loop=1
2025-01-16T11:16:50.665Z,1737026210.665 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt1
2025-01-16T11:16:50.665Z,1737026210.665 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-01-16T11:16:50.665Z,1737026210.665 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-01-16T11:16:50.698Z,1737026210.698 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.796360,-121.903008
2025-01-16T11:16:51.126Z,1737026211.126 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.796360,-121.903008
2025-01-16T11:16:51.131Z,1737026211.131 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-01-16T11:16:51.131Z,1737026211.131 [sci2_slowyo_test:DiveCmd] Running Loop=1
2025-01-16T11:16:51.131Z,1737026211.131 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd
2025-01-16T11:16:51.131Z,1737026211.131 [sci2_slowyo_test:DiveCmd:SurfaceSink] Running Loop=1
2025-01-16T11:16:51.131Z,1737026211.131 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-01-16T11:16:51.131Z,1737026211.131 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-01-16T11:16:51.131Z,1737026211.131 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-01-16T11:16:51.131Z,1737026211.131 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-01-16T11:16:51.132Z,1737026211.132 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-16T11:16:51.132Z,1737026211.132 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-01-16T11:16:51.132Z,1737026211.132 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-01-16T11:16:51.132Z,1737026211.132 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-01-16T11:16:51.132Z,1737026211.132 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-01-16T11:16:51.132Z,1737026211.132 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive
2025-01-16T11:16:51.133Z,1737026211.133 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Running Loop=1
2025-01-16T11:16:51.133Z,1737026211.133 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-01-16T11:16:51.133Z,1737026211.133 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-01-16T11:16:51.133Z,1737026211.133 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Initialize.
2025-01-16T11:16:51.133Z,1737026211.133 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-01-16T11:16:51.133Z,1737026211.133 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-16T11:16:51.134Z,1737026211.134 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Running Loop=1
2025-01-16T11:16:51.134Z,1737026211.134 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-01-16T11:16:51.134Z,1737026211.134 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-01-16T11:16:51.134Z,1737026211.134 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-01-16T11:16:51.134Z,1737026211.134 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-01-16T11:16:51.138Z,1737026211.138 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-01-16T11:16:51.138Z,1737026211.138 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-16T11:16:51.138Z,1737026211.138 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-01-16T11:16:51.138Z,1737026211.138 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-01-16T11:16:51.139Z,1737026211.139 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-01-16T11:16:51.139Z,1737026211.139 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-01-16T11:16:51.139Z,1737026211.139 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-01-16T11:16:51.139Z,1737026211.139 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-01-16T11:16:51.139Z,1737026211.139 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-01-16T11:16:51.139Z,1737026211.139 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-01-16T11:16:51.140Z,1737026211.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-01-16T11:16:51.140Z,1737026211.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-01-16T11:16:51.140Z,1737026211.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-01-16T11:16:51.140Z,1737026211.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-01-16T11:16:51.140Z,1737026211.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-01-16T11:16:51.140Z,1737026211.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-16T11:16:51.140Z,1737026211.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-01-16T11:16:51.140Z,1737026211.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-01-16T11:16:51.141Z,1737026211.141 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-01-16T11:16:51.141Z,1737026211.141 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-01-16T11:16:51.141Z,1737026211.141 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-01-16T11:16:51.141Z,1737026211.141 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-01-16T11:16:51.141Z,1737026211.141 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-01-16T11:16:51.141Z,1737026211.141 [sci2_slowyo_test:DiveCmd:InitialDive] Stopped
2025-01-16T11:16:51.141Z,1737026211.141 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive
2025-01-16T11:16:51.141Z,1737026211.141 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Stopped
2025-01-16T11:16:51.141Z,1737026211.141 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-01-16T11:16:51.141Z,1737026211.141 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Stopped
2025-01-16T11:16:51.141Z,1737026211.141 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Uninitialize.
2025-01-16T11:16:51.141Z,1737026211.141 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-01-16T11:16:51.141Z,1737026211.141 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-16T11:16:51.142Z,1737026211.142 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Stopped
2025-01-16T11:16:51.142Z,1737026211.142 [sci2_slowyo_test:DiveCmd:SurfaceSink] Running Loop=1
2025-01-16T11:16:51.146Z,1737026211.146 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C](INFO): Sinking to  10.000000 m 
2025-01-16T11:16:51.146Z,1737026211.146 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Stopped
2025-01-16T11:16:51.147Z,1737026211.147 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch] Running Loop=1
2025-01-16T11:16:51.147Z,1737026211.147 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Initialize.
2025-01-16T11:16:51.147Z,1737026211.147 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-01-16T11:16:51.147Z,1737026211.147 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-01-16T11:16:54.407Z,1737026214.407 [MassServo](ERROR): getPosition uart error serial timeout
2025-01-16T11:16:54.407Z,1737026214.407 [MassServo](FAULT): Invalid EZ Servo response:"\377"
2025-01-16T11:16:54.407Z,1737026214.407 [MassServo] Communications Fault, FailCount= 1
2025-01-16T11:16:54.407Z,1737026214.407 [MassServo](ERROR): Communications Fault
2025-01-16T11:16:54.444Z,1737026214.444 [CBIT](ERROR): Communications Fault in component: MassServo
2025-01-16T11:16:54.843Z,1737026214.843 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-01-16T11:16:54.844Z,1737026214.844 [MassServo](INFO): Powering down
2025-01-16T11:16:55.558Z,1737026215.558 [MassServo](DEBUG): Initializing EZServoServo.
2025-01-16T11:16:55.679Z,1737026215.679 [MassServo](DEBUG): Initializing MassServo.
2025-01-16T11:16:55.684Z,1737026215.684 [CBIT](INFO): Clearing failed state for component MassServo
2025-01-16T11:16:55.684Z,1737026215.684 [MassServo] No Fault, FailCount= 1
2025-01-16T11:16:58.843Z,1737026218.843 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250116T111658
2025-01-16T11:17:10.044Z,1737026230.044 [NAL9602](INFO): SBD MO Status=1, MOMSN=11841, MT Status=0, MTMSN=0
2025-01-16T11:17:10.044Z,1737026230.044 [NAL9602](INFO): No messages in MT queue
2025-01-16T11:17:40.739Z,1737026260.739 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T11:17:57.336Z,1737026277.336 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2103
2025-01-16T11:17:57.705Z,1737026277.705 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-01-16T11:17:59.383Z,1737026279.383 [BuoyancyServo](FAULT): Overload Error
2025-01-16T11:17:59.383Z,1737026279.383 [BuoyancyServo] Hardware Fault, FailCount= 1
2025-01-16T11:17:59.383Z,1737026279.383 [BuoyancyServo](ERROR): Hardware Fault
2025-01-16T11:17:59.622Z,1737026279.622 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2025-01-16T11:18:00.975Z,1737026280.975 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-01-16T11:18:01.391Z,1737026281.391 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-01-16T11:18:01.391Z,1737026281.391 [BuoyancyServo](INFO): Powering down
2025-01-16T11:18:02.343Z,1737026282.343 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2025-01-16T11:18:02.343Z,1737026282.343 [BuoyancyServo] No Fault, FailCount= 1
2025-01-16T11:18:02.595Z,1737026282.595 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-01-16T11:18:02.603Z,1737026282.603 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-01-16T11:18:48.951Z,1737026328.951 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:19:20.075Z,1737026360.075 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:19:51.203Z,1737026391.203 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:20:09.476Z,1737026409.476 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-01-16T11:20:22.327Z,1737026422.327 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:20:53.470Z,1737026453.470 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:20:57.488Z,1737026457.488 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.744507
2025-01-16T11:21:54.724Z,1737026514.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:21:59.339Z,1737026519.339 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2104
2025-01-16T11:22:25.847Z,1737026545.847 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:22:56.983Z,1737026576.983 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:23:28.119Z,1737026608.119 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:23:59.243Z,1737026639.243 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:24:30.367Z,1737026670.367 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:25:01.515Z,1737026701.515 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:25:32.651Z,1737026732.651 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:26:03.775Z,1737026763.775 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:26:34.906Z,1737026794.906 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:26:51.472Z,1737026811.472 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](INFO): Timed out from 2025-01-16T11:16:51.1Z
2025-01-16T11:26:51.472Z,1737026811.472 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout] Running Loop=1
2025-01-16T11:26:51.472Z,1737026811.472 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout
2025-01-16T11:26:51.472Z,1737026811.472 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout:A] Running Loop=1
2025-01-16T11:26:51.473Z,1737026811.473 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout:A](IMPORTANT): Timed out while trying to reach target sink depth at current depth of  0.348032 m 
2025-01-16T11:26:51.473Z,1737026811.473 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout:A] Stopped
2025-01-16T11:26:51.473Z,1737026811.473 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout](INFO): Completed sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout
2025-01-16T11:26:51.473Z,1737026811.473 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch] Stopped
2025-01-16T11:26:51.473Z,1737026811.473 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToInit] Running Loop=1
2025-01-16T11:26:51.473Z,1737026811.473 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToInit](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToInit
2025-01-16T11:26:51.473Z,1737026811.473 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToInit:A] Running Loop=1
2025-01-16T11:26:51.859Z,1737026811.859 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToInit:A] Stopped
2025-01-16T11:26:51.860Z,1737026811.860 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToInit](INFO): Completed sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToInit
2025-01-16T11:26:51.860Z,1737026811.860 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToInit] Stopped
2025-01-16T11:26:51.860Z,1737026811.860 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToInit](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToInit
2025-01-16T11:26:51.860Z,1737026811.860 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToYo] Running Loop=1
2025-01-16T11:26:51.860Z,1737026811.860 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToYo](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToYo
2025-01-16T11:26:51.860Z,1737026811.860 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToYo:A] Running Loop=1
2025-01-16T11:26:52.267Z,1737026812.267 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-01-16T11:26:52.268Z,1737026812.268 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive
2025-01-16T11:26:52.268Z,1737026812.268 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Running Loop=1
2025-01-16T11:26:52.268Z,1737026812.268 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-01-16T11:26:52.268Z,1737026812.268 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-01-16T11:26:52.268Z,1737026812.268 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Initialize.
2025-01-16T11:26:52.268Z,1737026812.268 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-01-16T11:26:52.268Z,1737026812.268 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-16T11:26:52.268Z,1737026812.268 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Running Loop=1
2025-01-16T11:26:52.268Z,1737026812.268 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-01-16T11:26:52.268Z,1737026812.268 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C](INFO): Waiting for 1 minute while pumping down to neutral.
2025-01-16T11:26:52.269Z,1737026812.269 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Stopped
2025-01-16T11:26:52.269Z,1737026812.269 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait] Running Loop=1
2025-01-16T11:26:52.269Z,1737026812.269 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Initialize Wait Component.
2025-01-16T11:26:52.269Z,1737026812.269 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-01-16T11:26:52.269Z,1737026812.269 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-01-16T11:26:52.269Z,1737026812.269 [sci2_slowyo_test:DiveCmd:SurfaceSink] Stopped
2025-01-16T11:26:52.269Z,1737026812.269 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-01-16T11:26:52.270Z,1737026812.270 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Stopped
2025-01-16T11:26:52.270Z,1737026812.270 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-01-16T11:26:52.270Z,1737026812.270 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-01-16T11:26:52.270Z,1737026812.270 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-16T11:26:52.270Z,1737026812.270 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-01-16T11:26:52.270Z,1737026812.270 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-01-16T11:26:52.270Z,1737026812.270 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToYo] Stopped
2025-01-16T11:26:52.270Z,1737026812.270 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToYo](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToYo
2025-01-16T11:26:52.270Z,1737026812.270 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:sinkToYo:A] Stopped
2025-01-16T11:27:06.045Z,1737026826.045 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:27:37.183Z,1737026857.183 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:27:52.898Z,1737026872.898 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](INFO): Done Waiting.
2025-01-16T11:27:52.898Z,1737026872.898 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait] Stopped
2025-01-16T11:27:52.898Z,1737026872.898 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T11:27:52.903Z,1737026872.903 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E] Running Loop=1
2025-01-16T11:27:53.296Z,1737026873.296 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E](INFO): Moving to  10.000000 m 
2025-01-16T11:27:53.296Z,1737026873.296 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E] Stopped
2025-01-16T11:27:53.296Z,1737026873.296 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-01-16T11:27:53.296Z,1737026873.296 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-01-16T11:27:53.296Z,1737026873.296 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-01-16T11:27:53.296Z,1737026873.296 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-01-16T11:27:53.297Z,1737026873.297 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-01-16T11:27:53.297Z,1737026873.297 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-01-16T11:27:53.692Z,1737026873.692 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-01-16T11:28:08.311Z,1737026888.311 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:28:39.435Z,1737026919.435 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:29:10.559Z,1737026950.559 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:29:41.688Z,1737026981.688 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:29:54.385Z,1737026994.385 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-01-16T11:30:12.828Z,1737027012.828 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:30:43.963Z,1737027043.963 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:31:15.105Z,1737027075.105 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:32:26.909Z,1737027146.909 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.796360,-121.903008
2025-01-16T11:32:26.909Z,1737027146.909 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Stopped
2025-01-16T11:32:26.909Z,1737027146.909 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-01-16T11:32:26.909Z,1737027146.909 [sci2_slowyo_test:Lap:Wpt1](INFO): Completed sci2_slowyo_test:Lap:Wpt1
2025-01-16T11:32:26.910Z,1737027146.910 [sci2_slowyo_test:Lap:Wpt1] Stopped
2025-01-16T11:32:26.910Z,1737027146.910 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt1
2025-01-16T11:32:26.910Z,1737027146.910 [sci2_slowyo_test:Lap:Wpt2] Running Loop=1
2025-01-16T11:32:26.910Z,1737027146.910 [sci2_slowyo_test:Lap:Wpt2](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt2
2025-01-16T11:32:26.910Z,1737027146.910 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint] Running Loop=1
2025-01-16T11:32:26.910Z,1737027146.910 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-01-16T11:32:26.911Z,1737027146.911 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-01-16T11:32:27.322Z,1737027147.322 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-01-16T11:33:26.121Z,1737027206.121 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:33:57.251Z,1737027237.251 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:34:05.191Z,1737027245.191 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-01-16T11:34:05.191Z,1737027245.191 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-01-16T11:34:05.197Z,1737027245.197 [BPC1](FAULT): Failed to receive data from 32 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 62.
2025-01-16T11:34:28.375Z,1737027268.375 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:34:59.506Z,1737027299.506 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:35:30.639Z,1737027330.639 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:35:50.275Z,1737027350.275 [CTD_Seabird](ERROR): Salinity reading out of range: 27.516754 psu
2025-01-16T11:35:50.305Z,1737027350.305 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-16T11:36:01.775Z,1737027361.775 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:36:18.038Z,1737027378.038 [RudderServo](ERROR): getPosition uart error serial timeout
2025-01-16T11:36:18.039Z,1737027378.039 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2025-01-16T11:36:18.039Z,1737027378.039 [RudderServo] Communications Fault, FailCount= 1
2025-01-16T11:36:18.039Z,1737027378.039 [RudderServo](ERROR): Communications Fault
2025-01-16T11:36:18.118Z,1737027378.118 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-01-16T11:36:18.335Z,1737027378.335 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-01-16T11:36:18.336Z,1737027378.336 [RudderServo](INFO): Powering down
2025-01-16T11:36:19.120Z,1737027379.120 [RudderServo](DEBUG): Initializing EZServoServo.
2025-01-16T11:36:19.239Z,1737027379.239 [RudderServo](DEBUG): Initializing RudderServo.
2025-01-16T11:36:19.318Z,1737027379.318 [CBIT](INFO): Clearing failed state for component RudderServo
2025-01-16T11:36:19.318Z,1737027379.318 [RudderServo] No Fault, FailCount= 1
2025-01-16T11:36:32.900Z,1737027392.900 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:37:04.023Z,1737027424.023 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:37:35.152Z,1737027455.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:38:06.275Z,1737027486.275 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:38:37.402Z,1737027517.402 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:39:08.523Z,1737027548.523 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:40:10.939Z,1737027610.939 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:40:42.063Z,1737027642.063 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:42:11.627Z,1737027731.627 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003246
2025-01-16T11:42:53.675Z,1737027773.675 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](INFO): Timed out from 2025-01-16T11:27:53.3Z
2025-01-16T11:42:53.676Z,1737027773.676 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout] Running Loop=1
2025-01-16T11:42:53.676Z,1737027773.676 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout
2025-01-16T11:42:53.676Z,1737027773.676 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:A] Running Loop=1
2025-01-16T11:42:53.677Z,1737027773.677 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:A](IMPORTANT): Timed out while trying to reach target depth at current depth of  0.588686 m 
2025-01-16T11:42:53.677Z,1737027773.677 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:A] Stopped
2025-01-16T11:42:53.677Z,1737027773.677 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute] Running Loop=1
2025-01-16T11:42:54.067Z,1737027774.067 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](INFO): Executing command stop
2025-01-16T11:42:54.067Z,1737027774.067 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute] Stopped
2025-01-16T11:42:54.067Z,1737027774.067 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout
2025-01-16T11:42:54.067Z,1737027774.067 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-01-16T11:42:54.068Z,1737027774.068 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-01-16T11:42:54.068Z,1737027774.068 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-01-16T11:42:54.068Z,1737027774.068 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-01-16T11:42:54.068Z,1737027774.068 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-01-16T11:42:54.068Z,1737027774.068 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-01-16T11:42:54.068Z,1737027774.068 [sci2_slowyo_test:DiveCmd:InitialDive:dive:G] Running Loop=1
2025-01-16T11:42:54.140Z,1737027774.140 [CommandExec](IMPORTANT): got command stop
2025-01-16T11:42:54.140Z,1737027774.140 [CommandExec](IMPORTANT): Scheduling is paused for 20 commands
2025-01-16T11:42:54.140Z,1737027774.140 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-01-16T11:42:54.476Z,1737027774.476 [sci2_slowyo_test:DiveCmd:InitialDive:dive:G] Stopped
2025-01-16T11:42:54.476Z,1737027774.476 [sci2_slowyo_test:DiveCmd:InitialDive:dive](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-01-16T11:42:54.476Z,1737027774.476 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Stopped
2025-01-16T11:42:54.476Z,1737027774.476 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-01-16T11:42:54.477Z,1737027774.477 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Stopped
2025-01-16T11:42:54.477Z,1737027774.477 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Uninitialize.
2025-01-16T11:42:54.477Z,1737027774.477 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-01-16T11:42:54.477Z,1737027774.477 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-16T11:42:54.477Z,1737027774.477 [sci2_slowyo_test:DiveCmd:InitialDive](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive
2025-01-16T11:42:54.481Z,1737027774.481 [MissionManager](INFO): MissionManager is completed.
2025-01-16T11:42:54.481Z,1737027774.481 [MissionManager](INFO): Uninitializing Mission sci2_slowyo_test
2025-01-16T11:42:54.482Z,1737027774.482 [sci2_slowyo_test] Stopped
2025-01-16T11:42:54.482Z,1737027774.482 [sci2_slowyo_test](DEBUG): Aggregate::uninitialize sci2_slowyo_test
2025-01-16T11:42:54.482Z,1737027774.482 [sci2_slowyo_test:Science] Stopped
2025-01-16T11:42:54.482Z,1737027774.482 [sci2_slowyo_test:Science](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science
2025-01-16T11:42:54.482Z,1737027774.482 [sci2_slowyo_test:Science:B] Stopped
2025-01-16T11:42:54.482Z,1737027774.482 [sci2_slowyo_test:Science:C] Stopped
2025-01-16T11:42:54.482Z,1737027774.482 [sci2_slowyo_test:Science:E] Stopped
2025-01-16T11:42:54.482Z,1737027774.482 [sci2_slowyo_test:Science:OceanCurrent] Stopped
2025-01-16T11:42:54.483Z,1737027774.483 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:OceanCurrent
2025-01-16T11:42:54.483Z,1737027774.483 [sci2_slowyo_test:Science:OceanCurrent:A.] Stopped
2025-01-16T11:42:54.483Z,1737027774.483 [sci2_slowyo_test:StandardEnvelopes] Stopped
2025-01-16T11:42:54.483Z,1737027774.483 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StandardEnvelopes
2025-01-16T11:42:54.483Z,1737027774.483 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-16T11:42:54.483Z,1737027774.483 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-16T11:42:54.483Z,1737027774.483 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-16T11:42:54.483Z,1737027774.483 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-16T11:42:54.483Z,1737027774.483 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-16T11:42:54.483Z,1737027774.483 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-16T11:42:54.483Z,1737027774.483 [sci2_slowyo_test:BackseatDriver] Stopped
2025-01-16T11:42:54.483Z,1737027774.483 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_slowyo_test:BackseatDriver
2025-01-16T11:42:54.484Z,1737027774.484 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Stopped
2025-01-16T11:42:54.484Z,1737027774.484 [sci2_slowyo_test:PowerOnly] Stopped
2025-01-16T11:42:54.484Z,1737027774.484 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::uninitialize sci2_slowyo_test:PowerOnly
2025-01-16T11:42:54.484Z,1737027774.484 [sci2_slowyo_test:PowerOnly:E.Wait] Stopped
2025-01-16T11:42:54.484Z,1737027774.484 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T11:42:54.484Z,1737027774.484 [sci2_slowyo_test:DiveCmd] Stopped
2025-01-16T11:42:54.484Z,1737027774.484 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd
2025-01-16T11:42:54.484Z,1737027774.484 [sci2_slowyo_test:DiveCmd:InitialDive] Stopped
2025-01-16T11:42:54.484Z,1737027774.484 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive
2025-01-16T11:42:54.484Z,1737027774.484 [sci2_slowyo_test:Lap] Stopped
2025-01-16T11:42:54.484Z,1737027774.484 [sci2_slowyo_test:Lap](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap
2025-01-16T11:42:54.484Z,1737027774.484 [sci2_slowyo_test:Lap:Dive] Stopped
2025-01-16T11:42:54.485Z,1737027774.485 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive
2025-01-16T11:42:54.485Z,1737027774.485 [sci2_slowyo_test:Lap:Dive:A] Stopped
2025-01-16T11:42:54.485Z,1737027774.485 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive:A
2025-01-16T11:42:54.485Z,1737027774.485 [sci2_slowyo_test:Lap:Wpt2] Stopped
2025-01-16T11:42:54.485Z,1737027774.485 [sci2_slowyo_test:Lap:Wpt2](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt2
2025-01-16T11:42:54.485Z,1737027774.485 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint] Stopped
2025-01-16T11:42:54.485Z,1737027774.485 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-01-16T11:42:54.844Z,1737027774.844 [WetLabsBB2FL](INFO): Powering down
2025-01-16T11:42:54.903Z,1737027774.903 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-01-16T11:42:54.927Z,1737027774.927 [MissionManager](IMPORTANT): Started mission Default
2025-01-16T11:42:54.928Z,1737027774.928 [Default] Running Loop=1
2025-01-16T11:42:54.928Z,1737027774.928 [Default](DEBUG): Aggregate::initialize Default
2025-01-16T11:42:54.928Z,1737027774.928 [Default:B.GoToSurface] Running Loop=1
2025-01-16T11:42:54.928Z,1737027774.928 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T11:42:54.928Z,1737027774.928 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T11:42:54.929Z,1737027774.929 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T11:42:54.929Z,1737027774.929 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T11:42:54.929Z,1737027774.929 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T11:42:54.929Z,1737027774.929 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T11:42:54.930Z,1737027774.930 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T11:42:54.930Z,1737027774.930 [Default:A.Wait] Running Loop=1
2025-01-16T11:42:54.930Z,1737027774.930 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-16T11:42:55.320Z,1737027775.320 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-01-16T11:42:55.320Z,1737027775.320 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-01-16T11:43:08.274Z,1737027788.274 [Default:A.Wait](INFO): Done Waiting.
2025-01-16T11:43:08.274Z,1737027788.274 [Default:A.Wait] Stopped
2025-01-16T11:43:08.274Z,1737027788.274 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T11:43:08.667Z,1737027788.667 [Default:CheckIn] Running Loop=1
2025-01-16T11:43:08.667Z,1737027788.667 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T11:43:08.667Z,1737027788.667 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T11:43:10.667Z,1737027790.667 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,114309.00,A,3647.84345,N,12154.04781,W,0.758,113.02,160125,,,A*79
2025-01-16T11:43:10.669Z,1737027790.669 [NAL9602](INFO): GPS fix at 20250116T114309: (36.797391, -121.900797)
2025-01-16T11:43:10.681Z,1737027790.681 [UniversalFixResidualReporter](INFO): Fix residual: 47.1 %DT, over the last 802.4 m. Residual distance 377.7 m at bearing 106.4 degrees. Fix at (36.7974, -121.9008) with 444.9 m made good.
2025-01-16T11:43:10.682Z,1737027790.682 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T11:43:10.682Z,1737027790.682 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T11:43:13.503Z,1737027793.503 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-01-16T11:43:13.504Z,1737027793.504 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-01-16T11:43:13.504Z,1737027793.504 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-01-16T11:43:25.870Z,1737027805.870 [DataOverHttps](INFO): Sending 265 bytes from file Logs/20250116T111413/Courier0006.lzma
2025-01-16T11:43:26.872Z,1737027806.872 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Courier0006.lzma.bak
2025-01-16T11:43:26.873Z,1737027806.873 [DataOverHttps](INFO): SBD MOMSN=23910496
2025-01-16T11:43:30.229Z,1737027810.229 [NAL9602](INFO): SBD MO Status=1, MOMSN=11842, MT Status=0, MTMSN=0
2025-01-16T11:43:30.229Z,1737027810.229 [NAL9602](INFO): No messages in MT queue
2025-01-16T11:43:46.137Z,1737027826.137 [DataOverHttps](INFO): Sending 4665 bytes from file Logs/20250116T111413/Express0007.lzma
2025-01-16T11:43:47.132Z,1737027827.132 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Express0007.lzma.bak
2025-01-16T11:43:47.133Z,1737027827.133 [DataOverHttps](INFO): SBD MOMSN=23910499
2025-01-16T11:43:48.441Z,1737027828.441 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T11:43:48.441Z,1737027828.441 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-16T11:43:48.442Z,1737027828.442 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T11:44:00.951Z,1737027840.951 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T11:47:08.031Z,1737028028.031 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-01-16T11:48:49.049Z,1737028129.049 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-01-16T11:48:49.049Z,1737028129.049 [Default:CheckIn:C.Wait] Stopped
2025-01-16T11:48:49.050Z,1737028129.050 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T11:48:49.050Z,1737028129.050 [Default:CheckIn:D] Running Loop=1
2025-01-16T11:48:49.456Z,1737028129.456 [Default:CheckIn:D] Stopped
2025-01-16T11:48:49.457Z,1737028129.457 [Default:CheckIn:E] Running Loop=1
2025-01-16T11:48:49.853Z,1737028129.853 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  5.908812 min 
2025-01-16T11:48:49.853Z,1737028129.853 [Default:CheckIn:E] Stopped
2025-01-16T11:48:49.854Z,1737028129.854 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-01-16T11:48:49.854Z,1737028129.854 [Default:CheckIn] Stopped
2025-01-16T11:48:49.854Z,1737028129.854 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T11:48:49.854Z,1737028129.854 [Default:CheckIn](INFO): Running loop #2
2025-01-16T11:48:49.854Z,1737028129.854 [Default:CheckIn] Running Loop=2
2025-01-16T11:48:49.854Z,1737028129.854 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T11:48:49.854Z,1737028129.854 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T11:48:51.850Z,1737028131.850 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,114851.00,A,3647.86503,N,12154.06442,W,0.622,27.59,160125,,,D*46
2025-01-16T11:48:51.852Z,1737028131.852 [NAL9602](INFO): GPS fix at 20250116T114851: (36.797750, -121.901074)
2025-01-16T11:48:51.863Z,1737028131.863 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T11:48:51.863Z,1737028131.863 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T11:49:03.310Z,1737028143.310 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250116T111413/Courier0009.lzma
2025-01-16T11:49:04.308Z,1737028144.308 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Courier0009.lzma.bak
2025-01-16T11:49:04.308Z,1737028144.308 [DataOverHttps](INFO): SBD MOMSN=23910535
2025-01-16T11:49:16.981Z,1737028156.981 [NAL9602](INFO): SBD MO Status=1, MOMSN=11843, MT Status=0, MTMSN=0
2025-01-16T11:49:16.981Z,1737028156.981 [NAL9602](INFO): No messages in MT queue
2025-01-16T11:49:21.140Z,1737028161.140 [DataOverHttps](INFO): Sending 1134 bytes from file Logs/20250116T111413/Express0010.lzma
2025-01-16T11:49:22.140Z,1737028162.140 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Express0010.lzma.bak
2025-01-16T11:49:22.140Z,1737028162.140 [DataOverHttps](INFO): SBD MOMSN=23910538
2025-01-16T11:49:23.459Z,1737028163.459 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T11:49:23.459Z,1737028163.459 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-16T11:49:23.460Z,1737028163.460 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T11:49:47.683Z,1737028187.683 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T11:51:06.745Z,1737028266.745 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T115105
2025-01-16T11:51:14.654Z,1737028274.654 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 8 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 60 m" 8bkr 1 2
2025-01-16T11:51:14.704Z,1737028274.704 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 8 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 60 m" 8bkr 1 2.000000
2025-01-16T11:51:14.704Z,1737028274.704 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=8bkr
2025-01-16T11:51:14.705Z,1737028274.705 [CommandExec](IMPORTANT): Scheduled #55 (#1 of 2 with id='8bkr'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 8 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 60 m", ASAP
2025-01-16T11:51:15.656Z,1737028275.656 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T115114
2025-01-16T11:51:23.262Z,1737028283.262 [DataOverHttps](INFO): Received command: sched asap "set keepstation.DepthDeadband 30 m;set keepstation.MaxDepth 90 m;set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 8bkr 2 2
2025-01-16T11:51:23.342Z,1737028283.342 [CommandExec](IMPORTANT): got command schedule asap "set keepstation.DepthDeadband 30 m;set keepstation.MaxDepth 90 m;set keepstation:BackseatDriver.EnableBackseat 1 bool;run" 8bkr 2 2.000000
2025-01-16T11:51:23.343Z,1737028283.343 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=8bkr
2025-01-16T11:51:23.344Z,1737028283.344 [CommandExec](IMPORTANT): Scheduled #56 (#2 of 2 with id='8bkr'): "set keepstation.DepthDeadband 30 m;set keepstation.MaxDepth 90 m;set keepstation:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2025-01-16T11:51:23.460Z,1737028283.460 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-01-16T11:51:23.460Z,1737028283.460 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-01-16T11:51:23.461Z,1737028283.461 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-01-16T11:51:23.465Z,1737028283.465 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-01-16T11:51:24.223Z,1737028284.223 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="ApproachDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:KeepStation>
            <Parallel />
            <Setting>
                <Guidance:KeepStation.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.radius />
                <Arg Name="Radius" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:KeepStation>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-01-16T11:51:24.229Z,1737028284.229 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-01-16T11:51:24.233Z,1737028284.233 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-01-16T11:51:24.236Z,1737028284.236 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-01-16T11:51:24.273Z,1737028284.273 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-01-16T11:51:24.276Z,1737028284.276 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-01-16T11:51:24.288Z,1737028284.288 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-01-16T11:51:24.307Z,1737028284.307 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-01-16T11:51:24.310Z,1737028284.310 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-01-16T11:51:24.313Z,1737028284.313 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-01-16T11:51:24.317Z,1737028284.317 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-01-16T11:51:24.338Z,1737028284.338 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-01-16T11:51:24.338Z,1737028284.338 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-16T11:51:24.339Z,1737028284.339 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-16T11:51:24.340Z,1737028284.340 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-16T11:51:24.654Z,1737028284.654 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-01-16T11:51:24.660Z,1737028284.660 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-01-16T11:51:24.664Z,1737028284.664 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-16T11:51:24.683Z,1737028284.683 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-16T11:51:24.690Z,1737028284.690 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-01-16T11:51:24.701Z,1737028284.701 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-16T11:51:24.709Z,1737028284.709 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-16T11:51:24.713Z,1737028284.713 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-01-16T11:51:24.725Z,1737028284.725 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-01-16T11:51:24.741Z,1737028284.741 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T11:51:24.831Z,1737028284.831 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-16T11:51:24.831Z,1737028284.831 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-16T11:51:24.832Z,1737028284.832 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-16T11:51:24.970Z,1737028284.970 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-16T11:51:24.980Z,1737028284.980 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-16T11:51:24.991Z,1737028284.991 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-16T11:51:24.999Z,1737028284.999 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-16T11:51:25.007Z,1737028285.007 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-16T11:51:25.008Z,1737028285.008 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-16T11:51:25.025Z,1737028285.025 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-16T11:51:25.048Z,1737028285.048 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-16T11:51:25.083Z,1737028285.083 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-16T11:51:25.084Z,1737028285.084 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-16T11:51:25.091Z,1737028285.091 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-16T11:51:25.159Z,1737028285.159 [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>

2025-01-16T11:51:25.196Z,1737028285.196 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-01-16T11:51:25.211Z,1737028285.211 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-16T11:51:25.227Z,1737028285.227 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-16T11:51:25.227Z,1737028285.227 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-16T11:51:25.228Z,1737028285.228 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-16T11:51:25.457Z,1737028285.457 [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>

2025-01-16T11:51:25.478Z,1737028285.478 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-01-16T11:51:25.481Z,1737028285.481 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-01-16T11:51:25.485Z,1737028285.485 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-01-16T11:51:25.496Z,1737028285.496 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-01-16T11:51:25.500Z,1737028285.500 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-16T11:51:25.521Z,1737028285.521 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-16T11:51:25.524Z,1737028285.524 [keepstation:H.Pitch](DEBUG): Construct.
2025-01-16T11:51:25.545Z,1737028285.545 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T11:51:25.553Z,1737028285.553 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-01-16T11:51:25.598Z,1737028285.598 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-01-16T11:51:25.605Z,1737028285.605 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T11:51:25.641Z,1737028285.641 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-01-16T11:51:25.665Z,1737028285.665 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-01-16T11:51:25.684Z,1737028285.684 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-01-16T11:51:25.708Z,1737028285.708 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  call id="StartingMission" refId="NeedComms"

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

    run in sequence

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = ApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:KeepStation {
      run in parallel

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

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

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-01-16T11:51:25.708Z,1737028285.708 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-01-16T11:51:38.814Z,1737028298.814 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 8 hour
2025-01-16T11:51:38.815Z,1737028298.815 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-01-16T11:51:38.815Z,1737028298.815 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-01-16T11:51:38.816Z,1737028298.816 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-01-16T11:51:38.817Z,1737028298.817 [CommandExec](IMPORTANT): got command set keepstation.Depth 60 meter
2025-01-16T11:51:48.801Z,1737028308.801 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 30 meter
2025-01-16T11:51:48.802Z,1737028308.802 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 90 meter
2025-01-16T11:51:48.803Z,1737028308.803 [CommandExec](IMPORTANT): got command set keepstation:BackseatDriver.EnableBackseat 1 bool
2025-01-16T11:51:48.803Z,1737028308.803 [CommandExec](IMPORTANT): got command run
2025-01-16T11:51:48.805Z,1737028308.805 [CommandExec](IMPORTANT): Running 
2025-01-16T11:51:49.050Z,1737028309.050 [Default] Stopped
2025-01-16T11:51:49.050Z,1737028309.050 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-16T11:51:49.050Z,1737028309.050 [Default:B.GoToSurface] Stopped
2025-01-16T11:51:49.050Z,1737028309.050 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T11:51:49.050Z,1737028309.050 [Default:CheckIn] Stopped
2025-01-16T11:51:49.050Z,1737028309.050 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T11:51:49.050Z,1737028309.050 [Default:CheckIn:C.Wait] Stopped
2025-01-16T11:51:49.050Z,1737028309.050 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T11:51:49.051Z,1737028309.051 [MissionManager](IMPORTANT): Started mission keepstation
2025-01-16T11:51:49.051Z,1737028309.051 [keepstation] Running Loop=1
2025-01-16T11:51:49.051Z,1737028309.051 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-01-16T11:51:49.051Z,1737028309.051 [keepstation:StandardEnvelopes] Running Loop=1
2025-01-16T11:51:49.051Z,1737028309.051 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-01-16T11:51:49.051Z,1737028309.051 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T11:51:49.051Z,1737028309.051 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-16T11:51:49.052Z,1737028309.052 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T11:51:49.052Z,1737028309.052 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-16T11:51:49.052Z,1737028309.052 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T11:51:49.052Z,1737028309.052 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-16T11:51:49.052Z,1737028309.052 [keepstation:BackseatDriver] Running Loop=1
2025-01-16T11:51:49.052Z,1737028309.052 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-01-16T11:51:49.052Z,1737028309.052 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-16T11:51:49.052Z,1737028309.052 [keepstation:PowerOnly] Running Loop=1
2025-01-16T11:51:49.052Z,1737028309.052 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-01-16T11:51:49.052Z,1737028309.052 [keepstation:PowerOnly:A] Running Loop=1
2025-01-16T11:51:49.052Z,1737028309.052 [keepstation:PowerOnly:B] Running Loop=1
2025-01-16T11:51:49.052Z,1737028309.052 [keepstation:PowerOnly:C] Running Loop=1
2025-01-16T11:51:49.053Z,1737028309.053 [keepstation:PowerOnly:D] Running Loop=1
2025-01-16T11:51:49.053Z,1737028309.053 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-01-16T11:51:49.053Z,1737028309.053 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-16T11:51:49.053Z,1737028309.053 [keepstation:H.Pitch] Running Loop=1
2025-01-16T11:51:49.053Z,1737028309.053 [keepstation:H.Pitch](DEBUG): Initialize.
2025-01-16T11:51:49.053Z,1737028309.053 [keepstation:B] Running Loop=1
2025-01-16T11:51:49.054Z,1737028309.054 [keepstation:H.Pitch] Running Loop=1
2025-01-16T11:51:49.054Z,1737028309.054 [keepstation:PowerOnly] Running Loop=1
2025-01-16T11:51:49.055Z,1737028309.055 [keepstation:PowerOnly:D] Stopped
2025-01-16T11:51:49.055Z,1737028309.055 [keepstation:PowerOnly:C] Stopped
2025-01-16T11:51:49.055Z,1737028309.055 [keepstation:PowerOnly:B] Stopped
2025-01-16T11:51:49.055Z,1737028309.055 [keepstation:PowerOnly:A] Stopped
2025-01-16T11:51:49.055Z,1737028309.055 [keepstation:BackseatDriver] Running Loop=1
2025-01-16T11:51:49.055Z,1737028309.055 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-01-16T11:51:49.073Z,1737028309.073 [keepstation:StandardEnvelopes] Running Loop=1
2025-01-16T11:51:49.073Z,1737028309.073 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T11:51:49.073Z,1737028309.073 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T11:51:49.073Z,1737028309.073 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T11:51:49.074Z,1737028309.074 [keepstation:B] Stopped
2025-01-16T11:51:49.074Z,1737028309.074 [keepstation:D] Running Loop=1
2025-01-16T11:51:49.190Z,1737028309.190 [BackseatComponent](INFO): Powering up
2025-01-16T11:51:49.192Z,1737028309.192 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-01-16T11:51:49.478Z,1737028309.478 [keepstation:D] Stopped
2025-01-16T11:51:49.479Z,1737028309.479 [keepstation:E] Running Loop=1
2025-01-16T11:51:49.894Z,1737028309.894 [keepstation:E] Stopped
2025-01-16T11:51:49.895Z,1737028309.895 [keepstation:StartingMission] Running Loop=1
2025-01-16T11:51:49.895Z,1737028309.895 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-01-16T11:51:50.271Z,1737028310.271 [keepstation:NeedComms] Running Loop=1
2025-01-16T11:51:50.271Z,1737028310.271 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-01-16T11:51:50.271Z,1737028310.271 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T11:51:50.271Z,1737028310.271 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T11:51:50.272Z,1737028310.272 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T11:51:50.272Z,1737028310.272 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T11:51:50.272Z,1737028310.272 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T11:51:50.273Z,1737028310.273 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T11:51:50.273Z,1737028310.273 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T11:51:50.273Z,1737028310.273 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T11:51:50.274Z,1737028310.274 [keepstation:NeedComms:A] Running Loop=1
2025-01-16T11:51:50.275Z,1737028310.275 [keepstation:NeedComms:A](INFO): last time_fix was:  1737028131.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T11:51:50.275Z,1737028310.275 [keepstation:NeedComms:A] Stopped
2025-01-16T11:51:50.680Z,1737028310.680 [keepstation:NeedComms:C] Running Loop=1
2025-01-16T11:51:51.064Z,1737028311.064 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T11:51:52.653Z,1737028312.653 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,115152.00,A,3647.87639,N,12154.08090,W,1.186,308.91,160125,,,D*71
2025-01-16T11:51:52.656Z,1737028312.656 [NAL9602](INFO): GPS fix at 20250116T115152: (36.797940, -121.901348)
2025-01-16T11:51:52.703Z,1737028312.703 [keepstation:NeedComms:C] Stopped
2025-01-16T11:51:52.703Z,1737028312.703 [keepstation:NeedComms:D] Running Loop=1
2025-01-16T11:51:53.113Z,1737028313.113 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-16T11:51:53.657Z,1737028313.657 [DataOverHttps](INFO): Sending 71 bytes from file Logs/20250116T111413/Courier0012.lzma
2025-01-16T11:51:54.184Z,1737028314.184 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Courier0012.lzma.bak
2025-01-16T11:51:54.184Z,1737028314.184 [DataOverHttps](INFO): SBD MOMSN=23910545
2025-01-16T11:52:05.672Z,1737028325.672 [NAL9602](INFO): SBD MO Status=1, MOMSN=11844, MT Status=0, MTMSN=0
2025-01-16T11:52:05.672Z,1737028325.672 [NAL9602](INFO): No messages in MT queue
2025-01-16T11:52:11.773Z,1737028331.773 [DataOverHttps](INFO): Sending 1197 bytes from file Logs/20250116T111413/Express0013.lzma
2025-01-16T11:52:12.773Z,1737028332.773 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Express0013.lzma.bak
2025-01-16T11:52:12.773Z,1737028332.773 [DataOverHttps](INFO): SBD MOMSN=23910548
2025-01-16T11:52:14.176Z,1737028334.176 [keepstation:NeedComms:D] Stopped
2025-01-16T11:52:14.176Z,1737028334.176 [keepstation:NeedComms:E] Running Loop=1
2025-01-16T11:52:14.600Z,1737028334.600 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T11:52:16.208Z,1737028336.208 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,115215.00,A,3647.87804,N,12154.08342,W,0.214,293.19,160125,,,D*77
2025-01-16T11:52:16.215Z,1737028336.215 [NAL9602](INFO): GPS fix at 20250116T115215: (36.797967, -121.901390)
2025-01-16T11:52:16.267Z,1737028336.267 [keepstation:NeedComms:E] Stopped
2025-01-16T11:52:16.268Z,1737028336.268 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-01-16T11:52:16.268Z,1737028336.268 [keepstation:NeedComms] Stopped
2025-01-16T11:52:16.268Z,1737028336.268 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-01-16T11:52:16.268Z,1737028336.268 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-01-16T11:52:16.269Z,1737028336.269 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T11:52:16.647Z,1737028336.647 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-01-16T11:52:16.647Z,1737028336.647 [keepstation:StartingMission] Stopped
2025-01-16T11:52:16.647Z,1737028336.647 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-01-16T11:52:16.647Z,1737028336.647 [keepstation:TransitToStation] Running Loop=1
2025-01-16T11:52:16.648Z,1737028336.648 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-01-16T11:52:16.648Z,1737028336.648 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-01-16T11:52:16.648Z,1737028336.648 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-16T11:52:16.648Z,1737028336.648 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-01-16T11:52:16.648Z,1737028336.648 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-01-16T11:52:16.648Z,1737028336.648 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-01-16T11:52:16.648Z,1737028336.648 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-01-16T11:52:16.648Z,1737028336.648 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-01-16T11:52:16.648Z,1737028336.648 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-01-16T11:52:16.649Z,1737028336.649 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-01-16T11:52:17.031Z,1737028337.031 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-01-16T11:52:17.032Z,1737028337.032 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-01-16T11:52:17.032Z,1737028337.032 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-01-16T11:52:17.032Z,1737028337.032 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-01-16T11:52:48.380Z,1737028368.380 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T11:52:56.577Z,1737028376.577 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250116T115256
2025-01-16T11:53:44.735Z,1737028424.735 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:53:56.919Z,1737028436.919 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2103
2025-01-16T11:53:57.274Z,1737028437.274 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-01-16T11:54:09.519Z,1737028449.519 [Radio_Surface](INFO): Powering down
2025-01-16T11:54:15.859Z,1737028455.859 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:54:16.862Z,1737028456.862 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-16T11:54:27.241Z,1737028467.241 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-01-16T11:55:09.575Z,1737028509.575 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-01-16T11:55:53.263Z,1737028553.263 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.747101
2025-01-16T11:56:09.162Z,1737028569.162 [Radio_Surface](INFO): Powering up
2025-01-16T11:56:15.351Z,1737028575.351 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-16T11:56:45.471Z,1737028605.471 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:57:16.603Z,1737028636.603 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:57:47.731Z,1737028667.731 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:57:57.488Z,1737028677.488 [keepstation:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2104
2025-01-16T11:58:18.857Z,1737028698.857 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T11:58:48.159Z,1737028728.159 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003523
2025-01-16T12:00:21.979Z,1737028821.979 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T12:00:53.111Z,1737028853.111 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T12:01:11.095Z,1737028871.095 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-01-16T12:01:16.759Z,1737028876.759 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-01-16T12:01:16.759Z,1737028876.759 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-01-16T12:01:16.759Z,1737028876.759 [ThrusterHE] Communications Fault, FailCount= 1
2025-01-16T12:01:16.759Z,1737028876.759 [ThrusterHE](ERROR): Communications Fault
2025-01-16T12:01:16.763Z,1737028876.763 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-01-16T12:01:17.048Z,1737028877.048 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-01-16T12:01:17.048Z,1737028877.048 [ThrusterHE](INFO): Powering down
2025-01-16T12:01:17.963Z,1737028877.963 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-01-16T12:01:18.085Z,1737028878.085 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-01-16T12:01:18.089Z,1737028878.089 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-01-16T12:01:18.089Z,1737028878.089 [ThrusterHE] No Fault, FailCount= 1
2025-01-16T12:05:57.019Z,1737029157.019 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T12:06:28.143Z,1737029188.143 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T12:07:29.723Z,1737029249.723 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T12:08:00.847Z,1737029280.847 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T12:10:56.272Z,1737029456.272 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-01-16T12:15:06.000Z,1737029707.000 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-01-16T12:15:07.000Z,1737029707.000 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-01-16T12:15:07.006Z,1737029707.006 [BPC1](FAULT): Failed to receive data from 32 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 62.
2025-01-16T12:25:11.603Z,1737030311.603 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-01-16T12:34:40.066Z,1737030880.066 [ElevatorServo](ERROR): getPosition uart error serial timeout
2025-01-16T12:34:40.066Z,1737030880.066 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2025-01-16T12:34:40.067Z,1737030880.067 [ElevatorServo] Communications Fault, FailCount= 1
2025-01-16T12:34:40.067Z,1737030880.067 [ElevatorServo](ERROR): Communications Fault
2025-01-16T12:34:40.315Z,1737030880.315 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2025-01-16T12:34:40.418Z,1737030880.418 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-01-16T12:34:40.418Z,1737030880.418 [ElevatorServo](INFO): Powering down
2025-01-16T12:34:41.227Z,1737030881.227 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-01-16T12:34:41.343Z,1737030881.343 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-01-16T12:34:41.496Z,1737030881.496 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-01-16T12:34:41.496Z,1737030881.496 [ElevatorServo] No Fault, FailCount= 1
2025-01-16T12:52:16.233Z,1737031936.233 [keepstation:NeedComms] Running Loop=1
2025-01-16T12:52:16.233Z,1737031936.233 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-01-16T12:52:16.233Z,1737031936.233 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T12:52:16.233Z,1737031936.233 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T12:52:16.233Z,1737031936.233 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T12:52:16.234Z,1737031936.234 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T12:52:16.246Z,1737031936.246 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T12:52:16.247Z,1737031936.247 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T12:52:16.247Z,1737031936.247 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T12:52:16.248Z,1737031936.248 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T12:52:16.248Z,1737031936.248 [keepstation:NeedComms:A] Running Loop=1
2025-01-16T12:52:16.249Z,1737031936.249 [keepstation:NeedComms:A](INFO): last time_fix was:  1737028335.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T12:52:16.249Z,1737031936.249 [keepstation:NeedComms:A] Stopped
2025-01-16T12:52:16.812Z,1737031936.812 [keepstation:NeedComms:C] Running Loop=1
2025-01-16T12:52:18.898Z,1737031938.898 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,125218.00,A,3648.02401,N,12152.87378,W,0.700,107.44,160125,,,A*79
2025-01-16T12:52:18.900Z,1737031938.900 [NAL9602](INFO): GPS fix at 20250116T125218: (36.800400, -121.881230)
2025-01-16T12:52:18.913Z,1737031938.913 [UniversalFixResidualReporter](INFO): Fix residual: 33.8 %DT, over the last 2627.0 m. Residual distance 888.1 m at bearing 111.8 degrees. Fix at (36.8004, -121.8812) with 1815.3 m made good.
2025-01-16T12:52:18.919Z,1737031938.919 [keepstation:NeedComms:C] Stopped
2025-01-16T12:52:18.919Z,1737031938.919 [keepstation:NeedComms:D] Running Loop=1
2025-01-16T12:52:28.604Z,1737031948.604 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250116T111413/Courier0015.lzma
2025-01-16T12:52:29.470Z,1737031949.470 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Courier0015.lzma.bak
2025-01-16T12:52:29.471Z,1737031949.471 [DataOverHttps](INFO): SBD MOMSN=23910658
2025-01-16T12:52:44.805Z,1737031964.805 [NAL9602](INFO): SBD MO Status=1, MOMSN=11845, MT Status=0, MTMSN=0
2025-01-16T12:52:44.805Z,1737031964.805 [NAL9602](INFO): No messages in MT queue
2025-01-16T12:52:45.971Z,1737031965.971 [DataOverHttps](INFO): Sending 5036 bytes from file Logs/20250116T111413/Express0017.lzma
2025-01-16T12:52:46.964Z,1737031966.964 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Express0017.lzma.bak
2025-01-16T12:52:46.964Z,1737031966.964 [DataOverHttps](INFO): SBD MOMSN=23910661
2025-01-16T12:52:48.455Z,1737031968.455 [keepstation:NeedComms:D] Stopped
2025-01-16T12:52:48.456Z,1737031968.456 [keepstation:NeedComms:E] Running Loop=1
2025-01-16T12:52:50.480Z,1737031970.480 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,125249.00,A,3648.02386,N,12152.86740,W,0.408,96.71,160125,,,A*4F
2025-01-16T12:52:50.482Z,1737031970.482 [NAL9602](INFO): GPS fix at 20250116T125249: (36.800398, -121.881123)
2025-01-16T12:52:50.511Z,1737031970.511 [keepstation:NeedComms:E] Stopped
2025-01-16T12:52:50.512Z,1737031970.512 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-01-16T12:52:50.512Z,1737031970.512 [keepstation:NeedComms] Stopped
2025-01-16T12:52:50.512Z,1737031970.512 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-01-16T12:52:50.512Z,1737031970.512 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-01-16T12:52:50.513Z,1737031970.513 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T12:53:22.217Z,1737032002.217 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T12:55:20.859Z,1737032120.859 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-01-16T12:56:08.971Z,1737032168.971 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-01-16T12:56:08.971Z,1737032168.971 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-01-16T12:56:08.977Z,1737032168.977 [BPC1](FAULT): Failed to receive data from 32 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 62.
2025-01-16T12:57:09.336Z,1737032229.336 [Sonardyne_Nano](INFO): Battery at maximum, disabling charging
2025-01-16T13:12:45.713Z,1737033165.713 [ElevatorServo](ERROR): getPosition uart error serial timeout
2025-01-16T13:12:45.713Z,1737033165.713 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2025-01-16T13:12:45.713Z,1737033165.713 [ElevatorServo] Communications Fault, FailCount= 1
2025-01-16T13:12:45.713Z,1737033165.713 [ElevatorServo](ERROR): Communications Fault
2025-01-16T13:12:46.050Z,1737033166.050 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2025-01-16T13:12:46.190Z,1737033166.190 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-01-16T13:12:46.191Z,1737033166.191 [ElevatorServo](INFO): Powering down
2025-01-16T13:12:46.978Z,1737033166.978 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-01-16T13:12:47.091Z,1737033167.091 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-01-16T13:12:47.305Z,1737033167.305 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-01-16T13:12:47.305Z,1737033167.305 [ElevatorServo] No Fault, FailCount= 1
2025-01-16T13:24:18.487Z,1737033858.487 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:24:30.991Z,1737033870.991 [Radio_Surface](INFO): Powering down
2025-01-16T13:24:49.611Z,1737033889.611 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:24:50.615Z,1737033890.615 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-16T13:26:28.039Z,1737033988.039 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.758942
2025-01-16T13:32:58.041Z,1737034378.041 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-01-16T13:37:10.819Z,1737034630.819 [BPC1](ERROR): Battery stick #41 (s/n: 0085) reported OVER_TEMP_ALARM. Status code: 0x1717.
2025-01-16T13:37:10.820Z,1737034630.820 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-01-16T13:37:10.821Z,1737034630.821 [BPC1](INFO): Calculating totals. Valid battery stick count: 26. Valid reserve battery stick count: 3.
2025-01-16T13:37:10.826Z,1737034630.826 [BPC1](FAULT): Failed to receive data from 32 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 62.
2025-01-16T13:41:24.775Z,1737034884.775 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-01-16T13:42:39.578Z,1737034959.578 [Radio_Surface](INFO): Powering up
2025-01-16T13:42:45.103Z,1737034965.103 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-16T13:43:15.223Z,1737034995.223 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:43:46.347Z,1737035026.347 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:44:17.471Z,1737035057.471 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:44:48.615Z,1737035088.615 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:44:58.131Z,1737035098.131 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003393
2025-01-16T13:46:21.479Z,1737035181.479 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:46:27.215Z,1737035187.215 [Radio_Surface](INFO): Powering down
2025-01-16T13:46:46.219Z,1737035206.219 [Radio_Surface](INFO): Powering up
2025-01-16T13:46:52.603Z,1737035212.603 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:47:23.727Z,1737035243.727 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:47:54.850Z,1737035274.850 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:47:58.868Z,1737035278.868 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.739960
2025-01-16T13:48:56.095Z,1737035336.095 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:49:17.318Z,1737035357.318 [Radio_Surface](INFO): Powering down
2025-01-16T13:49:27.219Z,1737035367.219 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:49:28.223Z,1737035368.223 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-16T13:52:19.630Z,1737035539.630 [Radio_Surface](INFO): Powering up
2025-01-16T13:52:24.951Z,1737035544.951 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-16T13:52:50.691Z,1737035570.691 [keepstation:NeedComms] Running Loop=1
2025-01-16T13:52:50.691Z,1737035570.691 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-01-16T13:52:50.691Z,1737035570.691 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T13:52:50.692Z,1737035570.692 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T13:52:50.692Z,1737035570.692 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T13:52:50.692Z,1737035570.692 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T13:52:50.693Z,1737035570.693 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T13:52:50.693Z,1737035570.693 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T13:52:50.693Z,1737035570.693 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T13:52:50.694Z,1737035570.694 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T13:52:50.695Z,1737035570.695 [keepstation:NeedComms:A] Running Loop=1
2025-01-16T13:52:50.700Z,1737035570.700 [keepstation:NeedComms:A](INFO): last time_fix was:  1737031969.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T13:52:50.700Z,1737035570.700 [keepstation:NeedComms:A] Stopped
2025-01-16T13:52:51.109Z,1737035571.109 [keepstation:NeedComms:C] Running Loop=1
2025-01-16T13:52:53.097Z,1737035573.097 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135252.00,A,3648.16351,N,12151.38584,W,1.788,84.70,160125,,,A*4F
2025-01-16T13:52:53.100Z,1737035573.100 [NAL9602](INFO): GPS fix at 20250116T135252: (36.802725, -121.856431)
2025-01-16T13:52:53.112Z,1737035573.112 [UniversalFixResidualReporter](INFO): Fix residual: 26.1 %DT, over the last 2631.5 m. Residual distance 686.4 m at bearing 155.7 degrees. Fix at (36.8027, -121.8564) with 2213.7 m made good.
2025-01-16T13:52:53.139Z,1737035573.139 [keepstation:NeedComms:C] Stopped
2025-01-16T13:52:53.139Z,1737035573.139 [keepstation:NeedComms:D] Running Loop=1
2025-01-16T13:52:55.071Z,1737035575.071 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:53:26.211Z,1737035606.211 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:53:35.555Z,1737035615.555 [NAL9602](INFO): SBD MO Status=2, MOMSN=11846, MT Status=2, MTMSN=0
2025-01-16T13:53:35.555Z,1737035615.555 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T13:53:57.355Z,1737035637.355 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:54:09.274Z,1737035649.274 [NAL9602](INFO): SBD MO Status=1, MOMSN=11846, MT Status=0, MTMSN=0
2025-01-16T13:54:09.324Z,1737035649.324 [NAL9602](INFO): Sent 93 bytes from file Logs/20250116T111413/Courier0021.lzma
2025-01-16T13:54:09.324Z,1737035649.324 [NAL9602](INFO): Packets left to send: 0
2025-01-16T13:54:28.479Z,1737035668.479 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T13:54:34.245Z,1737035674.245 [NAL9602](INFO): SBD MO Status=2, MOMSN=11847, MT Status=2, MTMSN=0
2025-01-16T13:54:34.246Z,1737035674.246 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T13:54:38.935Z,1737035678.935 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003342
2025-01-16T13:54:46.866Z,1737035686.866 [DataOverHttps](INFO): Sending 4579 bytes from file Logs/20250116T111413/Express0022.lzma
2025-01-16T13:54:47.860Z,1737035687.860 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Express0022.lzma.bak
2025-01-16T13:54:47.860Z,1737035687.860 [DataOverHttps](INFO): SBD MOMSN=23910742
2025-01-16T13:54:49.212Z,1737035689.212 [keepstation:NeedComms:D] Stopped
2025-01-16T13:54:49.212Z,1737035689.212 [keepstation:NeedComms:E] Running Loop=1
2025-01-16T13:54:51.306Z,1737035691.306 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135450.00,A,3648.17419,N,12151.37332,W,0.486,39.96,160125,,,A*47
2025-01-16T13:54:51.312Z,1737035691.312 [NAL9602](INFO): GPS fix at 20250116T135450: (36.802903, -121.856222)
2025-01-16T13:54:51.344Z,1737035691.344 [keepstation:NeedComms:E] Stopped
2025-01-16T13:54:51.345Z,1737035691.345 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-01-16T13:54:51.345Z,1737035691.345 [keepstation:NeedComms] Stopped
2025-01-16T13:54:51.345Z,1737035691.345 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-01-16T13:54:51.345Z,1737035691.345 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-01-16T13:54:51.345Z,1737035691.345 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T13:55:23.681Z,1737035723.681 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T13:59:23.175Z,1737035963.175 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T14:09:01.182Z,1737036541.182 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T14:09:11.742Z,1737036551.742 [Radio_Surface](INFO): Powering down
2025-01-16T14:09:32.303Z,1737036572.303 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T14:09:33.307Z,1737036573.307 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-16T14:11:09.713Z,1737036669.713 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.764877
2025-01-16T14:18:12.611Z,1737037092.611 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-01-16T14:18:12.611Z,1737037092.611 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-01-16T14:18:12.617Z,1737037092.617 [BPC1](FAULT): Failed to receive data from 32 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 62.
2025-01-16T14:20:07.231Z,1737037207.231 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-01-16T14:20:07.231Z,1737037207.231 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-01-16T14:20:07.231Z,1737037207.231 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-01-16T14:20:07.232Z,1737037207.232 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-01-16T14:20:07.232Z,1737037207.232 [keepstation:TransitToStation] Stopped
2025-01-16T14:20:07.232Z,1737037207.232 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-01-16T14:20:07.232Z,1737037207.232 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-01-16T14:20:07.232Z,1737037207.232 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-16T14:20:07.232Z,1737037207.232 [keepstation:TransitToStation:B.Pitch] Stopped
2025-01-16T14:20:07.232Z,1737037207.232 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-01-16T14:20:07.232Z,1737037207.232 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-01-16T14:20:07.233Z,1737037207.233 [keepstation:OnStation] Running Loop=1
2025-01-16T14:20:07.233Z,1737037207.233 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-01-16T14:20:07.639Z,1737037207.639 [keepstation:NeedComms] Running Loop=1
2025-01-16T14:20:07.639Z,1737037207.639 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-01-16T14:20:07.639Z,1737037207.639 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T14:20:07.639Z,1737037207.639 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T14:20:07.640Z,1737037207.640 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T14:20:07.640Z,1737037207.640 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T14:20:07.640Z,1737037207.640 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T14:20:07.641Z,1737037207.641 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T14:20:07.641Z,1737037207.641 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T14:20:07.641Z,1737037207.641 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T14:20:07.642Z,1737037207.642 [keepstation:NeedComms:A] Running Loop=1
2025-01-16T14:20:07.643Z,1737037207.643 [keepstation:NeedComms:A](INFO): last time_fix was:  1737035690.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T14:20:07.643Z,1737037207.643 [keepstation:NeedComms:A] Stopped
2025-01-16T14:20:56.700Z,1737037256.700 [keepstation:NeedComms:C] Running Loop=1
2025-01-16T14:20:57.262Z,1737037257.262 [Radio_Surface](INFO): Powering up
2025-01-16T14:21:03.139Z,1737037263.139 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-16T14:21:33.258Z,1737037293.258 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T14:22:00.252Z,1737037320.252 [NAL9602](INFO): SBD MO Status=1, MOMSN=11847, MT Status=0, MTMSN=0
2025-01-16T14:22:00.252Z,1737037320.252 [NAL9602](INFO): No messages in MT queue
2025-01-16T14:22:01.471Z,1737037321.471 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,142200.00,A,3648.01775,N,12150.79982,W,0.369,86.38,160125,,,A*46
2025-01-16T14:22:01.473Z,1737037321.473 [NAL9602](INFO): GPS fix at 20250116T142200: (36.800296, -121.846664)
2025-01-16T14:22:01.502Z,1737037321.502 [UniversalFixResidualReporter](INFO): Fix residual: 33.0 %DT, over the last 1170.5 m. Residual distance 386.4 m at bearing 175.9 degrees. Fix at (36.8003, -121.8467) with 899.1 m made good.
2025-01-16T14:22:01.507Z,1737037321.507 [keepstation:NeedComms:C] Stopped
2025-01-16T14:22:01.508Z,1737037321.508 [keepstation:NeedComms:D] Running Loop=1
2025-01-16T14:22:04.391Z,1737037324.391 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T14:22:18.753Z,1737037338.753 [NAL9602](INFO): SBD MO Status=1, MOMSN=11848, MT Status=0, MTMSN=0
2025-01-16T14:22:18.802Z,1737037338.802 [NAL9602](INFO): Sent 94 bytes from file Logs/20250116T111413/Courier0024.lzma
2025-01-16T14:22:18.803Z,1737037338.803 [NAL9602](INFO): Packets left to send: 0
2025-01-16T14:22:35.531Z,1737037355.531 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T14:22:36.943Z,1737037356.943 [NAL9602](INFO): SBD MO Status=1, MOMSN=11849, MT Status=0, MTMSN=0
2025-01-16T14:22:36.995Z,1737037356.995 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T111413/Express0025.lzma
2025-01-16T14:22:36.995Z,1737037356.995 [NAL9602](INFO): Packets left to send: 6
2025-01-16T14:22:49.437Z,1737037369.437 [NAL9602](INFO): SBD MO Status=1, MOMSN=11850, MT Status=0, MTMSN=0
2025-01-16T14:22:49.491Z,1737037369.491 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T111413/Express0025.lzma
2025-01-16T14:22:49.491Z,1737037369.491 [NAL9602](INFO): Packets left to send: 5
2025-01-16T14:23:02.392Z,1737037382.392 [NAL9602](INFO): SBD MO Status=1, MOMSN=11851, MT Status=0, MTMSN=0
2025-01-16T14:23:02.439Z,1737037382.439 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T111413/Express0025.lzma
2025-01-16T14:23:02.439Z,1737037382.439 [NAL9602](INFO): Packets left to send: 4
2025-01-16T14:23:06.660Z,1737037386.660 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T14:23:15.425Z,1737037395.425 [NAL9602](INFO): SBD MO Status=1, MOMSN=11852, MT Status=0, MTMSN=0
2025-01-16T14:23:15.478Z,1737037395.478 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T111413/Express0025.lzma
2025-01-16T14:23:15.479Z,1737037395.479 [NAL9602](INFO): Packets left to send: 3
2025-01-16T14:23:15.568Z,1737037395.568 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004100
2025-01-16T14:23:23.297Z,1737037403.297 [DataOverHttps](INFO): Sending 2077 bytes from file Logs/20250116T111413/Express0025.lzma
2025-01-16T14:23:24.217Z,1737037404.217 [NAL9602](INFO): SBD MO Status=1, MOMSN=11853, MT Status=0, MTMSN=0
2025-01-16T14:23:24.267Z,1737037404.267 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T111413/Express0025.lzma
2025-01-16T14:23:24.267Z,1737037404.267 [NAL9602](INFO): Packets left to send: 2
2025-01-16T14:23:24.296Z,1737037404.296 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Express0025.lzma.bak
2025-01-16T14:23:24.296Z,1737037404.296 [DataOverHttps](INFO): SBD MOMSN=23910799
2025-01-16T14:23:25.467Z,1737037405.467 [keepstation:NeedComms:D] Stopped
2025-01-16T14:23:25.468Z,1737037405.468 [keepstation:NeedComms:E] Running Loop=1
2025-01-16T14:23:27.445Z,1737037407.445 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,142326.00,A,3648.02359,N,12150.79357,W,0.700,342.10,160125,,,A*72
2025-01-16T14:23:27.447Z,1737037407.447 [NAL9602](INFO): GPS fix at 20250116T142326: (36.800393, -121.846559)
2025-01-16T14:23:27.471Z,1737037407.471 [keepstation:NeedComms:E] Stopped
2025-01-16T14:23:27.472Z,1737037407.472 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-01-16T14:23:27.472Z,1737037407.472 [keepstation:NeedComms] Stopped
2025-01-16T14:23:27.472Z,1737037407.472 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-01-16T14:23:27.472Z,1737037407.472 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-01-16T14:23:27.473Z,1737037407.473 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T14:23:27.888Z,1737037407.888 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-01-16T14:23:27.888Z,1737037407.888 [keepstation:OnStation] Stopped
2025-01-16T14:23:27.888Z,1737037407.888 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-01-16T14:23:27.888Z,1737037407.888 [keepstation:KeepStation] Running Loop=1
2025-01-16T14:23:27.888Z,1737037407.888 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-01-16T14:23:27.888Z,1737037407.888 [keepstation:KeepStation:A] Running Loop=1
2025-01-16T14:23:27.888Z,1737037407.888 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-01-16T14:23:27.888Z,1737037407.888 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-01-16T14:23:27.889Z,1737037407.889 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-01-16T14:23:27.889Z,1737037407.889 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-01-16T14:23:27.889Z,1737037407.889 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-01-16T14:23:27.889Z,1737037407.889 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-01-16T14:23:28.296Z,1737037408.296 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-01-16T14:23:28.297Z,1737037408.297 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-01-16T14:23:28.302Z,1737037408.302 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-01-16T14:23:28.303Z,1737037408.303 [keepstation:KeepStation:A] Running Loop=1
2025-01-16T14:23:59.465Z,1737037439.465 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T14:24:55.532Z,1737037495.532 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position 8.56 mm (2 active estimators).
2025-01-16T14:25:25.823Z,1737037525.823 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T14:25:55.994Z,1737037555.994 [Radio_Surface](INFO): Powering down
2025-01-16T14:25:56.947Z,1737037556.947 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T14:25:57.953Z,1737037557.953 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-16T14:27:34.371Z,1737037654.371 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.786255
2025-01-16T14:32:21.391Z,1737037941.391 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-01-16T14:32:21.391Z,1737037941.391 [ThrusterHE](INFO): Powering down
2025-01-16T14:32:22.187Z,1737037942.187 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-01-16T14:32:22.307Z,1737037942.307 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-01-16T14:36:14.575Z,1737038174.575 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-01-16T14:55:01.048Z,1737039301.048 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-01-16T14:59:14.711Z,1737039554.711 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-01-16T14:59:14.711Z,1737039554.711 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-01-16T14:59:14.717Z,1737039554.717 [BPC1](FAULT): Failed to receive data from 32 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 62.
2025-01-16T15:26:19.231Z,1737041179.231 [keepstation:NeedComms] Running Loop=1
2025-01-16T15:26:19.231Z,1737041179.231 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-01-16T15:26:19.231Z,1737041179.231 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T15:26:19.231Z,1737041179.231 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T15:26:19.232Z,1737041179.232 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T15:26:19.232Z,1737041179.232 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T15:26:19.232Z,1737041179.232 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T15:26:19.233Z,1737041179.233 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T15:26:19.233Z,1737041179.233 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T15:26:19.233Z,1737041179.233 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T15:26:19.234Z,1737041179.234 [keepstation:NeedComms:A] Running Loop=1
2025-01-16T15:26:19.236Z,1737041179.236 [keepstation:NeedComms:A](INFO): last time_fix was:  1737037406.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T15:26:19.236Z,1737041179.236 [keepstation:NeedComms:A] Stopped
2025-01-16T15:26:19.676Z,1737041179.676 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-01-16T15:28:32.814Z,1737041312.814 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-01-16T15:29:01.876Z,1737041341.876 [keepstation:NeedComms:C] Running Loop=1
2025-01-16T15:29:02.391Z,1737041342.391 [Radio_Surface](INFO): Powering up
2025-01-16T15:29:08.603Z,1737041348.603 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-16T15:29:34.737Z,1737041374.737 [NAL9602](INFO): SBD MO Status=0, MOMSN=11854, MT Status=0, MTMSN=0
2025-01-16T15:29:34.737Z,1737041374.737 [NAL9602](INFO): No messages in MT queue
2025-01-16T15:29:35.949Z,1737041375.949 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,152935.00,A,3648.00025,N,12150.69060,W,0.389,135.91,160125,,,A*79
2025-01-16T15:29:35.951Z,1737041375.951 [NAL9602](INFO): GPS fix at 20250116T152935: (36.800004, -121.844843)
2025-01-16T15:29:35.984Z,1737041375.984 [UniversalFixResidualReporter](INFO): Fix residual: 80.2 %DT, over the last 692.3 m. Residual distance 555.3 m at bearing -168.6 degrees. Fix at (36.8000, -121.8448) with 158.8 m made good.
2025-01-16T15:29:35.986Z,1737041375.986 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-01-16T15:29:35.991Z,1737041375.991 [keepstation:NeedComms:C] Stopped
2025-01-16T15:29:35.992Z,1737041375.992 [keepstation:NeedComms:D] Running Loop=1
2025-01-16T15:29:36.391Z,1737041376.391 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-01-16T15:29:38.722Z,1737041378.722 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T15:30:02.630Z,1737041402.630 [NAL9602](INFO): SBD MO Status=2, MOMSN=11855, MT Status=2, MTMSN=0
2025-01-16T15:30:02.630Z,1737041402.630 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T15:30:09.859Z,1737041409.859 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T15:30:21.817Z,1737041421.817 [NAL9602](INFO): SBD MO Status=1, MOMSN=11855, MT Status=0, MTMSN=0
2025-01-16T15:30:21.870Z,1737041421.870 [NAL9602](INFO): Sent 94 bytes from file Logs/20250116T111413/Courier0027.lzma
2025-01-16T15:30:21.871Z,1737041421.871 [NAL9602](INFO): Packets left to send: 0
2025-01-16T15:30:40.983Z,1737041440.983 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T15:30:48.017Z,1737041448.017 [NAL9602](INFO): SBD MO Status=1, MOMSN=11856, MT Status=0, MTMSN=0
2025-01-16T15:30:48.074Z,1737041448.074 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T111413/Express0028.lzma
2025-01-16T15:30:48.075Z,1737041448.075 [NAL9602](INFO): Packets left to send: 3
2025-01-16T15:30:58.419Z,1737041458.419 [NAL9602](INFO): SBD MO Status=2, MOMSN=11857, MT Status=2, MTMSN=0
2025-01-16T15:30:58.419Z,1737041458.419 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T15:31:12.111Z,1737041472.111 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T15:31:24.162Z,1737041484.162 [NAL9602](INFO): SBD MO Status=2, MOMSN=11857, MT Status=2, MTMSN=0
2025-01-16T15:31:24.162Z,1737041484.162 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T15:31:24.892Z,1737041484.892 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004441
2025-01-16T15:31:35.920Z,1737041495.920 [DataOverHttps](INFO): Sending 1152 bytes from file Logs/20250116T111413/Express0028.lzma
2025-01-16T15:31:36.920Z,1737041496.920 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Express0028.lzma.bak
2025-01-16T15:31:36.920Z,1737041496.920 [DataOverHttps](INFO): SBD MOMSN=23910896
2025-01-16T15:31:38.099Z,1737041498.099 [keepstation:NeedComms:D] Stopped
2025-01-16T15:31:38.100Z,1737041498.100 [keepstation:NeedComms:E] Running Loop=1
2025-01-16T15:31:40.009Z,1737041500.009 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153139.00,A,3648.00840,N,12150.68361,W,0.564,351.77,160125,,,A*79
2025-01-16T15:31:40.015Z,1737041500.015 [NAL9602](INFO): GPS fix at 20250116T153139: (36.800140, -121.844727)
2025-01-16T15:31:40.163Z,1737041500.163 [keepstation:NeedComms:E] Stopped
2025-01-16T15:31:40.164Z,1737041500.164 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-01-16T15:31:40.164Z,1737041500.164 [keepstation:NeedComms] Stopped
2025-01-16T15:31:40.164Z,1737041500.164 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-01-16T15:31:40.165Z,1737041500.165 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-01-16T15:31:40.165Z,1737041500.165 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T15:32:12.591Z,1737041532.591 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T15:33:38.803Z,1737041618.803 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T15:33:58.294Z,1737041638.294 [Radio_Surface](INFO): Powering down
2025-01-16T15:34:09.926Z,1737041649.926 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T15:34:10.935Z,1737041650.935 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-16T15:35:47.335Z,1737041747.335 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.743057
2025-01-16T15:40:16.760Z,1737042016.760 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-01-16T15:40:16.760Z,1737042016.760 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-01-16T15:40:16.766Z,1737042016.766 [BPC1](FAULT): Failed to receive data from 32 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 62.
2025-01-16T15:44:51.914Z,1737042291.914 [RudderServo](FAULT): Invalid EZ Servo response:"1\r"
2025-01-16T15:44:51.915Z,1737042291.915 [RudderServo] Communications Fault, FailCount= 1
2025-01-16T15:44:51.915Z,1737042291.915 [RudderServo](ERROR): Communications Fault
2025-01-16T15:44:51.915Z,1737042291.915 [RudderServo](ERROR): Rudder reporting null position
2025-01-16T15:44:51.994Z,1737042291.994 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-01-16T15:44:52.299Z,1737042292.299 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-01-16T15:44:52.299Z,1737042292.299 [RudderServo](INFO): Powering down
2025-01-16T15:44:53.095Z,1737042293.095 [RudderServo](DEBUG): Initializing EZServoServo.
2025-01-16T15:44:53.215Z,1737042293.215 [RudderServo](DEBUG): Initializing RudderServo.
2025-01-16T15:44:53.294Z,1737042293.294 [CBIT](INFO): Clearing failed state for component RudderServo
2025-01-16T15:44:53.294Z,1737042293.294 [RudderServo] No Fault, FailCount= 1
2025-01-16T15:45:13.573Z,1737042313.573 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-01-16T15:45:13.965Z,1737042313.965 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 8.17 mm.
2025-01-16T16:21:18.652Z,1737044478.652 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-01-16T16:21:18.652Z,1737044478.652 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-01-16T16:21:18.658Z,1737044478.658 [BPC1](FAULT): Failed to receive data from 32 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 62.
2025-01-16T16:41:40.407Z,1737045700.407 [keepstation:NeedComms] Running Loop=1
2025-01-16T16:41:40.407Z,1737045700.407 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-01-16T16:41:40.407Z,1737045700.407 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T16:41:40.407Z,1737045700.407 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T16:41:40.408Z,1737045700.408 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T16:41:40.408Z,1737045700.408 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T16:41:40.408Z,1737045700.408 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T16:41:40.409Z,1737045700.409 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T16:41:40.409Z,1737045700.409 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T16:41:40.409Z,1737045700.409 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T16:41:40.410Z,1737045700.410 [keepstation:NeedComms:A] Running Loop=1
2025-01-16T16:41:40.411Z,1737045700.411 [keepstation:NeedComms:A](INFO): last time_fix was:  1737041499.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T16:41:40.412Z,1737045700.412 [keepstation:NeedComms:A] Stopped
2025-01-16T16:44:27.944Z,1737045867.944 [keepstation:NeedComms:C] Running Loop=1
2025-01-16T16:44:28.630Z,1737045868.630 [Radio_Surface](INFO): Powering up
2025-01-16T16:44:34.251Z,1737045874.251 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-16T16:44:58.686Z,1737045898.686 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=11857, MT Status=1, MTMSN=195
2025-01-16T16:44:58.686Z,1737045898.686 [NAL9602](INFO): Data available in MT queue
2025-01-16T16:44:59.123Z,1737045899.123 [NAL9602](INFO): Received command: stop
2025-01-16T16:44:59.223Z,1737045899.223 [CommandExec](IMPORTANT): got command stop
2025-01-16T16:44:59.223Z,1737045899.223 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-01-16T16:44:59.460Z,1737045899.460 [MissionManager](INFO): MissionManager is completed.
2025-01-16T16:44:59.460Z,1737045899.460 [MissionManager](INFO): Uninitializing Mission keepstation
2025-01-16T16:44:59.460Z,1737045899.460 [keepstation] Stopped
2025-01-16T16:44:59.460Z,1737045899.460 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-01-16T16:44:59.460Z,1737045899.460 [keepstation:NeedComms] Stopped
2025-01-16T16:44:59.461Z,1737045899.461 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-01-16T16:44:59.461Z,1737045899.461 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-01-16T16:44:59.461Z,1737045899.461 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T16:44:59.461Z,1737045899.461 [keepstation:NeedComms:C] Stopped
2025-01-16T16:44:59.461Z,1737045899.461 [keepstation:StandardEnvelopes] Stopped
2025-01-16T16:44:59.461Z,1737045899.461 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-01-16T16:44:59.461Z,1737045899.461 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-16T16:44:59.461Z,1737045899.461 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-16T16:44:59.461Z,1737045899.461 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-16T16:44:59.461Z,1737045899.461 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-16T16:44:59.461Z,1737045899.461 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-16T16:44:59.461Z,1737045899.461 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-16T16:44:59.461Z,1737045899.461 [keepstation:BackseatDriver] Stopped
2025-01-16T16:44:59.462Z,1737045899.462 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-01-16T16:44:59.462Z,1737045899.462 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-01-16T16:44:59.462Z,1737045899.462 [keepstation:PowerOnly] Stopped
2025-01-16T16:44:59.462Z,1737045899.462 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-01-16T16:44:59.462Z,1737045899.462 [keepstation:PowerOnly:E.Wait] Stopped
2025-01-16T16:44:59.462Z,1737045899.462 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T16:44:59.462Z,1737045899.462 [keepstation:H.Pitch] Stopped
2025-01-16T16:44:59.462Z,1737045899.462 [keepstation:KeepStation] Stopped
2025-01-16T16:44:59.462Z,1737045899.462 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-01-16T16:44:59.462Z,1737045899.462 [keepstation:KeepStation:A] Stopped
2025-01-16T16:44:59.462Z,1737045899.462 [keepstation:KeepStation:B.Pitch] Stopped
2025-01-16T16:44:59.463Z,1737045899.463 [keepstation:KeepStation:C.KeepStation] Stopped
2025-01-16T16:44:59.463Z,1737045899.463 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-01-16T16:44:59.463Z,1737045899.463 [keepstation:KeepStation:D.Wait] Stopped
2025-01-16T16:44:59.463Z,1737045899.463 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T16:44:59.825Z,1737045899.825 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-01-16T16:44:59.890Z,1737045899.890 [MissionManager](IMPORTANT): Started mission Default
2025-01-16T16:44:59.890Z,1737045899.890 [Default] Running Loop=1
2025-01-16T16:44:59.890Z,1737045899.890 [Default](DEBUG): Aggregate::initialize Default
2025-01-16T16:44:59.891Z,1737045899.891 [Default:B.GoToSurface] Running Loop=1
2025-01-16T16:44:59.891Z,1737045899.891 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T16:44:59.891Z,1737045899.891 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T16:44:59.891Z,1737045899.891 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T16:44:59.891Z,1737045899.891 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T16:44:59.892Z,1737045899.892 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T16:44:59.892Z,1737045899.892 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T16:44:59.892Z,1737045899.892 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T16:44:59.893Z,1737045899.893 [Default:A.Wait] Running Loop=1
2025-01-16T16:44:59.893Z,1737045899.893 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-16T16:45:00.233Z,1737045900.233 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164459.00,A,3647.98175,N,12150.71745,W,0.350,124.15,160125,,,A*70
2025-01-16T16:45:00.235Z,1737045900.235 [NAL9602](INFO): GPS fix at 20250116T164459: (36.799696, -121.845291)
2025-01-16T16:45:00.247Z,1737045900.247 [UniversalFixResidualReporter](INFO): Fix residual: 62.8 %DT, over the last 731.8 m. Residual distance 459.7 m at bearing -166.5 degrees. Fix at (36.7997, -121.8453) with 70.4 m made good.
2025-01-16T16:45:00.967Z,1737045900.967 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-01-16T16:45:00.968Z,1737045900.968 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-01-16T16:45:04.371Z,1737045904.371 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T16:45:13.195Z,1737045913.195 [Default:A.Wait](INFO): Done Waiting.
2025-01-16T16:45:13.195Z,1737045913.195 [Default:A.Wait] Stopped
2025-01-16T16:45:13.195Z,1737045913.195 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T16:45:13.601Z,1737045913.601 [Default:CheckIn] Running Loop=1
2025-01-16T16:45:13.602Z,1737045913.602 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T16:45:13.602Z,1737045913.602 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T16:45:15.586Z,1737045915.586 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164514.00,A,3647.98274,N,12150.71694,W,0.467,42.53,160125,,,A*47
2025-01-16T16:45:15.588Z,1737045915.588 [NAL9602](INFO): GPS fix at 20250116T164514: (36.799712, -121.845282)
2025-01-16T16:45:15.599Z,1737045915.599 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T16:45:15.599Z,1737045915.599 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T16:45:19.123Z,1737045919.123 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-01-16T16:45:19.123Z,1737045919.123 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-01-16T16:45:19.124Z,1737045919.124 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-01-16T16:45:34.056Z,1737045934.056 [NAL9602](INFO): SBD MO Status=1, MOMSN=11858, MT Status=0, MTMSN=0
2025-01-16T16:45:34.115Z,1737045934.115 [NAL9602](INFO): Sent 96 bytes from file Logs/20250116T111413/Courier0030.lzma
2025-01-16T16:45:34.115Z,1737045934.115 [NAL9602](INFO): Packets left to send: 0
2025-01-16T16:45:35.515Z,1737045935.515 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T16:45:45.682Z,1737045945.682 [NAL9602](INFO): SBD MO Status=1, MOMSN=11859, MT Status=0, MTMSN=0
2025-01-16T16:45:45.739Z,1737045945.739 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T111413/Express0031.lzma
2025-01-16T16:45:45.739Z,1737045945.739 [NAL9602](INFO): Packets left to send: 4
2025-01-16T16:45:54.330Z,1737045954.330 [NAL9602](INFO): SBD MO Status=1, MOMSN=11860, MT Status=0, MTMSN=0
2025-01-16T16:45:54.383Z,1737045954.383 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T111413/Express0031.lzma
2025-01-16T16:45:54.383Z,1737045954.383 [NAL9602](INFO): Packets left to send: 3
2025-01-16T16:46:02.797Z,1737045962.797 [NAL9602](INFO): SBD MO Status=1, MOMSN=11861, MT Status=0, MTMSN=0
2025-01-16T16:46:02.847Z,1737045962.847 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T111413/Express0031.lzma
2025-01-16T16:46:02.847Z,1737045962.847 [NAL9602](INFO): Packets left to send: 2
2025-01-16T16:46:06.639Z,1737045966.639 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T16:46:09.977Z,1737045969.977 [NAL9602](INFO): SBD MO Status=1, MOMSN=11862, MT Status=0, MTMSN=0
2025-01-16T16:46:10.031Z,1737045970.031 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T111413/Express0031.lzma
2025-01-16T16:46:10.031Z,1737045970.031 [NAL9602](INFO): Packets left to send: 1
2025-01-16T16:46:17.495Z,1737045977.495 [NAL9602](INFO): SBD MO Status=1, MOMSN=11863, MT Status=0, MTMSN=0
2025-01-16T16:46:17.550Z,1737045977.550 [NAL9602](INFO): Sent 65 bytes from file Logs/20250116T111413/Express0031.lzma
2025-01-16T16:46:17.551Z,1737045977.551 [NAL9602](INFO): Packets left to send: 0
2025-01-16T16:46:22.872Z,1737045982.872 [NAL9602](INFO): SBD MO Status=0, MOMSN=11864, MT Status=0, MTMSN=0
2025-01-16T16:46:26.260Z,1737045986.260 [MassServo](ERROR): getPosition uart error serial timeout
2025-01-16T16:46:26.261Z,1737045986.261 [MassServo](FAULT): Invalid EZ Servo response:"\377"
2025-01-16T16:46:26.261Z,1737045986.261 [MassServo] Communications Fault, FailCount= 2
2025-01-16T16:46:26.261Z,1737045986.261 [MassServo](ERROR): Communications Fault
2025-01-16T16:46:26.288Z,1737045986.288 [CBIT](ERROR): Communications Fault in component: MassServo
2025-01-16T16:46:26.605Z,1737045986.605 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-01-16T16:46:26.605Z,1737045986.605 [MassServo](INFO): Powering down
2025-01-16T16:46:27.411Z,1737045987.411 [MassServo](DEBUG): Initializing EZServoServo.
2025-01-16T16:46:27.528Z,1737045987.528 [MassServo](DEBUG): Initializing MassServo.
2025-01-16T16:46:27.545Z,1737045987.545 [CBIT](INFO): Clearing failed state for component MassServo
2025-01-16T16:46:27.555Z,1737045987.555 [MassServo] No Fault, FailCount= 2
2025-01-16T16:46:37.763Z,1737045997.763 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T16:46:41.253Z,1737046001.253 [NAL9602](INFO): SBD MO Status=1, MOMSN=11865, MT Status=0, MTMSN=0
2025-01-16T16:46:41.331Z,1737046001.331 [NAL9602](INFO): Sent 39 bytes from file Logs/20250116T111413/Courier0033.lzma
2025-01-16T16:46:41.331Z,1737046001.331 [NAL9602](INFO): Packets left to send: 0
2025-01-16T16:46:51.104Z,1737046011.104 [NAL9602](INFO): SBD MO Status=1, MOMSN=11866, MT Status=0, MTMSN=0
2025-01-16T16:46:51.159Z,1737046011.159 [NAL9602](INFO): Sent 259 bytes from file Logs/20250116T111413/Express0034.lzma
2025-01-16T16:46:51.159Z,1737046011.159 [NAL9602](INFO): Packets left to send: 0
2025-01-16T16:46:51.384Z,1737046011.384 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003450
2025-01-16T16:46:52.758Z,1737046012.758 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T16:46:52.759Z,1737046012.759 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-16T16:46:52.759Z,1737046012.759 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T16:47:00.449Z,1737046020.449 [NAL9602](INFO): SBD MO Status=0, MOMSN=11867, MT Status=0, MTMSN=0
2025-01-16T16:47:31.171Z,1737046051.171 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T16:49:06.080Z,1737046146.080 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T164905
2025-01-16T16:49:13.854Z,1737046153.854 [DataOverHttps](INFO): Received command: load Engineering/sink.tl;set sink.SinkDuration 20 min;run
2025-01-16T16:49:13.954Z,1737046153.954 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/sink.tl
2025-01-16T16:49:13.955Z,1737046153.955 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/sink.tl
2025-01-16T16:49:13.955Z,1737046153.955 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/sink.tl
2025-01-16T16:49:13.960Z,1737046153.960 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/sink.tl
2025-01-16T16:49:14.856Z,1737046154.856 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T164913
2025-01-16T16:49:17.295Z,1737046157.295 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/sink.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sink">
    <DefineArg Name="SinkDuration">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="WaitToFloat">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Units:meter />
        <Value>2.5</Value>
    </DefineArg>
    <DefineArg Name="TargetDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DoBallastAndTrim">
        <False />
    </DefineArg>
    <DefineArg Name="BTSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineOutput Name="MissionTimeout">
        <Arg Name="SinkDuration" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="SinkDuration" />
        <Add>
            <Arg Name="WaitToFloat" />
        </Add>
    </Assign>
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <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" />
    <Aggregate Id="startComms">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Call RefId="NeedComms" Id="StartingMission" />
    </Aggregate>
    <Aggregate Id="RunSink">
        <Sequence />
        <Timeout Duration="SinkDuration" />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="TargetDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="BTSettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunBallastAndTrim">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Not>
                        <Arg Name="DoBallastAndTrim" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
        <Aggregate Id="JustSink">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Arg Name="DoBallastAndTrim" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="BTSettleTime" />
                <Arg Name="SinkDuration" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
    </Aggregate>
    <Aggregate Id="FloatUp">
        <Sequence />
        <Break>
            <Universal:depth />
            <Lt>
                <Arg Name="SurfaceThreshold" />
            </Lt>
        </Break>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyDefault />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="WaitToFloat" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" />
</Mission>

2025-01-16T16:49:17.312Z,1737046157.312 [MissionManager](INFO): DefineArg sink.SinkDuration = 2.000000 h
2025-01-16T16:49:17.315Z,1737046157.315 [MissionManager](INFO): DefineArg sink.WaitToFloat = 20.000000 min
2025-01-16T16:49:17.318Z,1737046157.318 [MissionManager](INFO): DefineArg sink.Depth = 20.000000 m
2025-01-16T16:49:17.321Z,1737046157.321 [MissionManager](INFO): DefineArg sink.DepthDeadband = 1.000000 m
2025-01-16T16:49:17.324Z,1737046157.324 [MissionManager](INFO): DefineArg sink.SurfaceThreshold = 2.500000 m
2025-01-16T16:49:17.327Z,1737046157.327 [MissionManager](INFO): DefineArg sink.TargetDepthTimeout = 20.000000 min
2025-01-16T16:49:17.330Z,1737046157.330 [MissionManager](INFO): DefineArg sink.DoBallastAndTrim = 0 bool
2025-01-16T16:49:17.333Z,1737046157.333 [MissionManager](INFO): DefineArg sink.BTSettleTime = 10.000000 min
2025-01-16T16:49:17.337Z,1737046157.337 [MissionManager](INFO): DefineArg sink.EstimationTimeout = 45.000000 min
2025-01-16T16:49:17.340Z,1737046157.340 [MissionManager](INFO): DefineArg sink.MinEstimationTime = 10.000000 min
2025-01-16T16:49:17.343Z,1737046157.343 [MissionManager](INFO): DefineArg sink.MassEstimationErrorBound = 0.500000 mm
2025-01-16T16:49:17.346Z,1737046157.346 [MissionManager](INFO): DefineArg sink.BuoyEstimationErrorBound = 25.000000 cc
2025-01-16T16:49:17.349Z,1737046157.349 [MissionManager](INFO): DefineArg sink.EstimationConfidence = 98.000000 %
2025-01-16T16:49:17.385Z,1737046157.385 [MissionManager](INFO): DefineArg sink.MinAltitude = 5.000000 m
2025-01-16T16:49:17.388Z,1737046157.388 [MissionManager](INFO): DefineArg sink.MaxDepth = 30.000000 m
2025-01-16T16:49:17.399Z,1737046157.399 [MissionManager](INFO): DefineArg sink.MinOffshore = 2.000000 km
2025-01-16T16:49:17.402Z,1737046157.402 [MissionManager](INFO): DefineArg sink.SkipComms = 0 bool
2025-01-16T16:49:17.409Z,1737046157.409 [MissionManager](INFO): DefineOutput sink.MissionTimeout = 2.000000 h
2025-01-16T16:49:17.416Z,1737046157.416 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-01-16T16:49:17.416Z,1737046157.416 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-01-16T16:49:17.423Z,1737046157.423 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-01-16T16:49:21.767Z,1737046161.767 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PeakShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="PeakDeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-01-16T16:49:21.815Z,1737046161.815 [MissionManager](INFO): DefineArg sink:Science.PeakDetectChlActive = 0 bool
2025-01-16T16:49:21.822Z,1737046161.822 [MissionManager](INFO): DefineArg sink:Science.TimeWindowPeakReport = nan min
2025-01-16T16:49:21.825Z,1737046161.825 [MissionManager](INFO): DefineArg sink:Science.HighestChlPeakReportActive = 0 bool
2025-01-16T16:49:21.880Z,1737046161.880 [MissionManager](INFO): DefineArg sink:Science.HighestSaltPeakReportActive = 0 bool
2025-01-16T16:49:21.892Z,1737046161.892 [MissionManager](INFO): DefineArg sink:Science.HighestOilPeakReportActive = 0 bool
2025-01-16T16:49:21.919Z,1737046161.919 [MissionManager](INFO): DefineArg sink:Science.PatchTracking = 0 bool
2025-01-16T16:49:21.922Z,1737046161.922 [MissionManager](INFO): DefineArg sink:Science.FilterWidthHorizontal = 3.000000 count
2025-01-16T16:49:21.937Z,1737046161.937 [MissionManager](INFO): DefineArg sink:Science.NumProfilesSlidingwindow = 100.000000 count
2025-01-16T16:49:21.949Z,1737046161.949 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionHorizontal = 80.000000 %
2025-01-16T16:49:21.972Z,1737046161.972 [MissionManager](INFO): DefineArg sink:Science.PeakDetectNO3Active = 0 bool
2025-01-16T16:49:21.986Z,1737046161.986 [MissionManager](INFO): DefineArg sink:Science.PeakDetectOilActive = 0 bool
2025-01-16T16:49:21.989Z,1737046161.989 [MissionManager](INFO): DefineArg sink:Science.PeakDetectFDOMActive = 0 bool
2025-01-16T16:49:22.001Z,1737046162.001 [MissionManager](INFO): DefineArg sink:Science.PeakDetectSalinityActive = 0 bool
2025-01-16T16:49:22.009Z,1737046162.009 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-01-16T16:49:22.028Z,1737046162.028 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-01-16T16:49:22.039Z,1737046162.039 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-01-16T16:49:22.048Z,1737046162.048 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-01-16T16:49:22.051Z,1737046162.051 [MissionManager](INFO): DefineArg sink:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-01-16T16:49:22.063Z,1737046162.063 [MissionManager](INFO): DefineArg sink:Science.EnabledAanderaaO2 = 0 bool
2025-01-16T16:49:22.074Z,1737046162.074 [MissionManager](INFO): DefineArg sink:Science.EnabledNeilBrown = 0 bool
2025-01-16T16:49:22.078Z,1737046162.078 [MissionManager](INFO): DefineArg sink:Science.EnabledSeabird = 1 bool
2025-01-16T16:49:22.090Z,1737046162.090 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsBB2FL = 1 bool
2025-01-16T16:49:22.098Z,1737046162.098 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-01-16T16:49:22.137Z,1737046162.137 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsUBAT = 0 bool
2025-01-16T16:49:22.166Z,1737046162.166 [MissionManager](INFO): DefineArg sink:Science.LowPassWindowLength = 20.000000 count
2025-01-16T16:49:22.169Z,1737046162.169 [MissionManager](INFO): DefineArg sink:Science.MedianFilterLen = 5.000000 count
2025-01-16T16:49:22.181Z,1737046162.181 [MissionManager](INFO): DefineArg sink:Science.PeakShallowBound = nan m
2025-01-16T16:49:22.188Z,1737046162.188 [MissionManager](INFO): DefineArg sink:Science.PeakDeepBound = nan m
2025-01-16T16:49:22.203Z,1737046162.203 [MissionManager](INFO): DefineArg sink:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-01-16T16:49:22.206Z,1737046162.206 [MissionManager](INFO): DefineArg sink:Science.ChlThreshTriggerActive = 0 bool
2025-01-16T16:49:22.221Z,1737046162.221 [MissionManager](INFO): DefineArg sink:Science.ChlLowerThresh = nan ug/l
2025-01-16T16:49:22.228Z,1737046162.228 [MissionManager](INFO): DefineArg sink:Science.ChlUpperThresh = nan ug/l
2025-01-16T16:49:22.247Z,1737046162.247 [MissionManager](INFO): DefineArg sink:Science.NumProfilesThresh = 5.000000 count
2025-01-16T16:49:22.254Z,1737046162.254 [MissionManager](INFO): DefineOutput sink:Science.PeakChl = nan ug/l
2025-01-16T16:49:22.257Z,1737046162.257 [MissionManager](INFO): DefineOutput sink:Science.PeakChlDepth = nan m
2025-01-16T16:49:22.293Z,1737046162.293 [MissionManager](INFO): DefineOutput sink:Science.PeakChlTemperature = nan degC
2025-01-16T16:49:22.346Z,1737046162.346 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLatitude = nan arcdeg
2025-01-16T16:49:22.349Z,1737046162.349 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLongitude = nan arcdeg
2025-01-16T16:49:22.365Z,1737046162.365 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3 = nan umol/l
2025-01-16T16:49:22.388Z,1737046162.388 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Depth = nan m
2025-01-16T16:49:22.419Z,1737046162.419 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Latitude = nan arcdeg
2025-01-16T16:49:22.430Z,1737046162.430 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Longitude = nan arcdeg
2025-01-16T16:49:22.433Z,1737046162.433 [MissionManager](INFO): DefineOutput sink:Science.PeakOil = nan kg/m3
2025-01-16T16:49:22.449Z,1737046162.449 [MissionManager](INFO): DefineOutput sink:Science.PeakOilDepth = nan m
2025-01-16T16:49:22.457Z,1737046162.457 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLatitude = nan arcdeg
2025-01-16T16:49:22.472Z,1737046162.472 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLongitude = nan arcdeg
2025-01-16T16:49:22.480Z,1737046162.480 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOM = nan ppb
2025-01-16T16:49:22.496Z,1737046162.496 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMDepth = nan m
2025-01-16T16:49:22.518Z,1737046162.518 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMTemperature = nan degC
2025-01-16T16:49:22.529Z,1737046162.529 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLatitude = nan arcdeg
2025-01-16T16:49:22.555Z,1737046162.555 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLongitude = nan arcdeg
2025-01-16T16:49:22.569Z,1737046162.569 [MissionManager](INFO): DefineOutput sink:Science.PeakSalt = nan psu
2025-01-16T16:49:22.580Z,1737046162.580 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltDepth = nan m
2025-01-16T16:49:22.587Z,1737046162.587 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltTemperature = nan degC
2025-01-16T16:49:22.604Z,1737046162.604 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLatitude = nan arcdeg
2025-01-16T16:49:22.607Z,1737046162.607 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLongitude = nan arcdeg
2025-01-16T16:49:22.626Z,1737046162.626 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-01-16T16:49:22.629Z,1737046162.629 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-01-16T16:49:22.632Z,1737046162.632 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-01-16T16:49:22.652Z,1737046162.652 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-01-16T16:49:22.655Z,1737046162.655 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-01-16T16:49:22.658Z,1737046162.658 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-01-16T16:49:22.703Z,1737046162.703 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-01-16T16:49:22.723Z,1737046162.723 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-01-16T16:49:22.727Z,1737046162.727 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-01-16T16:49:22.730Z,1737046162.730 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-01-16T16:49:22.762Z,1737046162.762 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-01-16T16:49:22.794Z,1737046162.794 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-01-16T16:49:22.806Z,1737046162.806 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-01-16T16:49:22.817Z,1737046162.817 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-01-16T16:49:22.824Z,1737046162.824 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-01-16T16:49:22.841Z,1737046162.841 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-01-16T16:49:22.848Z,1737046162.848 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-01-16T16:49:22.871Z,1737046162.871 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-01-16T16:49:22.881Z,1737046162.881 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-01-16T16:49:22.897Z,1737046162.897 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-01-16T16:49:22.909Z,1737046162.909 [MissionManager](INFO): DefineOutput sink:Science.PatchChl = nan ug/l
2025-01-16T16:49:22.925Z,1737046162.925 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDepth = nan m
2025-01-16T16:49:22.932Z,1737046162.932 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLatitude = nan arcdeg
2025-01-16T16:49:22.952Z,1737046162.952 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLongitude = nan arcdeg
2025-01-16T16:49:22.961Z,1737046162.961 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDistance = nan m
2025-01-16T16:49:22.980Z,1737046162.980 [MissionManager](INFO): DefineOutput sink:Science.PatchSalt = nan psu
2025-01-16T16:49:22.988Z,1737046162.988 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDepth = nan m
2025-01-16T16:49:23.011Z,1737046163.011 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLatitude = nan arcdeg
2025-01-16T16:49:23.022Z,1737046163.022 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLongitude = nan arcdeg
2025-01-16T16:49:23.025Z,1737046163.025 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDistance = nan m
2025-01-16T16:49:23.045Z,1737046163.045 [MissionManager](INFO): DefineOutput sink:Science.PatchOil = nan psu
2025-01-16T16:49:23.048Z,1737046163.048 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDepth = nan m
2025-01-16T16:49:23.056Z,1737046163.056 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLatitude = nan arcdeg
2025-01-16T16:49:23.084Z,1737046163.084 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLongitude = nan arcdeg
2025-01-16T16:49:23.095Z,1737046163.095 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDistance = nan m
2025-01-16T16:49:23.098Z,1737046163.098 [MissionManager](INFO): DefineOutput sink:Science.TriggeredOnChl = 0 bool
2025-01-16T16:49:23.109Z,1737046163.109 [MissionManager](INFO): DefineOutput sink:Science.ChlTriggering = nan ug/l
2025-01-16T16:49:23.215Z,1737046163.215 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:23.252Z,1737046163.252 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T16:49:23.299Z,1737046163.299 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:23.339Z,1737046163.339 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:23.377Z,1737046163.377 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T16:49:23.424Z,1737046163.424 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:23.465Z,1737046163.465 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:23.533Z,1737046163.533 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T16:49:23.599Z,1737046163.599 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:23.649Z,1737046163.649 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:23.696Z,1737046163.696 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:23.768Z,1737046163.768 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:23.809Z,1737046163.809 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-01-16T16:49:23.832Z,1737046163.832 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-16T16:49:23.832Z,1737046163.832 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-16T16:49:23.834Z,1737046163.834 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-16T16:49:24.577Z,1737046164.577 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-01-16T16:49:24.601Z,1737046164.601 [MissionManager](INFO): DefineArg sink:NeedComms.DiveInterval = 1.000000 h
2025-01-16T16:49:24.613Z,1737046164.613 [MissionManager](INFO): DefineArg sink:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-16T16:49:24.640Z,1737046164.640 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-16T16:49:24.659Z,1737046164.659 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceDepthRate = nan m/s
2025-01-16T16:49:24.670Z,1737046164.670 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-16T16:49:24.673Z,1737046164.673 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-16T16:49:24.700Z,1737046164.700 [MissionManager](INFO): DefineArg sink:NeedComms.GPSTimeout = 7.000000 min
2025-01-16T16:49:24.708Z,1737046164.708 [MissionManager](INFO): DefineArg sink:NeedComms.CommsTimeout = 30.000000 min
2025-01-16T16:49:24.759Z,1737046164.759 [sink:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T16:49:24.848Z,1737046164.848 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-16T16:49:24.848Z,1737046164.848 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-16T16:49:24.849Z,1737046164.849 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-16T16:49:25.096Z,1737046165.096 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-16T16:49:25.100Z,1737046165.100 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-16T16:49:25.169Z,1737046165.169 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-16T16:49:25.181Z,1737046165.181 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-16T16:49:25.218Z,1737046165.218 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-16T16:49:25.220Z,1737046165.220 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-16T16:49:25.244Z,1737046165.244 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-16T16:49:25.277Z,1737046165.277 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-16T16:49:25.305Z,1737046165.305 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-16T16:49:25.305Z,1737046165.305 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-16T16:49:25.316Z,1737046165.316 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-16T16:49:25.391Z,1737046165.391 [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>

2025-01-16T16:49:25.403Z,1737046165.403 [MissionManager](INFO): DefineArg sink:BackseatDriver.EnableBackseat = 0 bool
2025-01-16T16:49:25.405Z,1737046165.405 [sink:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-16T16:49:25.412Z,1737046165.412 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-16T16:49:25.413Z,1737046165.413 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-16T16:49:25.414Z,1737046165.414 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-16T16:49:25.765Z,1737046165.765 [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>

2025-01-16T16:49:25.784Z,1737046165.784 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleAll = 0 bool
2025-01-16T16:49:25.791Z,1737046165.791 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad1 = 0 bool
2025-01-16T16:49:25.793Z,1737046165.793 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad2 = 0 bool
2025-01-16T16:49:25.800Z,1737046165.800 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad3 = 0 bool
2025-01-16T16:49:25.815Z,1737046165.815 [MissionManager](INFO): DefineArg sink:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-16T16:49:25.835Z,1737046165.835 [sink:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-16T16:49:25.847Z,1737046165.847 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-01-16T16:49:25.847Z,1737046165.847 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-01-16T16:49:25.849Z,1737046165.849 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-01-16T16:49:27.140Z,1737046167.140 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BallastAndTrim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BallastAndTrim">
    <DefineArg Name="InsertDepth">
        <Units:meter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSpeed">
        <Units:meter_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstErrorBound">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstErrorBound">
        <Units:cubic_centimeter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="EstConfidence">
        <Units:percent />
        <Value>99.9</Value>
    </DefineArg>
    <DefineArg Name="InsertDepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="InsertMassDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <When>
        <Called />
    </When>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kpPitchMass />
        <Units:ratio />
        <Value>0.005</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kiPitchMass />
        <Units:reciprocal_second />
        <Value>0.00075</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kdPitchMass />
        <Units:second />
        <Value>0</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.massDeadband />
        <Arg Name="InsertMassDeadband" />
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.depthDeadband />
        <Arg Name="InsertDepthDeadband" />
    </Assign>
    <Syslog Severity="Info">
        Going to target depth. Speed set to 
        <Arg Name="InsertApproachSpeed" />
        <Units:meter_per_second />
    </Syslog>
    <Aggregate Id="GoToTargetDepth">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.pitchLimit />
            <Arg Name="InsertApproachPitchLimit" />
        </Assign>
        <Aggregate Id="ActuatorHold">
            <While>
                <Arg Name="InsertApproachSpeed" />
                <Gt>
                    <Units:meter_per_second />
                    <Value>0</Value>
                </Gt>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Units:degree />
                    <Value>13</Value>
                </Setting>
            </Guidance:Point>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Control:VerticalControl.buoyancyNeutral />
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.massPosition />
                    <Control:VerticalControl.massDefault />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
        <Aggregate Id="WaitPreDive">
            <Sequence />
            <Break>
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Le>
                    <Units:minute />
                    <Value>0</Value>
                </Le>
            </Break>
            <Syslog Severity="Info">
                Waiting for 
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Units:minute />
                while pumping down to neutral.
            </Syslog>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="InsertApproachSettleTimePreDive" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
        <Aggregate Id="ApproachDepth">
            <Sequence />
            <Syslog>
                Moving to 
                <Arg Name="InsertDepth" />
                <Units:meter />
            </Syslog>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="InsertApproachSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Guidance:Pitch>
                <Sequence />
                <Timeout Duration="InsertApproachDepthTimeout">
                    <Syslog Severity="Important">
                        Timed out trying to reach the target depth. Stopping mission at current depth of 
                        <Universal:depth />
                        <Units:meter />
                    </Syslog>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Timeout>
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="InsertDepth" />
                </Setting>
                <Setting>
                    <Guidance:Pitch.depthRate />
                    <Arg Name="InsertApproachDepthRate" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="BallastAndTrimAtTargetDepth">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Units:meter_per_second />
                <Value>0</Value>
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="InsertDepth" />
            </Setting>
        </Guidance:Pitch>
        <Syslog Severity="Info">
            Waiting for the vehicle to settle. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="InsertSettleTime" />
            </Setting>
        </Guidance:Wait>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>gfscan</String>
            </Setting>
        </Guidance:Execute>
        <Syslog Severity="Info">
            Running ballast and trim. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Estimation:BallastAndTrim>
            <Sequence />
            <Setting>
                <Estimation:BallastAndTrim.estimationTimeout />
                <Arg Name="EstTimeout" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.minEstimationTime />
                <Arg Name="MinEstTime" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.massErrorBound />
                <Arg Name="MassEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.buoyErrorBound />
                <Arg Name="BuoyEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.confidenceLevel />
                <Arg Name="EstConfidence" />
            </Setting>
        </Estimation:BallastAndTrim>
    </Aggregate>
</Aggregate>

2025-01-16T16:49:27.181Z,1737046167.181 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepth = 25.000000 m
2025-01-16T16:49:27.188Z,1737046167.188 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-01-16T16:49:27.207Z,1737046167.207 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-01-16T16:49:27.218Z,1737046167.218 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-01-16T16:49:27.221Z,1737046167.221 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-01-16T16:49:27.243Z,1737046167.243 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-01-16T16:49:27.248Z,1737046167.248 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-01-16T16:49:27.259Z,1737046167.259 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstTimeout = 45.000000 min
2025-01-16T16:49:27.267Z,1737046167.267 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MinEstTime = 10.000000 min
2025-01-16T16:49:27.270Z,1737046167.270 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-01-16T16:49:27.283Z,1737046167.283 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-01-16T16:49:27.286Z,1737046167.286 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstConfidence = 99.900002 %
2025-01-16T16:49:27.293Z,1737046167.293 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-01-16T16:49:27.297Z,1737046167.297 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-01-16T16:49:27.336Z,1737046167.336 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-01-16T16:49:27.379Z,1737046167.379 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T16:49:27.386Z,1737046167.386 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-01-16T16:49:27.404Z,1737046167.404 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-01-16T16:49:27.411Z,1737046167.411 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-01-16T16:49:27.422Z,1737046167.422 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-01-16T16:49:27.436Z,1737046167.436 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-01-16T16:49:27.443Z,1737046167.443 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-01-16T16:49:27.451Z,1737046167.451 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-01-16T16:49:27.466Z,1737046167.466 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-01-16T16:49:27.468Z,1737046167.468 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-01-16T16:49:27.477Z,1737046167.477 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-01-16T16:49:27.492Z,1737046167.492 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = reader:sink.DepthDeadband
2025-01-16T16:49:27.498Z,1737046167.498 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = reader:sink.TargetDepthTimeout
2025-01-16T16:49:27.500Z,1737046167.500 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = reader:sink.BTSettleTime
2025-01-16T16:49:27.502Z,1737046167.502 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstTimeout = reader:sink.EstimationTimeout
2025-01-16T16:49:27.508Z,1737046167.508 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MinEstTime = reader:sink.MinEstimationTime
2025-01-16T16:49:27.510Z,1737046167.510 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = reader:sink.MassEstimationErrorBound
2025-01-16T16:49:27.516Z,1737046167.516 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = reader:sink.BuoyEstimationErrorBound
2025-01-16T16:49:27.517Z,1737046167.517 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstConfidence = reader:sink.EstimationConfidence
2025-01-16T16:49:27.545Z,1737046167.545 [sink:FloatUp:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T16:49:27.549Z,1737046167.549 [sink:FloatUp:B.Wait](DEBUG): Construct Wait.
2025-01-16T16:49:27.691Z,1737046167.691 [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 sink {
  arguments {
    SinkDuration = 2 hour
      """
      Overall B&T timeout, or time to sink before ascending if not running B&T.
      Mission timeout will be SinkDuration + WaitToFloat.
      """

    WaitToFloat = 20 minute
      """
      Timeout for reaching surface threshold on float ascent, vehicle will drive up when
      reached
      """

    Depth = 20 meter
      """
      Target depth
      """

    DepthDeadband = 1 meter
      """
      How much vertical drift from the specified depth is allowed during the
      mission.
      """

    SurfaceThreshold = 2.5 meter
      """
      Surface threshold depth, relevant only to the ascent.
      """

    TargetDepthTimeout = 20 minute
      """
      Maximum wait time for the vehicle to reach the target depth.
      """

    DoBallastAndTrim = false
      """
      If true, run B&T, if false, just sit at depth.
      """

    BTSettleTime = 10 minute
      """
      If running B&T, how long to wait after reaching target depth before starting
      """

    EstimationTimeout = 45 minute
      """
      If running B&T, timeout for estimation.
      """

    MinEstimationTime = 10 minute
      """
      If running B&T, minimum time to run estimation before determining convergence
      (must be shorter than timeout).
      """

    MassEstimationErrorBound = 0.5 millimeter
      """
      If running B&T, desired range of the estimated sample mean from the true
      mean statistic (smaller values take longer to converge).
      """

    BuoyEstimationErrorBound = 25 cubic_centimeter
      """
      If running B&T, desired range of the estimated sample mean from the true
      mean statistic (smaller values take longer to converge).
      """

    EstimationConfidence = 98 percent
      """
      If running B&T, confidence level that the estimator has reached the desired
      error range (larger values take longer to converge).
      """

    MinAltitude = 5 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 30 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum offshore distance for the entire mission.
      """

    SkipComms = false
      """
      Skip start-of-mission GPS fix and comms if true
      """
  }

  output {
    MissionTimeout = SinkDuration
  }

  timeout duration=MissionTimeout

  assign in sequence MissionTimeout = SinkDuration + WaitToFloat

  insert Insert/Science.tl

  insert id="NeedComms" Insert/NeedComms.tl
  assign in sequence NeedComms:DiveInterval = MissionTimeout

  insert Insert/StandardEnvelopes.tl
  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate startComms {
    run in sequence

    break if ( SkipComms )

    call id="StartingMission" refId="NeedComms"
  }

  aggregate RunSink {
    run in sequence

    timeout duration=SinkDuration

    insert Insert/BallastAndTrim.tl {
      redefineArg InsertDepthDeadband = DepthDeadband
      redefineArg InsertApproachDepthTimeout = TargetDepthTimeout
      redefineArg InsertSettleTime = BTSettleTime
      redefineArg EstTimeout = EstimationTimeout
      redefineArg MinEstTime = MinEstimationTime
      redefineArg MassEstErrorBound = MassEstimationErrorBound
      redefineArg BuoyEstErrorBound = BuoyEstimationErrorBound
      redefineArg EstConfidence = EstimationConfidence
    }

    aggregate RunBallastAndTrim {
      run in sequence

      break if (
        isNaN ( Depth )
        or not DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

      call refId="BallastAndTrim"
    }

    aggregate JustSink {
      run in sequence

      break if (
        isNaN ( Depth )
        or DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

      # The B&T insert will never actually invoke the B&T behavior here.
      # This is a little bit of a hack to avoid duplicating the ApproachDepth etc.
      # logic the B&T insert uses.
      assign in sequence BTSettleTime = SinkDuration

      call refId="BallastAndTrim"
    }
  }

  aggregate FloatUp {
    """
    Float to surface instead of driving.
    """

    run in sequence

    break if ( Universal:depth < SurfaceThreshold )

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyDefault
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = WaitToFloat
    }
  }

  call id="EndingMission" refId="NeedComms"
}


2025-01-16T16:49:27.699Z,1737046167.699 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/sink.tl id=sink
2025-01-16T16:49:27.918Z,1737046167.918 [DataOverHttps](INFO): Received command: load Engineering/sink.tl;set sink.SinkDuration 20 min;set sink:BackseatDriver.EnableBackseat 1 bool;run
2025-01-16T16:49:30.220Z,1737046170.220 [CommandExec](IMPORTANT): got command set sink.SinkDuration 20 minute
2025-01-16T16:49:30.221Z,1737046170.221 [CommandExec](IMPORTANT): got command run
2025-01-16T16:49:30.224Z,1737046170.224 [CommandExec](IMPORTANT): Running 
2025-01-16T16:49:30.265Z,1737046170.265 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/sink.tl
2025-01-16T16:49:30.265Z,1737046170.265 [MissionManager](INFO): Uninitializing Mission sink
2025-01-16T16:49:30.357Z,1737046170.357 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/sink.tl
2025-01-16T16:49:30.358Z,1737046170.358 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/sink.tl
2025-01-16T16:49:30.363Z,1737046170.363 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/sink.tl
2025-01-16T16:49:33.644Z,1737046173.644 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/sink.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sink">
    <DefineArg Name="SinkDuration">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="WaitToFloat">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Units:meter />
        <Value>2.5</Value>
    </DefineArg>
    <DefineArg Name="TargetDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DoBallastAndTrim">
        <False />
    </DefineArg>
    <DefineArg Name="BTSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineOutput Name="MissionTimeout">
        <Arg Name="SinkDuration" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="SinkDuration" />
        <Add>
            <Arg Name="WaitToFloat" />
        </Add>
    </Assign>
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <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" />
    <Aggregate Id="startComms">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Call RefId="NeedComms" Id="StartingMission" />
    </Aggregate>
    <Aggregate Id="RunSink">
        <Sequence />
        <Timeout Duration="SinkDuration" />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="TargetDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="BTSettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunBallastAndTrim">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Not>
                        <Arg Name="DoBallastAndTrim" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
        <Aggregate Id="JustSink">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Arg Name="DoBallastAndTrim" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="BTSettleTime" />
                <Arg Name="SinkDuration" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
    </Aggregate>
    <Aggregate Id="FloatUp">
        <Sequence />
        <Break>
            <Universal:depth />
            <Lt>
                <Arg Name="SurfaceThreshold" />
            </Lt>
        </Break>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyDefault />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="WaitToFloat" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" />
</Mission>

2025-01-16T16:49:33.653Z,1737046173.653 [MissionManager](INFO): DefineArg sink.SinkDuration = 2.000000 h
2025-01-16T16:49:33.659Z,1737046173.659 [MissionManager](INFO): DefineArg sink.WaitToFloat = 20.000000 min
2025-01-16T16:49:33.661Z,1737046173.661 [MissionManager](INFO): DefineArg sink.Depth = 20.000000 m
2025-01-16T16:49:33.668Z,1737046173.668 [MissionManager](INFO): DefineArg sink.DepthDeadband = 1.000000 m
2025-01-16T16:49:33.670Z,1737046173.670 [MissionManager](INFO): DefineArg sink.SurfaceThreshold = 2.500000 m
2025-01-16T16:49:33.676Z,1737046173.676 [MissionManager](INFO): DefineArg sink.TargetDepthTimeout = 20.000000 min
2025-01-16T16:49:33.678Z,1737046173.678 [MissionManager](INFO): DefineArg sink.DoBallastAndTrim = 0 bool
2025-01-16T16:49:33.731Z,1737046173.731 [MissionManager](INFO): DefineArg sink.BTSettleTime = 10.000000 min
2025-01-16T16:49:33.733Z,1737046173.733 [MissionManager](INFO): DefineArg sink.EstimationTimeout = 45.000000 min
2025-01-16T16:49:33.748Z,1737046173.748 [MissionManager](INFO): DefineArg sink.MinEstimationTime = 10.000000 min
2025-01-16T16:49:33.750Z,1737046173.750 [MissionManager](INFO): DefineArg sink.MassEstimationErrorBound = 0.500000 mm
2025-01-16T16:49:33.763Z,1737046173.763 [MissionManager](INFO): DefineArg sink.BuoyEstimationErrorBound = 25.000000 cc
2025-01-16T16:49:33.765Z,1737046173.765 [MissionManager](INFO): DefineArg sink.EstimationConfidence = 98.000000 %
2025-01-16T16:49:33.785Z,1737046173.785 [MissionManager](INFO): DefineArg sink.MinAltitude = 5.000000 m
2025-01-16T16:49:33.799Z,1737046173.799 [MissionManager](INFO): DefineArg sink.MaxDepth = 30.000000 m
2025-01-16T16:49:33.801Z,1737046173.801 [MissionManager](INFO): DefineArg sink.MinOffshore = 2.000000 km
2025-01-16T16:49:33.819Z,1737046173.819 [MissionManager](INFO): DefineArg sink.SkipComms = 0 bool
2025-01-16T16:49:33.821Z,1737046173.821 [MissionManager](INFO): DefineOutput sink.MissionTimeout = 2.000000 h
2025-01-16T16:49:33.823Z,1737046173.823 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-01-16T16:49:33.824Z,1737046173.824 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-01-16T16:49:33.840Z,1737046173.840 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-01-16T16:49:35.864Z,1737046175.864 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PeakShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="PeakDeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-01-16T16:49:35.891Z,1737046175.891 [MissionManager](INFO): DefineArg sink:Science.PeakDetectChlActive = 0 bool
2025-01-16T16:49:35.893Z,1737046175.893 [MissionManager](INFO): DefineArg sink:Science.TimeWindowPeakReport = nan min
2025-01-16T16:49:35.894Z,1737046175.894 [MissionManager](INFO): DefineArg sink:Science.HighestChlPeakReportActive = 0 bool
2025-01-16T16:49:35.896Z,1737046175.896 [MissionManager](INFO): DefineArg sink:Science.HighestSaltPeakReportActive = 0 bool
2025-01-16T16:49:35.898Z,1737046175.898 [MissionManager](INFO): DefineArg sink:Science.HighestOilPeakReportActive = 0 bool
2025-01-16T16:49:35.900Z,1737046175.900 [MissionManager](INFO): DefineArg sink:Science.PatchTracking = 0 bool
2025-01-16T16:49:35.902Z,1737046175.902 [MissionManager](INFO): DefineArg sink:Science.FilterWidthHorizontal = 3.000000 count
2025-01-16T16:49:35.904Z,1737046175.904 [MissionManager](INFO): DefineArg sink:Science.NumProfilesSlidingwindow = 100.000000 count
2025-01-16T16:49:35.907Z,1737046175.907 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionHorizontal = 80.000000 %
2025-01-16T16:49:35.908Z,1737046175.908 [MissionManager](INFO): DefineArg sink:Science.PeakDetectNO3Active = 0 bool
2025-01-16T16:49:35.910Z,1737046175.910 [MissionManager](INFO): DefineArg sink:Science.PeakDetectOilActive = 0 bool
2025-01-16T16:49:35.912Z,1737046175.912 [MissionManager](INFO): DefineArg sink:Science.PeakDetectFDOMActive = 0 bool
2025-01-16T16:49:35.914Z,1737046175.914 [MissionManager](INFO): DefineArg sink:Science.PeakDetectSalinityActive = 0 bool
2025-01-16T16:49:35.916Z,1737046175.916 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-01-16T16:49:35.918Z,1737046175.918 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-01-16T16:49:35.920Z,1737046175.920 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-01-16T16:49:35.921Z,1737046175.921 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-01-16T16:49:35.936Z,1737046175.936 [MissionManager](INFO): DefineArg sink:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-01-16T16:49:35.943Z,1737046175.943 [MissionManager](INFO): DefineArg sink:Science.EnabledAanderaaO2 = 0 bool
2025-01-16T16:49:35.945Z,1737046175.945 [MissionManager](INFO): DefineArg sink:Science.EnabledNeilBrown = 0 bool
2025-01-16T16:49:35.960Z,1737046175.960 [MissionManager](INFO): DefineArg sink:Science.EnabledSeabird = 1 bool
2025-01-16T16:49:35.967Z,1737046175.967 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsBB2FL = 1 bool
2025-01-16T16:49:35.969Z,1737046175.969 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-01-16T16:49:35.976Z,1737046175.976 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsUBAT = 0 bool
2025-01-16T16:49:35.978Z,1737046175.978 [MissionManager](INFO): DefineArg sink:Science.LowPassWindowLength = 20.000000 count
2025-01-16T16:49:35.984Z,1737046175.984 [MissionManager](INFO): DefineArg sink:Science.MedianFilterLen = 5.000000 count
2025-01-16T16:49:35.987Z,1737046175.987 [MissionManager](INFO): DefineArg sink:Science.PeakShallowBound = nan m
2025-01-16T16:49:35.989Z,1737046175.989 [MissionManager](INFO): DefineArg sink:Science.PeakDeepBound = nan m
2025-01-16T16:49:35.999Z,1737046175.999 [MissionManager](INFO): DefineArg sink:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-01-16T16:49:36.001Z,1737046176.001 [MissionManager](INFO): DefineArg sink:Science.ChlThreshTriggerActive = 0 bool
2025-01-16T16:49:36.031Z,1737046176.031 [MissionManager](INFO): DefineArg sink:Science.ChlLowerThresh = nan ug/l
2025-01-16T16:49:36.033Z,1737046176.033 [MissionManager](INFO): DefineArg sink:Science.ChlUpperThresh = nan ug/l
2025-01-16T16:49:36.039Z,1737046176.039 [MissionManager](INFO): DefineArg sink:Science.NumProfilesThresh = 5.000000 count
2025-01-16T16:49:36.043Z,1737046176.043 [MissionManager](INFO): DefineOutput sink:Science.PeakChl = nan ug/l
2025-01-16T16:49:36.045Z,1737046176.045 [MissionManager](INFO): DefineOutput sink:Science.PeakChlDepth = nan m
2025-01-16T16:49:36.052Z,1737046176.052 [MissionManager](INFO): DefineOutput sink:Science.PeakChlTemperature = nan degC
2025-01-16T16:49:36.054Z,1737046176.054 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLatitude = nan arcdeg
2025-01-16T16:49:36.057Z,1737046176.057 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLongitude = nan arcdeg
2025-01-16T16:49:36.099Z,1737046176.099 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3 = nan umol/l
2025-01-16T16:49:36.101Z,1737046176.101 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Depth = nan m
2025-01-16T16:49:36.112Z,1737046176.112 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Latitude = nan arcdeg
2025-01-16T16:49:36.114Z,1737046176.114 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Longitude = nan arcdeg
2025-01-16T16:49:36.121Z,1737046176.121 [MissionManager](INFO): DefineOutput sink:Science.PeakOil = nan kg/m3
2025-01-16T16:49:36.144Z,1737046176.144 [MissionManager](INFO): DefineOutput sink:Science.PeakOilDepth = nan m
2025-01-16T16:49:36.146Z,1737046176.146 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLatitude = nan arcdeg
2025-01-16T16:49:36.152Z,1737046176.152 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLongitude = nan arcdeg
2025-01-16T16:49:36.159Z,1737046176.159 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOM = nan ppb
2025-01-16T16:49:36.161Z,1737046176.161 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMDepth = nan m
2025-01-16T16:49:36.169Z,1737046176.169 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMTemperature = nan degC
2025-01-16T16:49:36.176Z,1737046176.176 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLatitude = nan arcdeg
2025-01-16T16:49:36.178Z,1737046176.178 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLongitude = nan arcdeg
2025-01-16T16:49:36.184Z,1737046176.184 [MissionManager](INFO): DefineOutput sink:Science.PeakSalt = nan psu
2025-01-16T16:49:36.191Z,1737046176.191 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltDepth = nan m
2025-01-16T16:49:36.193Z,1737046176.193 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltTemperature = nan degC
2025-01-16T16:49:36.207Z,1737046176.207 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLatitude = nan arcdeg
2025-01-16T16:49:36.210Z,1737046176.210 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLongitude = nan arcdeg
2025-01-16T16:49:36.216Z,1737046176.216 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-01-16T16:49:36.222Z,1737046176.222 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-01-16T16:49:36.225Z,1737046176.225 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-01-16T16:49:36.227Z,1737046176.227 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-01-16T16:49:36.229Z,1737046176.229 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-01-16T16:49:36.248Z,1737046176.248 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-01-16T16:49:36.261Z,1737046176.261 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-01-16T16:49:36.268Z,1737046176.268 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-01-16T16:49:36.271Z,1737046176.271 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-01-16T16:49:36.274Z,1737046176.274 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-01-16T16:49:36.290Z,1737046176.290 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-01-16T16:49:36.296Z,1737046176.296 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-01-16T16:49:36.303Z,1737046176.303 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-01-16T16:49:36.305Z,1737046176.305 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-01-16T16:49:36.307Z,1737046176.307 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-01-16T16:49:36.310Z,1737046176.310 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-01-16T16:49:36.328Z,1737046176.328 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-01-16T16:49:36.335Z,1737046176.335 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-01-16T16:49:36.337Z,1737046176.337 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-01-16T16:49:36.339Z,1737046176.339 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-01-16T16:49:36.342Z,1737046176.342 [MissionManager](INFO): DefineOutput sink:Science.PatchChl = nan ug/l
2025-01-16T16:49:36.352Z,1737046176.352 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDepth = nan m
2025-01-16T16:49:36.359Z,1737046176.359 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLatitude = nan arcdeg
2025-01-16T16:49:36.361Z,1737046176.361 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLongitude = nan arcdeg
2025-01-16T16:49:36.364Z,1737046176.364 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDistance = nan m
2025-01-16T16:49:36.366Z,1737046176.366 [MissionManager](INFO): DefineOutput sink:Science.PatchSalt = nan psu
2025-01-16T16:49:36.383Z,1737046176.383 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDepth = nan m
2025-01-16T16:49:36.385Z,1737046176.385 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLatitude = nan arcdeg
2025-01-16T16:49:36.388Z,1737046176.388 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLongitude = nan arcdeg
2025-01-16T16:49:36.399Z,1737046176.399 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDistance = nan m
2025-01-16T16:49:36.401Z,1737046176.401 [MissionManager](INFO): DefineOutput sink:Science.PatchOil = nan psu
2025-01-16T16:49:36.443Z,1737046176.443 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDepth = nan m
2025-01-16T16:49:36.445Z,1737046176.445 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLatitude = nan arcdeg
2025-01-16T16:49:36.456Z,1737046176.456 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLongitude = nan arcdeg
2025-01-16T16:49:36.458Z,1737046176.458 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDistance = nan m
2025-01-16T16:49:36.468Z,1737046176.468 [MissionManager](INFO): DefineOutput sink:Science.TriggeredOnChl = 0 bool
2025-01-16T16:49:36.499Z,1737046176.499 [MissionManager](INFO): DefineOutput sink:Science.ChlTriggering = nan ug/l
2025-01-16T16:49:36.603Z,1737046176.603 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:36.635Z,1737046176.635 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T16:49:36.664Z,1737046176.664 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:36.699Z,1737046176.699 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:36.735Z,1737046176.735 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T16:49:36.771Z,1737046176.771 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:36.796Z,1737046176.796 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:36.824Z,1737046176.824 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T16:49:36.862Z,1737046176.862 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:36.925Z,1737046176.925 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:36.974Z,1737046176.974 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:36.000Z,1737046177.000 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T16:49:37.025Z,1737046177.025 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-01-16T16:49:37.040Z,1737046177.040 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-16T16:49:37.040Z,1737046177.040 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-16T16:49:37.041Z,1737046177.041 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-16T16:49:37.304Z,1737046177.304 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-01-16T16:49:37.313Z,1737046177.313 [MissionManager](INFO): DefineArg sink:NeedComms.DiveInterval = 1.000000 h
2025-01-16T16:49:37.319Z,1737046177.319 [MissionManager](INFO): DefineArg sink:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-16T16:49:37.322Z,1737046177.322 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-16T16:49:37.348Z,1737046177.348 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceDepthRate = nan m/s
2025-01-16T16:49:37.352Z,1737046177.352 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-16T16:49:37.354Z,1737046177.354 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-16T16:49:37.363Z,1737046177.363 [MissionManager](INFO): DefineArg sink:NeedComms.GPSTimeout = 7.000000 min
2025-01-16T16:49:37.365Z,1737046177.365 [MissionManager](INFO): DefineArg sink:NeedComms.CommsTimeout = 30.000000 min
2025-01-16T16:49:37.375Z,1737046177.375 [sink:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T16:49:37.412Z,1737046177.412 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-16T16:49:37.412Z,1737046177.412 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-16T16:49:37.413Z,1737046177.413 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-16T16:49:37.525Z,1737046177.525 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-16T16:49:37.529Z,1737046177.529 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-16T16:49:37.531Z,1737046177.531 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-16T16:49:37.533Z,1737046177.533 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-16T16:49:37.536Z,1737046177.536 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-16T16:49:37.537Z,1737046177.537 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-16T16:49:37.566Z,1737046177.566 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-16T16:49:37.572Z,1737046177.572 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-16T16:49:37.581Z,1737046177.581 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-16T16:49:37.581Z,1737046177.581 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-16T16:49:37.582Z,1737046177.582 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-16T16:49:37.612Z,1737046177.612 [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>

2025-01-16T16:49:37.615Z,1737046177.615 [MissionManager](INFO): DefineArg sink:BackseatDriver.EnableBackseat = 0 bool
2025-01-16T16:49:37.617Z,1737046177.617 [sink:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-16T16:49:37.620Z,1737046177.620 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-16T16:49:37.620Z,1737046177.620 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-16T16:49:37.621Z,1737046177.621 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-16T16:49:37.845Z,1737046177.845 [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>

2025-01-16T16:49:37.849Z,1737046177.849 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleAll = 0 bool
2025-01-16T16:49:37.851Z,1737046177.851 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad1 = 0 bool
2025-01-16T16:49:37.852Z,1737046177.852 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad2 = 0 bool
2025-01-16T16:49:37.854Z,1737046177.854 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad3 = 0 bool
2025-01-16T16:49:37.857Z,1737046177.857 [MissionManager](INFO): DefineArg sink:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-16T16:49:37.881Z,1737046177.881 [sink:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-16T16:49:37.884Z,1737046177.884 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-01-16T16:49:37.884Z,1737046177.884 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-01-16T16:49:37.890Z,1737046177.890 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-01-16T16:49:38.413Z,1737046178.413 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BallastAndTrim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BallastAndTrim">
    <DefineArg Name="InsertDepth">
        <Units:meter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSpeed">
        <Units:meter_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstErrorBound">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstErrorBound">
        <Units:cubic_centimeter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="EstConfidence">
        <Units:percent />
        <Value>99.9</Value>
    </DefineArg>
    <DefineArg Name="InsertDepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="InsertMassDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <When>
        <Called />
    </When>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kpPitchMass />
        <Units:ratio />
        <Value>0.005</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kiPitchMass />
        <Units:reciprocal_second />
        <Value>0.00075</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kdPitchMass />
        <Units:second />
        <Value>0</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.massDeadband />
        <Arg Name="InsertMassDeadband" />
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.depthDeadband />
        <Arg Name="InsertDepthDeadband" />
    </Assign>
    <Syslog Severity="Info">
        Going to target depth. Speed set to 
        <Arg Name="InsertApproachSpeed" />
        <Units:meter_per_second />
    </Syslog>
    <Aggregate Id="GoToTargetDepth">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.pitchLimit />
            <Arg Name="InsertApproachPitchLimit" />
        </Assign>
        <Aggregate Id="ActuatorHold">
            <While>
                <Arg Name="InsertApproachSpeed" />
                <Gt>
                    <Units:meter_per_second />
                    <Value>0</Value>
                </Gt>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Units:degree />
                    <Value>13</Value>
                </Setting>
            </Guidance:Point>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Control:VerticalControl.buoyancyNeutral />
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.massPosition />
                    <Control:VerticalControl.massDefault />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
        <Aggregate Id="WaitPreDive">
            <Sequence />
            <Break>
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Le>
                    <Units:minute />
                    <Value>0</Value>
                </Le>
            </Break>
            <Syslog Severity="Info">
                Waiting for 
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Units:minute />
                while pumping down to neutral.
            </Syslog>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="InsertApproachSettleTimePreDive" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
        <Aggregate Id="ApproachDepth">
            <Sequence />
            <Syslog>
                Moving to 
                <Arg Name="InsertDepth" />
                <Units:meter />
            </Syslog>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="InsertApproachSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Guidance:Pitch>
                <Sequence />
                <Timeout Duration="InsertApproachDepthTimeout">
                    <Syslog Severity="Important">
                        Timed out trying to reach the target depth. Stopping mission at current depth of 
                        <Universal:depth />
                        <Units:meter />
                    </Syslog>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Timeout>
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="InsertDepth" />
                </Setting>
                <Setting>
                    <Guidance:Pitch.depthRate />
                    <Arg Name="InsertApproachDepthRate" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="BallastAndTrimAtTargetDepth">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Units:meter_per_second />
                <Value>0</Value>
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="InsertDepth" />
            </Setting>
        </Guidance:Pitch>
        <Syslog Severity="Info">
            Waiting for the vehicle to settle. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="InsertSettleTime" />
            </Setting>
        </Guidance:Wait>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>gfscan</String>
            </Setting>
        </Guidance:Execute>
        <Syslog Severity="Info">
            Running ballast and trim. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Estimation:BallastAndTrim>
            <Sequence />
            <Setting>
                <Estimation:BallastAndTrim.estimationTimeout />
                <Arg Name="EstTimeout" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.minEstimationTime />
                <Arg Name="MinEstTime" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.massErrorBound />
                <Arg Name="MassEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.buoyErrorBound />
                <Arg Name="BuoyEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.confidenceLevel />
                <Arg Name="EstConfidence" />
            </Setting>
        </Estimation:BallastAndTrim>
    </Aggregate>
</Aggregate>

2025-01-16T16:49:38.420Z,1737046178.420 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepth = 25.000000 m
2025-01-16T16:49:38.422Z,1737046178.422 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-01-16T16:49:38.424Z,1737046178.424 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-01-16T16:49:38.427Z,1737046178.427 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-01-16T16:49:38.429Z,1737046178.429 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-01-16T16:49:38.474Z,1737046178.474 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-01-16T16:49:38.476Z,1737046178.476 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-01-16T16:49:38.479Z,1737046178.479 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstTimeout = 45.000000 min
2025-01-16T16:49:38.481Z,1737046178.481 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MinEstTime = 10.000000 min
2025-01-16T16:49:38.483Z,1737046178.483 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-01-16T16:49:38.485Z,1737046178.485 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-01-16T16:49:38.539Z,1737046178.539 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstConfidence = 99.900002 %
2025-01-16T16:49:38.542Z,1737046178.542 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-01-16T16:49:38.564Z,1737046178.564 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-01-16T16:49:38.589Z,1737046178.589 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-01-16T16:49:38.607Z,1737046178.607 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T16:49:38.610Z,1737046178.610 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-01-16T16:49:38.630Z,1737046178.630 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-01-16T16:49:38.637Z,1737046178.637 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-01-16T16:49:38.644Z,1737046178.644 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-01-16T16:49:38.660Z,1737046178.660 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-01-16T16:49:38.667Z,1737046178.667 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-01-16T16:49:38.670Z,1737046178.670 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-01-16T16:49:38.682Z,1737046178.682 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-01-16T16:49:38.684Z,1737046178.684 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-01-16T16:49:38.692Z,1737046178.692 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-01-16T16:49:38.701Z,1737046178.701 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = reader:sink.DepthDeadband
2025-01-16T16:49:38.716Z,1737046178.716 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = reader:sink.TargetDepthTimeout
2025-01-16T16:49:38.718Z,1737046178.718 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = reader:sink.BTSettleTime
2025-01-16T16:49:38.724Z,1737046178.724 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstTimeout = reader:sink.EstimationTimeout
2025-01-16T16:49:38.725Z,1737046178.725 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MinEstTime = reader:sink.MinEstimationTime
2025-01-16T16:49:38.744Z,1737046178.744 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = reader:sink.MassEstimationErrorBound
2025-01-16T16:49:38.745Z,1737046178.745 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = reader:sink.BuoyEstimationErrorBound
2025-01-16T16:49:38.747Z,1737046178.747 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstConfidence = reader:sink.EstimationConfidence
2025-01-16T16:49:38.770Z,1737046178.770 [sink:FloatUp:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T16:49:38.773Z,1737046178.773 [sink:FloatUp:B.Wait](DEBUG): Construct Wait.
2025-01-16T16:49:38.867Z,1737046178.867 [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 sink {
  arguments {
    SinkDuration = 2 hour
      """
      Overall B&T timeout, or time to sink before ascending if not running B&T.
      Mission timeout will be SinkDuration + WaitToFloat.
      """

    WaitToFloat = 20 minute
      """
      Timeout for reaching surface threshold on float ascent, vehicle will drive up when
      reached
      """

    Depth = 20 meter
      """
      Target depth
      """

    DepthDeadband = 1 meter
      """
      How much vertical drift from the specified depth is allowed during the
      mission.
      """

    SurfaceThreshold = 2.5 meter
      """
      Surface threshold depth, relevant only to the ascent.
      """

    TargetDepthTimeout = 20 minute
      """
      Maximum wait time for the vehicle to reach the target depth.
      """

    DoBallastAndTrim = false
      """
      If true, run B&T, if false, just sit at depth.
      """

    BTSettleTime = 10 minute
      """
      If running B&T, how long to wait after reaching target depth before starting
      """

    EstimationTimeout = 45 minute
      """
      If running B&T, timeout for estimation.
      """

    MinEstimationTime = 10 minute
      """
      If running B&T, minimum time to run estimation before determining convergence
      (must be shorter than timeout).
      """

    MassEstimationErrorBound = 0.5 millimeter
      """
      If running B&T, desired range of the estimated sample mean from the true
      mean statistic (smaller values take longer to converge).
      """

    BuoyEstimationErrorBound = 25 cubic_centimeter
      """
      If running B&T, desired range of the estimated sample mean from the true
      mean statistic (smaller values take longer to converge).
      """

    EstimationConfidence = 98 percent
      """
      If running B&T, confidence level that the estimator has reached the desired
      error range (larger values take longer to converge).
      """

    MinAltitude = 5 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 30 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum offshore distance for the entire mission.
      """

    SkipComms = false
      """
      Skip start-of-mission GPS fix and comms if true
      """
  }

  output {
    MissionTimeout = SinkDuration
  }

  timeout duration=MissionTimeout

  assign in sequence MissionTimeout = SinkDuration + WaitToFloat

  insert Insert/Science.tl

  insert id="NeedComms" Insert/NeedComms.tl
  assign in sequence NeedComms:DiveInterval = MissionTimeout

  insert Insert/StandardEnvelopes.tl
  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate startComms {
    run in sequence

    break if ( SkipComms )

    call id="StartingMission" refId="NeedComms"
  }

  aggregate RunSink {
    run in sequence

    timeout duration=SinkDuration

    insert Insert/BallastAndTrim.tl {
      redefineArg InsertDepthDeadband = DepthDeadband
      redefineArg InsertApproachDepthTimeout = TargetDepthTimeout
      redefineArg InsertSettleTime = BTSettleTime
      redefineArg EstTimeout = EstimationTimeout
      redefineArg MinEstTime = MinEstimationTime
      redefineArg MassEstErrorBound = MassEstimationErrorBound
      redefineArg BuoyEstErrorBound = BuoyEstimationErrorBound
      redefineArg EstConfidence = EstimationConfidence
    }

    aggregate RunBallastAndTrim {
      run in sequence

      break if (
        isNaN ( Depth )
        or not DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

      call refId="BallastAndTrim"
    }

    aggregate JustSink {
      run in sequence

      break if (
        isNaN ( Depth )
        or DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

      # The B&T insert will never actually invoke the B&T behavior here.
      # This is a little bit of a hack to avoid duplicating the ApproachDepth etc.
      # logic the B&T insert uses.
      assign in sequence BTSettleTime = SinkDuration

      call refId="BallastAndTrim"
    }
  }

  aggregate FloatUp {
    """
    Float to surface instead of driving.
    """

    run in sequence

    break if ( Universal:depth < SurfaceThreshold )

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyDefault
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = WaitToFloat
    }
  }

  call id="EndingMission" refId="NeedComms"
}


2025-01-16T16:49:38.867Z,1737046178.867 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/sink.tl id=sink
2025-01-16T16:49:45.021Z,1737046185.021 [CommandExec](IMPORTANT): got command set sink.SinkDuration 20 minute
2025-01-16T16:49:45.035Z,1737046185.035 [CommandExec](IMPORTANT): got command set sink:BackseatDriver.EnableBackseat 1 bool
2025-01-16T16:49:45.035Z,1737046185.035 [CommandExec](IMPORTANT): got command run
2025-01-16T16:49:45.037Z,1737046185.037 [CommandExec](IMPORTANT): Running 
2025-01-16T16:49:45.393Z,1737046185.393 [Default] Stopped
2025-01-16T16:49:45.393Z,1737046185.393 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-16T16:49:45.393Z,1737046185.393 [Default:B.GoToSurface] Stopped
2025-01-16T16:49:45.393Z,1737046185.393 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T16:49:45.394Z,1737046185.394 [Default:CheckIn] Stopped
2025-01-16T16:49:45.394Z,1737046185.394 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T16:49:45.394Z,1737046185.394 [Default:CheckIn:C.Wait] Stopped
2025-01-16T16:49:45.394Z,1737046185.394 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T16:49:45.394Z,1737046185.394 [MissionManager](IMPORTANT): Started mission sink
2025-01-16T16:49:45.394Z,1737046185.394 [sink] Running Loop=1
2025-01-16T16:49:45.395Z,1737046185.395 [sink](DEBUG): Aggregate::initialize sink
2025-01-16T16:49:45.395Z,1737046185.395 [sink:Science] Running Loop=1
2025-01-16T16:49:45.395Z,1737046185.395 [sink:Science](DEBUG): Aggregate::initialize sink:Science
2025-01-16T16:49:45.395Z,1737046185.395 [sink:Science:A] Running Loop=1
2025-01-16T16:49:45.395Z,1737046185.395 [sink:Science:B] Running Loop=1
2025-01-16T16:49:45.395Z,1737046185.395 [sink:Science:C] Running Loop=1
2025-01-16T16:49:45.395Z,1737046185.395 [sink:Science:D] Running Loop=1
2025-01-16T16:49:45.395Z,1737046185.395 [sink:Science:E] Running Loop=1
2025-01-16T16:49:45.395Z,1737046185.395 [sink:Science:F] Running Loop=1
2025-01-16T16:49:45.395Z,1737046185.395 [sink:Science:Read_Oil] Running Loop=1
2025-01-16T16:49:45.395Z,1737046185.395 [sink:Science:PeakDetectChl] Running Loop=1
2025-01-16T16:49:45.395Z,1737046185.395 [sink:Science:PeakDetectChl](DEBUG): Aggregate::initialize sink:Science:PeakDetectChl
2025-01-16T16:49:45.396Z,1737046185.396 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T16:49:45.396Z,1737046185.396 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T16:49:45.397Z,1737046185.397 [sink:Science:HighestChlPeakReport] Running Loop=1
2025-01-16T16:49:45.397Z,1737046185.397 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestChlPeakReport
2025-01-16T16:49:45.398Z,1737046185.398 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T16:49:45.398Z,1737046185.398 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T16:49:45.398Z,1737046185.398 [sink:Science:PeakDetectNO3] Running Loop=1
2025-01-16T16:49:45.398Z,1737046185.398 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sink:Science:PeakDetectNO3
2025-01-16T16:49:45.399Z,1737046185.399 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T16:49:45.399Z,1737046185.399 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T16:49:45.401Z,1737046185.401 [sink:Science:PeakDetectOil] Running Loop=1
2025-01-16T16:49:45.401Z,1737046185.401 [sink:Science:PeakDetectOil](DEBUG): Aggregate::initialize sink:Science:PeakDetectOil
2025-01-16T16:49:45.401Z,1737046185.401 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T16:49:45.401Z,1737046185.401 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T16:49:45.404Z,1737046185.404 [sink:Science:HighestOilPeakReport] Running Loop=1
2025-01-16T16:49:45.404Z,1737046185.404 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestOilPeakReport
2025-01-16T16:49:45.404Z,1737046185.404 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T16:49:45.404Z,1737046185.404 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T16:49:45.404Z,1737046185.404 [sink:Science:PeakDetectFDOM] Running Loop=1
2025-01-16T16:49:45.404Z,1737046185.404 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sink:Science:PeakDetectFDOM
2025-01-16T16:49:45.404Z,1737046185.404 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T16:49:45.405Z,1737046185.405 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T16:49:45.406Z,1737046185.406 [sink:Science:PeakDetectSalinity] Running Loop=1
2025-01-16T16:49:45.406Z,1737046185.406 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sink:Science:PeakDetectSalinity
2025-01-16T16:49:45.407Z,1737046185.407 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T16:49:45.407Z,1737046185.407 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T16:49:45.408Z,1737046185.408 [sink:Science:HighestSaltPeakReport] Running Loop=1
2025-01-16T16:49:45.408Z,1737046185.408 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestSaltPeakReport
2025-01-16T16:49:45.409Z,1737046185.409 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T16:49:45.409Z,1737046185.409 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T16:49:45.409Z,1737046185.409 [sink:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-01-16T16:49:45.409Z,1737046185.409 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-01-16T16:49:45.409Z,1737046185.409 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T16:49:45.409Z,1737046185.409 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T16:49:45.410Z,1737046185.410 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-16T16:49:45.411Z,1737046185.411 [sink:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-01-16T16:49:45.411Z,1737046185.411 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-01-16T16:49:45.411Z,1737046185.411 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T16:49:45.411Z,1737046185.411 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T16:49:45.412Z,1737046185.412 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-16T16:49:45.413Z,1737046185.413 [sink:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-01-16T16:49:45.413Z,1737046185.413 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-01-16T16:49:45.413Z,1737046185.413 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T16:49:45.413Z,1737046185.413 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T16:49:45.413Z,1737046185.413 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_diatoms , but backseat URI detected. Waiting for presence.
2025-01-16T16:49:45.414Z,1737046185.414 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-01-16T16:49:45.415Z,1737046185.415 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-16T16:49:45.415Z,1737046185.415 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T16:49:45.415Z,1737046185.415 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T16:49:45.415Z,1737046185.415 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_dinoflagellates , but backseat URI detected. Waiting for presence.
2025-01-16T16:49:45.416Z,1737046185.416 [sink:Science:ChlThreshTrigger] Running Loop=1
2025-01-16T16:49:45.416Z,1737046185.416 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sink:Science:ChlThreshTrigger
2025-01-16T16:49:45.416Z,1737046185.416 [sink:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-01-16T16:49:45.417Z,1737046185.417 [sink:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-01-16T16:49:45.417Z,1737046185.417 [sink:Science:OceanCurrent] Running Loop=1
2025-01-16T16:49:45.417Z,1737046185.417 [sink:Science:OceanCurrent](DEBUG): Aggregate::initialize sink:Science:OceanCurrent
2025-01-16T16:49:45.417Z,1737046185.417 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-01-16T16:49:45.417Z,1737046185.417 [sink:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-01-16T16:49:45.417Z,1737046185.417 [sink:StandardEnvelopes] Running Loop=1
2025-01-16T16:49:45.417Z,1737046185.417 [sink:StandardEnvelopes](DEBUG): Aggregate::initialize sink:StandardEnvelopes
2025-01-16T16:49:45.417Z,1737046185.417 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T16:49:45.417Z,1737046185.417 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-16T16:49:45.418Z,1737046185.418 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T16:49:45.418Z,1737046185.418 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-16T16:49:45.418Z,1737046185.418 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T16:49:45.434Z,1737046185.434 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-16T16:49:45.434Z,1737046185.434 [sink:BackseatDriver] Running Loop=1
2025-01-16T16:49:45.435Z,1737046185.435 [sink:BackseatDriver](DEBUG): Aggregate::initialize sink:BackseatDriver
2025-01-16T16:49:45.435Z,1737046185.435 [sink:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-16T16:49:45.435Z,1737046185.435 [sink:PowerOnly] Running Loop=1
2025-01-16T16:49:45.435Z,1737046185.435 [sink:PowerOnly](DEBUG): Aggregate::initialize sink:PowerOnly
2025-01-16T16:49:45.435Z,1737046185.435 [sink:PowerOnly:A] Running Loop=1
2025-01-16T16:49:45.435Z,1737046185.435 [sink:PowerOnly:B] Running Loop=1
2025-01-16T16:49:45.435Z,1737046185.435 [sink:PowerOnly:C] Running Loop=1
2025-01-16T16:49:45.435Z,1737046185.435 [sink:PowerOnly:D] Running Loop=1
2025-01-16T16:49:45.435Z,1737046185.435 [sink:PowerOnly:E.Wait] Running Loop=1
2025-01-16T16:49:45.435Z,1737046185.435 [sink:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-16T16:49:45.435Z,1737046185.435 [sink:A] Running Loop=1
2025-01-16T16:49:45.436Z,1737046185.436 [sink:PowerOnly] Running Loop=1
2025-01-16T16:49:45.437Z,1737046185.437 [sink:PowerOnly:D] Stopped
2025-01-16T16:49:45.437Z,1737046185.437 [sink:PowerOnly:C] Stopped
2025-01-16T16:49:45.437Z,1737046185.437 [sink:PowerOnly:B] Stopped
2025-01-16T16:49:45.437Z,1737046185.437 [sink:PowerOnly:A] Stopped
2025-01-16T16:49:45.437Z,1737046185.437 [sink:BackseatDriver] Running Loop=1
2025-01-16T16:49:45.437Z,1737046185.437 [sink:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-01-16T16:49:45.488Z,1737046185.488 [sink:StandardEnvelopes] Running Loop=1
2025-01-16T16:49:45.488Z,1737046185.488 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T16:49:45.489Z,1737046185.489 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T16:49:45.489Z,1737046185.489 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T16:49:45.489Z,1737046185.489 [sink:Science] Running Loop=1
2025-01-16T16:49:45.491Z,1737046185.491 [sink:Science:ChlThreshTrigger] Stopped
2025-01-16T16:49:45.491Z,1737046185.491 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sink:Science:ChlThreshTrigger
2025-01-16T16:49:45.491Z,1737046185.491 [sink:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-01-16T16:49:45.491Z,1737046185.491 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-01-16T16:49:45.491Z,1737046185.491 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-01-16T16:49:45.491Z,1737046185.491 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-16T16:49:45.491Z,1737046185.491 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Stopped
2025-01-16T16:49:45.491Z,1737046185.491 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T16:49:45.492Z,1737046185.492 [sink:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-01-16T16:49:45.492Z,1737046185.492 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-01-16T16:49:45.492Z,1737046185.492 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Stopped
2025-01-16T16:49:45.492Z,1737046185.492 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T16:49:45.492Z,1737046185.492 [sink:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-01-16T16:49:45.492Z,1737046185.492 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-01-16T16:49:45.492Z,1737046185.492 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-16T16:49:45.492Z,1737046185.492 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T16:49:45.492Z,1737046185.492 [sink:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-01-16T16:49:45.492Z,1737046185.492 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-01-16T16:49:45.492Z,1737046185.492 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-16T16:49:45.492Z,1737046185.492 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T16:49:45.492Z,1737046185.492 [sink:Science:HighestSaltPeakReport] Stopped
2025-01-16T16:49:45.493Z,1737046185.493 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestSaltPeakReport
2025-01-16T16:49:45.493Z,1737046185.493 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T16:49:45.493Z,1737046185.493 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T16:49:45.493Z,1737046185.493 [sink:Science:PeakDetectSalinity] Stopped
2025-01-16T16:49:45.493Z,1737046185.493 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectSalinity
2025-01-16T16:49:45.493Z,1737046185.493 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2025-01-16T16:49:45.493Z,1737046185.493 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T16:49:45.493Z,1737046185.493 [sink:Science:PeakDetectFDOM] Stopped
2025-01-16T16:49:45.493Z,1737046185.493 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectFDOM
2025-01-16T16:49:45.493Z,1737046185.493 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2025-01-16T16:49:45.493Z,1737046185.493 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T16:49:45.493Z,1737046185.493 [sink:Science:HighestOilPeakReport] Stopped
2025-01-16T16:49:45.494Z,1737046185.494 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestOilPeakReport
2025-01-16T16:49:45.494Z,1737046185.494 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T16:49:45.494Z,1737046185.494 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T16:49:45.494Z,1737046185.494 [sink:Science:PeakDetectOil] Stopped
2025-01-16T16:49:45.494Z,1737046185.494 [sink:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectOil
2025-01-16T16:49:45.494Z,1737046185.494 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2025-01-16T16:49:45.498Z,1737046185.498 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T16:49:45.498Z,1737046185.498 [sink:Science:PeakDetectNO3] Stopped
2025-01-16T16:49:45.498Z,1737046185.498 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectNO3
2025-01-16T16:49:45.499Z,1737046185.499 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2025-01-16T16:49:45.499Z,1737046185.499 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T16:49:45.499Z,1737046185.499 [sink:Science:HighestChlPeakReport] Stopped
2025-01-16T16:49:45.499Z,1737046185.499 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestChlPeakReport
2025-01-16T16:49:45.499Z,1737046185.499 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T16:49:45.499Z,1737046185.499 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T16:49:45.499Z,1737046185.499 [sink:Science:PeakDetectChl] Stopped
2025-01-16T16:49:45.499Z,1737046185.499 [sink:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectChl
2025-01-16T16:49:45.499Z,1737046185.499 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2025-01-16T16:49:45.499Z,1737046185.499 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T16:49:45.499Z,1737046185.499 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-01-16T16:49:45.499Z,1737046185.499 [sink:Science:Read_Oil] Stopped
2025-01-16T16:49:45.500Z,1737046185.500 [sink:Science:F] Stopped
2025-01-16T16:49:45.500Z,1737046185.500 [sink:Science:E] Running Loop=1
2025-01-16T16:49:45.500Z,1737046185.500 [sink:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-01-16T16:49:45.500Z,1737046185.500 [sink:Science:D] Stopped
2025-01-16T16:49:45.501Z,1737046185.501 [sink:Science:C] Running Loop=1
2025-01-16T16:49:45.501Z,1737046185.501 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-01-16T16:49:45.502Z,1737046185.502 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-01-16T16:49:45.506Z,1737046185.506 [sink:Science:B] Running Loop=1
2025-01-16T16:49:45.507Z,1737046185.507 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-01-16T16:49:45.508Z,1737046185.508 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-01-16T16:49:45.508Z,1737046185.508 [sink:Science:A] Stopped
2025-01-16T16:49:45.508Z,1737046185.508 [sink:A] Stopped
2025-01-16T16:49:45.508Z,1737046185.508 [sink:D] Running Loop=1
2025-01-16T16:49:45.551Z,1737046185.551 [BackseatComponent](INFO): Powering up
2025-01-16T16:49:45.551Z,1737046185.551 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-01-16T16:49:45.716Z,1737046185.716 [WetLabsBB2FL](INFO): Powering up
2025-01-16T16:49:45.807Z,1737046185.807 [sink:D] Stopped
2025-01-16T16:49:45.807Z,1737046185.807 [sink:F] Running Loop=1
2025-01-16T16:49:46.255Z,1737046186.255 [sink:F] Stopped
2025-01-16T16:49:46.255Z,1737046186.255 [sink:G] Running Loop=1
2025-01-16T16:49:46.610Z,1737046186.610 [sink:G] Stopped
2025-01-16T16:49:46.611Z,1737046186.611 [sink:H] Running Loop=1
2025-01-16T16:49:47.026Z,1737046187.026 [sink:H] Stopped
2025-01-16T16:49:47.027Z,1737046187.027 [sink:startComms] Running Loop=1
2025-01-16T16:49:47.027Z,1737046187.027 [sink:startComms](DEBUG): Aggregate::initialize sink:startComms
2025-01-16T16:49:47.027Z,1737046187.027 [sink:startComms:StartingMission] Running Loop=1
2025-01-16T16:49:47.027Z,1737046187.027 [sink:startComms:StartingMission](DEBUG): Aggregate::initialize sink:startComms:StartingMission
2025-01-16T16:49:47.435Z,1737046187.435 [sink:NeedComms] Running Loop=1
2025-01-16T16:49:47.435Z,1737046187.435 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-01-16T16:49:47.435Z,1737046187.435 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T16:49:47.435Z,1737046187.435 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T16:49:47.436Z,1737046187.436 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T16:49:47.436Z,1737046187.436 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T16:49:47.437Z,1737046187.437 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T16:49:47.437Z,1737046187.437 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T16:49:47.437Z,1737046187.437 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T16:49:47.437Z,1737046187.437 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T16:49:47.438Z,1737046187.438 [sink:NeedComms:A] Running Loop=1
2025-01-16T16:49:47.439Z,1737046187.439 [sink:NeedComms:A](INFO): last time_fix was:  1737045914.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T16:49:47.439Z,1737046187.439 [sink:NeedComms:A] Stopped
2025-01-16T16:49:47.820Z,1737046187.820 [sink:NeedComms:C] Running Loop=1
2025-01-16T16:49:48.272Z,1737046188.272 [sink:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T16:49:48.635Z,1737046188.635 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-01-16T16:49:49.843Z,1737046189.843 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164949.00,A,3648.00390,N,12150.71938,W,0.175,10.79,160125,,,A*46
2025-01-16T16:49:49.845Z,1737046189.845 [NAL9602](INFO): GPS fix at 20250116T164949: (36.800065, -121.845323)
2025-01-16T16:49:49.899Z,1737046189.899 [sink:NeedComms:C] Stopped
2025-01-16T16:49:49.899Z,1737046189.899 [sink:NeedComms:D] Running Loop=1
2025-01-16T16:49:50.308Z,1737046190.308 [sink:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-16T16:49:52.635Z,1737046192.635 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250116T111413/Courier0036.lzma
2025-01-16T16:49:53.356Z,1737046193.356 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Courier0036.lzma.bak
2025-01-16T16:49:53.356Z,1737046193.356 [DataOverHttps](INFO): SBD MOMSN=23911143
2025-01-16T16:50:06.849Z,1737046206.849 [NAL9602](INFO): SBD MO Status=0, MOMSN=11868, MT Status=0, MTMSN=0
2025-01-16T16:50:06.849Z,1737046206.849 [NAL9602](INFO): No messages in MT queue
2025-01-16T16:50:10.628Z,1737046210.628 [DataOverHttps](INFO): Sending 1016 bytes from file Logs/20250116T111413/Express0037.lzma
2025-01-16T16:50:11.628Z,1737046211.628 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Express0037.lzma.bak
2025-01-16T16:50:11.628Z,1737046211.628 [DataOverHttps](INFO): SBD MOMSN=23911146
2025-01-16T16:50:28.624Z,1737046228.624 [DataOverHttps](INFO): Sending 114 bytes from file Logs/20250116T111413/Express0040.lzma
2025-01-16T16:50:29.626Z,1737046229.626 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Express0040.lzma.bak
2025-01-16T16:50:29.626Z,1737046229.626 [DataOverHttps](INFO): SBD MOMSN=23911163
2025-01-16T16:50:31.115Z,1737046231.115 [sink:NeedComms:D] Stopped
2025-01-16T16:50:31.116Z,1737046231.116 [sink:NeedComms:E] Running Loop=1
2025-01-16T16:50:31.504Z,1737046231.504 [sink:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T16:50:33.105Z,1737046233.105 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165032.00,A,3648.00751,N,12150.72099,W,0.194,350.46,160125,,,A*7E
2025-01-16T16:50:33.109Z,1737046233.109 [NAL9602](INFO): GPS fix at 20250116T165032: (36.800125, -121.845350)
2025-01-16T16:50:33.183Z,1737046233.183 [sink:NeedComms:E] Stopped
2025-01-16T16:50:33.184Z,1737046233.184 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-01-16T16:50:33.184Z,1737046233.184 [sink:NeedComms] Stopped
2025-01-16T16:50:33.184Z,1737046233.184 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-01-16T16:50:33.184Z,1737046233.184 [sink:NeedComms:B.GoToSurface] Stopped
2025-01-16T16:50:33.185Z,1737046233.185 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T16:50:33.555Z,1737046233.555 [sink:startComms:StartingMission](INFO): Completed sink:startComms:StartingMission
2025-01-16T16:50:33.555Z,1737046233.555 [sink:startComms:StartingMission] Stopped
2025-01-16T16:50:33.556Z,1737046233.556 [sink:startComms:StartingMission](DEBUG): Aggregate::uninitialize sink:startComms:StartingMission
2025-01-16T16:50:33.556Z,1737046233.556 [sink:startComms](INFO): Completed sink:startComms
2025-01-16T16:50:33.556Z,1737046233.556 [sink:startComms] Stopped
2025-01-16T16:50:33.556Z,1737046233.556 [sink:startComms](DEBUG): Aggregate::uninitialize sink:startComms
2025-01-16T16:50:33.556Z,1737046233.556 [sink:RunSink] Running Loop=1
2025-01-16T16:50:33.556Z,1737046233.556 [sink:RunSink](DEBUG): Aggregate::initialize sink:RunSink
2025-01-16T16:50:33.556Z,1737046233.556 [sink:RunSink:RunBallastAndTrim] Running Loop=1
2025-01-16T16:50:33.557Z,1737046233.557 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:RunBallastAndTrim
2025-01-16T16:50:33.557Z,1737046233.557 [sink:RunSink:RunBallastAndTrim:A] Running Loop=1
2025-01-16T16:50:33.963Z,1737046233.963 [sink:RunSink:RunBallastAndTrim] Stopped
2025-01-16T16:50:33.963Z,1737046233.963 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:RunBallastAndTrim
2025-01-16T16:50:33.963Z,1737046233.963 [sink:RunSink:RunBallastAndTrim:A] Stopped
2025-01-16T16:50:33.964Z,1737046233.964 [sink:RunSink:JustSink] Running Loop=1
2025-01-16T16:50:33.964Z,1737046233.964 [sink:RunSink:JustSink](DEBUG): Aggregate::initialize sink:RunSink:JustSink
2025-01-16T16:50:33.964Z,1737046233.964 [sink:RunSink:JustSink:A] Running Loop=1
2025-01-16T16:50:34.369Z,1737046234.369 [sink:RunSink:JustSink:A] Stopped
2025-01-16T16:50:34.369Z,1737046234.369 [sink:RunSink:JustSink:B] Running Loop=1
2025-01-16T16:50:34.823Z,1737046234.823 [sink:RunSink:JustSink:B] Stopped
2025-01-16T16:50:34.823Z,1737046234.823 [sink:RunSink:JustSink:C] Running Loop=1
2025-01-16T16:50:34.824Z,1737046234.824 [sink:RunSink:JustSink:C](DEBUG): Aggregate::initialize sink:RunSink:JustSink:C
2025-01-16T16:50:35.302Z,1737046235.302 [sink:RunSink:BallastAndTrim] Running Loop=1
2025-01-16T16:50:35.303Z,1737046235.303 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim
2025-01-16T16:50:35.303Z,1737046235.303 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-01-16T16:50:35.303Z,1737046235.303 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-01-16T16:50:35.303Z,1737046235.303 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-01-16T16:50:35.303Z,1737046235.303 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-01-16T16:50:35.303Z,1737046235.303 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-01-16T16:50:35.303Z,1737046235.303 [sink:RunSink:BallastAndTrim:F] Running Loop=1
2025-01-16T16:50:35.305Z,1737046235.305 [sink:RunSink:BallastAndTrim:F](INFO): Going to target depth. Speed set to  0.000000 m/s 
2025-01-16T16:50:35.305Z,1737046235.305 [sink:RunSink:BallastAndTrim:F] Stopped
2025-01-16T16:50:35.305Z,1737046235.305 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-01-16T16:50:35.305Z,1737046235.305 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-01-16T16:50:35.306Z,1737046235.306 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-01-16T16:50:35.306Z,1737046235.306 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-01-16T16:50:35.306Z,1737046235.306 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-01-16T16:50:35.306Z,1737046235.306 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-01-16T16:50:35.306Z,1737046235.306 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-01-16T16:50:35.330Z,1737046235.330 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-01-16T16:50:35.330Z,1737046235.330 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-16T16:50:35.330Z,1737046235.330 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-01-16T16:50:35.330Z,1737046235.330 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-01-16T16:50:35.331Z,1737046235.331 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-01-16T16:50:35.331Z,1737046235.331 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-01-16T16:50:35.331Z,1737046235.331 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-01-16T16:50:35.331Z,1737046235.331 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-01-16T16:50:35.331Z,1737046235.331 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-01-16T16:50:35.332Z,1737046235.332 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-01-16T16:50:35.332Z,1737046235.332 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-01-16T16:50:35.332Z,1737046235.332 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-01-16T16:50:35.848Z,1737046235.848 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-01-16T16:50:35.848Z,1737046235.848 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-01-16T16:50:35.848Z,1737046235.848 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-01-16T16:50:35.848Z,1737046235.848 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-01-16T16:50:35.848Z,1737046235.848 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-01-16T16:50:35.848Z,1737046235.848 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-01-16T16:50:35.848Z,1737046235.848 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-01-16T16:50:35.848Z,1737046235.848 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-01-16T16:50:35.849Z,1737046235.849 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-16T16:50:35.849Z,1737046235.849 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-01-16T16:50:35.849Z,1737046235.849 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-01-16T16:50:36.208Z,1737046236.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-01-16T16:50:36.208Z,1737046236.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-01-16T16:50:36.208Z,1737046236.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T16:50:36.208Z,1737046236.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-01-16T16:50:36.208Z,1737046236.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-01-16T16:50:36.208Z,1737046236.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-01-16T16:50:36.208Z,1737046236.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-01-16T16:50:36.209Z,1737046236.209 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-01-16T16:50:36.209Z,1737046236.209 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-01-16T16:50:36.209Z,1737046236.209 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-01-16T16:50:36.209Z,1737046236.209 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-01-16T16:50:36.525Z,1737046236.525 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-01-16T16:50:36.547Z,1737046236.547 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  20.000000 m 
2025-01-16T16:50:36.547Z,1737046236.547 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-01-16T16:50:36.547Z,1737046236.547 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-01-16T16:50:36.547Z,1737046236.547 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-01-16T16:50:58.619Z,1737046258.619 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250116T165058
2025-01-16T16:51:05.584Z,1737046265.584 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T16:51:52.160Z,1737046312.160 [BuoyancyServo](FAULT): Overload Error
2025-01-16T16:51:52.160Z,1737046312.160 [BuoyancyServo] Hardware Fault, FailCount= 1
2025-01-16T16:51:52.160Z,1737046312.160 [BuoyancyServo](ERROR): Hardware Fault
2025-01-16T16:51:52.303Z,1737046312.303 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2025-01-16T16:51:54.169Z,1737046314.169 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-01-16T16:51:54.169Z,1737046314.169 [BuoyancyServo](INFO): Powering down
2025-01-16T16:51:54.967Z,1737046314.967 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2025-01-16T16:51:54.967Z,1737046314.967 [BuoyancyServo] No Fault, FailCount= 1
2025-01-16T16:51:55.321Z,1737046315.321 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-01-16T16:51:55.322Z,1737046315.322 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-01-16T16:51:56.104Z,1737046316.104 [sink:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2103
2025-01-16T16:51:56.497Z,1737046316.497 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-01-16T16:52:32.871Z,1737046352.871 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T16:53:03.995Z,1737046383.995 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T16:53:10.150Z,1737046390.150 [Radio_Surface](INFO): Powering down
2025-01-16T16:53:35.119Z,1737046415.119 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T16:53:36.123Z,1737046416.123 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-16T16:54:43.391Z,1737046483.391 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.719193
2025-01-16T16:55:59.335Z,1737046559.335 [sink:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2104
2025-01-16T16:56:17.910Z,1737046577.910 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-01-16T16:56:17.911Z,1737046577.911 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-01-16T16:56:17.911Z,1737046577.911 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-01-16T16:56:17.911Z,1737046577.911 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-01-16T16:56:17.911Z,1737046577.911 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-01-16T16:56:17.911Z,1737046577.911 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-01-16T16:56:17.912Z,1737046577.912 [sink:RunSink:BallastAndTrim:GoToTargetDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-01-16T16:56:17.912Z,1737046577.912 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Stopped
2025-01-16T16:56:17.912Z,1737046577.912 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-01-16T16:56:17.912Z,1737046577.912 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-01-16T16:56:17.912Z,1737046577.912 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-01-16T16:56:17.912Z,1737046577.912 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-01-16T16:56:17.912Z,1737046577.912 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-01-16T16:56:17.912Z,1737046577.912 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-01-16T16:56:17.912Z,1737046577.912 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-01-16T16:56:17.912Z,1737046577.912 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-01-16T16:56:17.913Z,1737046577.913 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-01-16T16:56:18.310Z,1737046578.310 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  20.034872 m 
2025-01-16T16:56:18.310Z,1737046578.310 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-01-16T16:56:18.310Z,1737046578.310 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-01-16T16:56:18.310Z,1737046578.310 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-01-16T16:56:18.310Z,1737046578.310 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-01-16T16:56:18.311Z,1737046578.311 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-01-16T16:59:31.574Z,1737046771.574 [CBIT](IMPORTANT): Beginning ground fault scan
2025-01-16T16:59:32.068Z,1737046772.068 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-16T16:59:32.070Z,1737046772.070 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-16T16:59:33.072Z,1737046773.072 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-16T16:59:33.073Z,1737046773.073 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-16T16:59:34.076Z,1737046774.076 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-16T16:59:34.077Z,1737046774.077 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-16T16:59:35.080Z,1737046775.080 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-16T16:59:35.081Z,1737046775.081 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-16T16:59:36.084Z,1737046776.084 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-16T16:59:36.085Z,1737046776.085 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-16T16:59:37.096Z,1737046777.096 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-16T16:59:37.098Z,1737046777.098 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-16T16:59:38.100Z,1737046778.100 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-16T16:59:38.101Z,1737046778.101 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-16T16:59:39.104Z,1737046779.104 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-16T16:59:39.105Z,1737046779.105 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-16T16:59:40.108Z,1737046780.108 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-16T16:59:40.109Z,1737046780.109 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-16T16:59:41.112Z,1737046781.112 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-16T16:59:41.118Z,1737046781.118 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-16T16:59:42.116Z,1737046782.116 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-16T16:59:42.117Z,1737046782.117 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-16T16:59:42.357Z,1737046782.357 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.000808
CHAN A1 (24V): -0.000407
CHAN A2 (12V): 0.000406
CHAN A3 (5V): -0.001733
CHAN B0 (3.3V): -0.000178
CHAN B1 (3.15aV): -0.001250
CHAN B2 (3.15bV): -0.001194
CHAN B3 (GND): -0.002051
OPEN: 0.004605
Full Scale: +/- 1 mA
2025-01-16T17:02:20.690Z,1737046940.690 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-01-16T17:02:20.691Z,1737046940.691 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-01-16T17:02:20.696Z,1737046940.696 [BPC1](FAULT): Failed to receive data from 32 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 62.
2025-01-16T17:09:17.479Z,1737047357.479 [CTD_Seabird](ERROR): Failed to parse device response: 19.60.63
2025-01-16T17:10:33.590Z,1737047433.590 [sink:RunSink](INFO): Timed out from 2025-01-16T16:50:33.6Z
2025-01-16T17:10:33.590Z,1737047433.590 [sink:RunSink] Stopped
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink](DEBUG): Aggregate::uninitialize sink:RunSink
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink:BallastAndTrim] Stopped
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink:BallastAndTrim:A] Stopped
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink:BallastAndTrim:B] Stopped
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink:BallastAndTrim:C] Stopped
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink:BallastAndTrim:D] Stopped
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink:BallastAndTrim:E] Stopped
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-01-16T17:10:33.591Z,1737047433.591 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T17:10:33.592Z,1737047433.592 [sink:RunSink:JustSink] Stopped
2025-01-16T17:10:33.592Z,1737047433.592 [sink:RunSink:JustSink](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink
2025-01-16T17:10:33.592Z,1737047433.592 [sink:RunSink:JustSink:C] Stopped
2025-01-16T17:10:33.592Z,1737047433.592 [sink:RunSink:JustSink:C](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink:C
2025-01-16T17:10:33.592Z,1737047433.592 [sink:FloatUp] Running Loop=1
2025-01-16T17:10:33.592Z,1737047433.592 [sink:FloatUp](DEBUG): Aggregate::initialize sink:FloatUp
2025-01-16T17:10:33.592Z,1737047433.592 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-01-16T17:10:33.592Z,1737047433.592 [sink:FloatUp:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-16T17:10:33.593Z,1737047433.593 [sink:FloatUp:B.Wait] Running Loop=1
2025-01-16T17:10:33.593Z,1737047433.593 [sink:FloatUp:B.Wait](DEBUG): Initialize Wait Component.
2025-01-16T17:10:34.002Z,1737047434.002 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-01-16T17:14:03.292Z,1737047643.292 [sink:FloatUp] Stopped
2025-01-16T17:14:03.292Z,1737047643.292 [sink:FloatUp](DEBUG): Aggregate::uninitialize sink:FloatUp
2025-01-16T17:14:03.292Z,1737047643.292 [sink:FloatUp:A.Buoyancy] Stopped
2025-01-16T17:14:03.292Z,1737047643.292 [sink:FloatUp:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-16T17:14:03.292Z,1737047643.292 [sink:FloatUp:B.Wait] Stopped
2025-01-16T17:14:03.292Z,1737047643.292 [sink:FloatUp:B.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T17:14:03.293Z,1737047643.293 [sink:EndingMission] Running Loop=1
2025-01-16T17:14:03.293Z,1737047643.293 [sink:EndingMission](DEBUG): Aggregate::initialize sink:EndingMission
2025-01-16T17:14:03.687Z,1737047643.687 [sink:NeedComms] Running Loop=1
2025-01-16T17:14:03.687Z,1737047643.687 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-01-16T17:14:03.687Z,1737047643.687 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T17:14:03.687Z,1737047643.687 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T17:14:03.688Z,1737047643.688 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T17:14:03.688Z,1737047643.688 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T17:14:03.688Z,1737047643.688 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T17:14:03.689Z,1737047643.689 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T17:14:03.689Z,1737047643.689 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T17:14:03.689Z,1737047643.689 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T17:14:03.690Z,1737047643.690 [sink:NeedComms:A] Running Loop=1
2025-01-16T17:14:03.703Z,1737047643.703 [sink:NeedComms:A](INFO): last time_fix was:  1737046232.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T17:14:03.704Z,1737047643.704 [sink:NeedComms:A] Stopped
2025-01-16T17:14:12.200Z,1737047652.200 [sink:NeedComms:C] Running Loop=1
2025-01-16T17:14:12.739Z,1737047652.739 [Radio_Surface](INFO): Powering up
2025-01-16T17:14:18.271Z,1737047658.271 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-16T17:14:48.391Z,1737047688.391 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T17:15:05.818Z,1737047705.818 [NAL9602](INFO): SBD MO Status=0, MOMSN=11869, MT Status=0, MTMSN=0
2025-01-16T17:15:05.818Z,1737047705.818 [NAL9602](INFO): No messages in MT queue
2025-01-16T17:15:07.021Z,1737047707.021 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171506.00,A,3648.11988,N,12150.70847,W,0.408,327.74,160125,,,A*7B
2025-01-16T17:15:07.023Z,1737047707.023 [NAL9602](INFO): GPS fix at 20250116T171506: (36.801998, -121.845141)
2025-01-16T17:15:07.039Z,1737047707.039 [sink:NeedComms:C] Stopped
2025-01-16T17:15:07.040Z,1737047707.040 [sink:NeedComms:D] Running Loop=1
2025-01-16T17:15:19.532Z,1737047719.532 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T17:15:21.446Z,1737047721.446 [NAL9602](INFO): SBD MO Status=1, MOMSN=11870, MT Status=0, MTMSN=0
2025-01-16T17:15:21.495Z,1737047721.495 [NAL9602](INFO): Sent 85 bytes from file Logs/20250116T111413/Courier0042.lzma
2025-01-16T17:15:21.495Z,1737047721.495 [NAL9602](INFO): Packets left to send: 0
2025-01-16T17:15:33.514Z,1737047733.514 [NAL9602](INFO): SBD MO Status=1, MOMSN=11871, MT Status=0, MTMSN=0
2025-01-16T17:15:33.563Z,1737047733.563 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T111413/Express0043.lzma
2025-01-16T17:15:33.563Z,1737047733.563 [NAL9602](INFO): Packets left to send: 4
2025-01-16T17:15:50.473Z,1737047750.473 [NAL9602](INFO): SBD MO Status=2, MOMSN=11872, MT Status=2, MTMSN=0
2025-01-16T17:15:50.473Z,1737047750.473 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T17:15:50.671Z,1737047750.671 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T17:16:16.981Z,1737047776.981 [NAL9602](INFO): SBD MO Status=2, MOMSN=11872, MT Status=2, MTMSN=0
2025-01-16T17:16:16.981Z,1737047776.981 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T17:16:21.803Z,1737047781.803 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T17:16:32.319Z,1737047792.319 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003324
2025-01-16T17:16:44.550Z,1737047804.550 [NAL9602](INFO): SBD MO Status=2, MOMSN=11872, MT Status=2, MTMSN=0
2025-01-16T17:16:44.581Z,1737047804.581 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T17:16:46.540Z,1737047806.540 [DataOverHttps](INFO): Sending 1333 bytes from file Logs/20250116T111413/Express0043.lzma
2025-01-16T17:16:47.540Z,1737047807.540 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Express0043.lzma.bak
2025-01-16T17:16:47.541Z,1737047807.541 [DataOverHttps](INFO): SBD MOMSN=23911203
2025-01-16T17:16:49.131Z,1737047809.131 [sink:NeedComms:D] Stopped
2025-01-16T17:16:49.132Z,1737047809.132 [sink:NeedComms:E] Running Loop=1
2025-01-16T17:16:51.008Z,1737047811.008 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171650.00,A,3648.12728,N,12150.71708,W,0.486,315.11,160125,,,A*7D
2025-01-16T17:16:51.015Z,1737047811.015 [NAL9602](INFO): GPS fix at 20250116T171650: (36.802121, -121.845285)
2025-01-16T17:16:51.043Z,1737047811.043 [sink:NeedComms:E] Stopped
2025-01-16T17:16:51.044Z,1737047811.044 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-01-16T17:16:51.044Z,1737047811.044 [sink:NeedComms] Stopped
2025-01-16T17:16:51.044Z,1737047811.044 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-01-16T17:16:51.044Z,1737047811.044 [sink:NeedComms:B.GoToSurface] Stopped
2025-01-16T17:16:51.045Z,1737047811.045 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T17:16:51.560Z,1737047811.560 [sink:EndingMission](INFO): Completed sink:EndingMission
2025-01-16T17:16:51.560Z,1737047811.560 [sink:EndingMission] Stopped
2025-01-16T17:16:51.560Z,1737047811.560 [sink:EndingMission](DEBUG): Aggregate::uninitialize sink:EndingMission
2025-01-16T17:16:51.565Z,1737047811.565 [sink](INFO): Completed sink
2025-01-16T17:16:51.565Z,1737047811.565 [MissionManager](INFO): sink is completed.
2025-01-16T17:16:51.565Z,1737047811.565 [MissionManager](INFO): Uninitializing Mission sink
2025-01-16T17:16:51.565Z,1737047811.565 [sink] Stopped
2025-01-16T17:16:51.565Z,1737047811.565 [sink](DEBUG): Aggregate::uninitialize sink
2025-01-16T17:16:51.565Z,1737047811.565 [sink:Science] Stopped
2025-01-16T17:16:51.565Z,1737047811.565 [sink:Science](DEBUG): Aggregate::uninitialize sink:Science
2025-01-16T17:16:51.565Z,1737047811.565 [sink:Science:B] Stopped
2025-01-16T17:16:51.565Z,1737047811.565 [sink:Science:C] Stopped
2025-01-16T17:16:51.565Z,1737047811.565 [sink:Science:E] Stopped
2025-01-16T17:16:51.565Z,1737047811.565 [sink:Science:OceanCurrent] Stopped
2025-01-16T17:16:51.566Z,1737047811.566 [sink:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sink:Science:OceanCurrent
2025-01-16T17:16:51.566Z,1737047811.566 [sink:Science:OceanCurrent:A.] Stopped
2025-01-16T17:16:51.566Z,1737047811.566 [sink:StandardEnvelopes] Stopped
2025-01-16T17:16:51.566Z,1737047811.566 [sink:StandardEnvelopes](DEBUG): Aggregate::uninitialize sink:StandardEnvelopes
2025-01-16T17:16:51.570Z,1737047811.570 [sink:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-16T17:16:51.570Z,1737047811.570 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-16T17:16:51.570Z,1737047811.570 [sink:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-16T17:16:51.570Z,1737047811.570 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-16T17:16:51.570Z,1737047811.570 [sink:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-16T17:16:51.571Z,1737047811.571 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-16T17:16:51.571Z,1737047811.571 [sink:BackseatDriver] Stopped
2025-01-16T17:16:51.571Z,1737047811.571 [sink:BackseatDriver](DEBUG): Aggregate::uninitialize sink:BackseatDriver
2025-01-16T17:16:51.571Z,1737047811.571 [sink:BackseatDriver:A.BackseatDriver] Stopped
2025-01-16T17:16:51.571Z,1737047811.571 [sink:PowerOnly] Stopped
2025-01-16T17:16:51.571Z,1737047811.571 [sink:PowerOnly](DEBUG): Aggregate::uninitialize sink:PowerOnly
2025-01-16T17:16:51.571Z,1737047811.571 [sink:PowerOnly:E.Wait] Stopped
2025-01-16T17:16:51.571Z,1737047811.571 [sink:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T17:16:52.026Z,1737047812.026 [WetLabsBB2FL](INFO): Powering down
2025-01-16T17:16:52.035Z,1737047812.035 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-01-16T17:16:52.133Z,1737047812.133 [MissionManager](IMPORTANT): Started mission Default
2025-01-16T17:16:52.133Z,1737047812.133 [Default] Running Loop=1
2025-01-16T17:16:52.134Z,1737047812.134 [Default](DEBUG): Aggregate::initialize Default
2025-01-16T17:16:52.134Z,1737047812.134 [Default:B.GoToSurface] Running Loop=1
2025-01-16T17:16:52.134Z,1737047812.134 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T17:16:52.144Z,1737047812.144 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T17:16:52.144Z,1737047812.144 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T17:16:52.144Z,1737047812.144 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T17:16:52.145Z,1737047812.145 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T17:16:52.145Z,1737047812.145 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T17:16:52.145Z,1737047812.145 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T17:16:52.145Z,1737047812.145 [Default:A.Wait] Running Loop=1
2025-01-16T17:16:52.146Z,1737047812.146 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-16T17:16:52.879Z,1737047812.879 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-01-16T17:16:52.880Z,1737047812.880 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-01-16T17:17:05.161Z,1737047825.161 [Default:A.Wait](INFO): Done Waiting.
2025-01-16T17:17:05.161Z,1737047825.161 [Default:A.Wait] Stopped
2025-01-16T17:17:05.161Z,1737047825.161 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T17:17:05.597Z,1737047825.597 [Default:CheckIn] Running Loop=1
2025-01-16T17:17:05.597Z,1737047825.597 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T17:17:05.597Z,1737047825.597 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T17:17:07.555Z,1737047827.555 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171706.00,A,3648.12820,N,12150.71847,W,0.097,294.10,160125,,,A*71
2025-01-16T17:17:07.557Z,1737047827.557 [NAL9602](INFO): GPS fix at 20250116T171706: (36.802137, -121.845308)
2025-01-16T17:17:07.577Z,1737047827.577 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T17:17:07.578Z,1737047827.578 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T17:17:10.946Z,1737047830.946 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-01-16T17:17:10.955Z,1737047830.955 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-01-16T17:17:10.955Z,1737047830.955 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-01-16T17:17:18.830Z,1737047838.830 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250116T111413/Courier0045.lzma
2025-01-16T17:17:19.832Z,1737047839.832 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Courier0045.lzma.bak
2025-01-16T17:17:19.832Z,1737047839.832 [DataOverHttps](INFO): SBD MOMSN=23911210
2025-01-16T17:17:36.443Z,1737047856.443 [DataOverHttps](INFO): Sending 608 bytes from file Logs/20250116T111413/Express0046.lzma
2025-01-16T17:17:37.444Z,1737047857.444 [DataOverHttps](INFO): Moved sent file to Logs/20250116T111413/Express0046.lzma.bak
2025-01-16T17:17:37.444Z,1737047857.444 [DataOverHttps](INFO): SBD MOMSN=23911213
2025-01-16T17:17:40.176Z,1737047860.176 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T17:17:40.188Z,1737047860.188 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T17:17:40.188Z,1737047860.188 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-16T17:17:40.188Z,1737047860.188 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T17:17:46.632Z,1737047866.632 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T171745
2025-01-16T17:17:54.406Z,1737047874.406 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.Lat1 36.79636 degree;set sci2_slowyo_test.Lon1 -121.90301 degree;set sci2_slowyo_test.Lat2 36.797 degree;set sci2_slowyo_test.Lon2 -121.847 degree" 8qpi 1 3
2025-01-16T17:17:54.435Z,1737047874.435 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.Lat1 36.79636 degree;set sci2_slowyo_test.Lon1 -121.90301 degree;set sci2_slowyo_test.Lat2 36.797 degree;set sci2_slowyo_test.Lon2 -121.847 degree" 8qpi 1 3.000000
2025-01-16T17:17:54.436Z,1737047874.436 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=8qpi
2025-01-16T17:17:54.437Z,1737047874.437 [CommandExec](IMPORTANT): Scheduled #57 (#1 of 3 with id='8qpi'): "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.Lat1 36.79636 degree;set sci2_slowyo_test.Lon1 -121.90301 degree;set sci2_slowyo_test.Lat2 36.797 degree;set sci2_slowyo_test.Lon2 -121.847 degree", ASAP
2025-01-16T17:17:55.408Z,1737047875.408 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T171754
2025-01-16T17:18:03.078Z,1737047883.078 [DataOverHttps](INFO): Received command: sched asap "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;set sci2_slowyo_test.SlowYoMaxDepth 80 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m;set sci2_slowyo_test.SinkOffSurface 1 bool;set sci2_slowyo_test.MassDefault NaN mm" 8qpi 2 3
2025-01-16T17:18:03.179Z,1737047883.179 [CommandExec](IMPORTANT): got command schedule asap "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;set sci2_slowyo_test.SlowYoMaxDepth 80 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m;set sci2_slowyo_test.SinkOffSurface 1 bool;set sci2_slowyo_test.MassDefault NaN mm" 8qpi 2 3.000000
2025-01-16T17:18:03.180Z,1737047883.180 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=8qpi
2025-01-16T17:18:03.181Z,1737047883.181 [CommandExec](IMPORTANT): Scheduled #58 (#2 of 3 with id='8qpi'): "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;set sci2_slowyo_test.SlowYoMaxDepth 80 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m;set sci2_slowyo_test.SinkOffSurface 1 bool;set sci2_slowyo_test.MassDefault NaN mm", ASAP
2025-01-16T17:18:04.080Z,1737047884.080 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T171803
2025-01-16T17:18:11.779Z,1737047891.779 [DataOverHttps](INFO): Received command: sched asap "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 100 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run" 8qpi 3 3
2025-01-16T17:18:11.834Z,1737047891.834 [CommandExec](IMPORTANT): got command schedule asap "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 100 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run" 8qpi 3 3.000000
2025-01-16T17:18:11.835Z,1737047891.835 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=8qpi
2025-01-16T17:18:11.836Z,1737047891.836 [CommandExec](IMPORTANT): Scheduled #59 (#3 of 3 with id='8qpi'): "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 100 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2025-01-16T17:18:11.978Z,1737047891.978 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_slowyo_test.tl
2025-01-16T17:18:11.979Z,1737047891.979 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_slowyo_test.tl
2025-01-16T17:18:11.979Z,1737047891.979 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_slowyo_test.tl
2025-01-16T17:18:11.984Z,1737047891.984 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_slowyo_test.tl
2025-01-16T17:18:12.780Z,1737047892.780 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T171811
2025-01-16T17:18:15.581Z,1737047895.581 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_slowyo_test.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_slowyo_test">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsSurfaceDepthRate">
        <Units:meter_per_second />
        <Value>0.3</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="SlowYoDiveAngle">
        <Units:degree />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1.0</Value>
    </DefineArg>
    <DefineArg Name="SlowYoMinDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SlowYoMaxDepth">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="SlowYoNumYoYos">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SlowYoTurningWindow">
        <Units:meter />
        <Value>10</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="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectChl">
        <False />
    </DefineArg>
    <DefineArg Name="ShallowBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTrigger">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThreshold">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="ElevatorDefault">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>60</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="InitialDive">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="SlowYo">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="Science" Filename="Insert/Science.tl">
        <RedefineArg Name="PeakDetectChlActive">
            <Arg Name="PeakDetectChl" />
        </RedefineArg>
        <RedefineArg Name="PeakShallowBound">
            <Arg Name="ShallowBoundChl" />
        </RedefineArg>
        <RedefineArg Name="PeakDeepBound">
            <Arg Name="DeepBoundChl" />
        </RedefineArg>
        <RedefineArg Name="ChlThreshTriggerActive">
            <Arg Name="ChlThreshTrigger" />
        </RedefineArg>
        <RedefineArg Name="ChlLowerThresh">
            <Arg Name="ChlLowerThreshold" />
        </RedefineArg>
        <RedefineArg Name="ChlUpperThresh">
            <Arg Name="ChlUpperThreshold" />
        </RedefineArg>
        <RedefineArg Name="NumProfilesThresh">
            <Arg Name="NumProfilesThreshold" />
        </RedefineArg>
    </Insert>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:SurfaceDepthRate" />
        <Arg Name="NeedCommsSurfaceDepthRate" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <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" />
    <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" />
        <Aggregate Id="setInitial">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="InitialDive" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <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="sinkToInit">
                    <Sequence />
                    <Break>
                        <Universal:depth />
                        <Ge>
                            <Arg Name="SlowYoMinDepth" />
                        </Ge>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="InitialDive" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToYo">
                    <Sequence />
                    <Break>
                        <Universal:depth />
                        <Lt>
                            <Arg Name="SlowYoMinDepth" />
                        </Lt>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="SlowYo" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Syslog Severity="Info">Waiting for 1 minute while pumping down to neutral.</Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Units:minute />
                        <Value>1</Value>
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="SlowYoMinDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="Speed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="SlowYoMinDepth" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SlowYo" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SlowYoToWaypoint">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SlowYo" />
                </Eq>
            </While>
            <Aggregate Id="SlowYoTask">
                <Parallel />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.elevatorAngle />
                        <Arg Name="ElevatorDefault" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Aggregate Id="SlowYoLoop">
                    <Sequence Repeat="Repeat" />
                    <Guidance:SlowYo>
                        <Sequence />
                        <Setting>
                            <Guidance:SlowYo.diveAngle />
                            <Arg Name="SlowYoDiveAngle" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.minDepth />
                            <Arg Name="SlowYoMinDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.maxDepth />
                            <Arg Name="SlowYoMaxDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.turningWindow />
                            <Arg Name="SlowYoTurningWindow" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.numYoYos />
                            <Arg Name="SlowYoNumYoYos" />
                        </Setting>
                    </Guidance:SlowYo>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="StopIfTriggered">
        <When>
            <Arg Name="Science:TriggeredOnChl" />
        </When>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>stop</String>
            </Setting>
        </Guidance:Execute>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="Wpt1">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.captureRadius />
                    <Arg Name="CaptureRadius" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt2">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat2" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon2" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt3">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat3" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon3" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt4">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat4" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon4" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt5">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat5" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon5" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt6">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat6" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon6" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt7">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat7" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon7" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
    </Aggregate>
</Mission>

2025-01-16T17:18:15.593Z,1737047895.593 [MissionManager](INFO): DefineArg sci2_slowyo_test.MissionTimeout = 2.000000 h
2025-01-16T17:18:15.595Z,1737047895.595 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsTime = 60.000000 min
2025-01-16T17:18:15.598Z,1737047895.598 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsSurfaceDepthRate = 0.300000 m/s
2025-01-16T17:18:15.600Z,1737047895.600 [MissionManager](INFO): DefineArg sci2_slowyo_test.Repeat = 1.000000 count
2025-01-16T17:18:15.602Z,1737047895.602 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat1 = nan arcdeg
2025-01-16T17:18:15.604Z,1737047895.604 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat2 = nan arcdeg
2025-01-16T17:18:15.606Z,1737047895.606 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat3 = nan arcdeg
2025-01-16T17:18:15.608Z,1737047895.608 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat4 = nan arcdeg
2025-01-16T17:18:15.611Z,1737047895.611 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat5 = nan arcdeg
2025-01-16T17:18:15.613Z,1737047895.613 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat6 = nan arcdeg
2025-01-16T17:18:15.615Z,1737047895.615 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat7 = nan arcdeg
2025-01-16T17:18:15.617Z,1737047895.617 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon1 = nan arcdeg
2025-01-16T17:18:15.619Z,1737047895.619 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon2 = nan arcdeg
2025-01-16T17:18:15.621Z,1737047895.621 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon3 = nan arcdeg
2025-01-16T17:18:15.624Z,1737047895.624 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon4 = nan arcdeg
2025-01-16T17:18:15.626Z,1737047895.626 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon5 = nan arcdeg
2025-01-16T17:18:15.656Z,1737047895.656 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon6 = nan arcdeg
2025-01-16T17:18:15.661Z,1737047895.661 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon7 = nan arcdeg
2025-01-16T17:18:15.675Z,1737047895.675 [MissionManager](INFO): DefineArg sci2_slowyo_test.ApproachDepthTimeout = 15.000000 min
2025-01-16T17:18:15.678Z,1737047895.678 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoDiveAngle = 15.000000 arcdeg
2025-01-16T17:18:15.684Z,1737047895.684 [MissionManager](INFO): DefineArg sci2_slowyo_test.Speed = 1.000000 m/s
2025-01-16T17:18:15.695Z,1737047895.695 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMinDepth = 10.000000 m
2025-01-16T17:18:15.697Z,1737047895.697 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMaxDepth = 40.000000 m
2025-01-16T17:18:15.700Z,1737047895.700 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoNumYoYos = 1.000000 count
2025-01-16T17:18:15.743Z,1737047895.743 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoTurningWindow = 10.000000 m
2025-01-16T17:18:15.745Z,1737047895.745 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkOffSurface = 0 bool
2025-01-16T17:18:15.755Z,1737047895.755 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepth = 10.000000 m
2025-01-16T17:18:15.757Z,1737047895.757 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepthTimeout = 10.000000 min
2025-01-16T17:18:15.768Z,1737047895.768 [MissionManager](INFO): DefineArg sci2_slowyo_test.CaptureRadius = nan m
2025-01-16T17:18:15.770Z,1737047895.770 [MissionManager](INFO): DefineArg sci2_slowyo_test.PeakDetectChl = 0 bool
2025-01-16T17:18:15.780Z,1737047895.780 [MissionManager](INFO): DefineArg sci2_slowyo_test.ShallowBoundChl = nan m
2025-01-16T17:18:15.782Z,1737047895.782 [MissionManager](INFO): DefineArg sci2_slowyo_test.DeepBoundChl = nan m
2025-01-16T17:18:15.820Z,1737047895.820 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlThreshTrigger = 0 bool
2025-01-16T17:18:15.828Z,1737047895.828 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlLowerThreshold = nan ug/l
2025-01-16T17:18:15.843Z,1737047895.843 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlUpperThreshold = nan ug/l
2025-01-16T17:18:15.845Z,1737047895.845 [MissionManager](INFO): DefineArg sci2_slowyo_test.NumProfilesThreshold = 5.000000 count
2025-01-16T17:18:15.860Z,1737047895.860 [MissionManager](INFO): DefineArg sci2_slowyo_test.BuoyancyNeutral = 366.667114 cc
2025-01-16T17:18:15.862Z,1737047895.862 [MissionManager](INFO): DefineArg sci2_slowyo_test.ElevatorDefault = 0.000000 arcdeg
2025-01-16T17:18:15.893Z,1737047895.893 [MissionManager](INFO): DefineArg sci2_slowyo_test.MassDefault = 0.856015 cm
2025-01-16T17:18:15.915Z,1737047895.915 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinAltitude = 7.000000 m
2025-01-16T17:18:15.917Z,1737047895.917 [MissionManager](INFO): DefineArg sci2_slowyo_test.MaxDepth = 60.000000 m
2025-01-16T17:18:15.928Z,1737047895.928 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinOffshore = 2.000000 km
2025-01-16T17:18:15.942Z,1737047895.942 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DiveMode = 0.000000 count
2025-01-16T17:18:15.945Z,1737047895.945 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DoingComms = 0.000000 count
2025-01-16T17:18:15.955Z,1737047895.955 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SurfaceSink = 1.000000 count
2025-01-16T17:18:15.957Z,1737047895.957 [MissionManager](INFO): DefineOutput sci2_slowyo_test.InitialDive = 2.000000 count
2025-01-16T17:18:15.968Z,1737047895.968 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SlowYo = 3.000000 count
2025-01-16T17:18:15.968Z,1737047895.968 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-01-16T17:18:15.969Z,1737047895.969 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-01-16T17:18:15.984Z,1737047895.984 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-01-16T17:18:20.515Z,1737047900.515 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PeakShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="PeakDeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-01-16T17:18:20.600Z,1737047900.600 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectChlActive = 0 bool
2025-01-16T17:18:20.602Z,1737047900.602 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.TimeWindowPeakReport = nan min
2025-01-16T17:18:20.612Z,1737047900.612 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestChlPeakReportActive = 0 bool
2025-01-16T17:18:20.614Z,1737047900.614 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestSaltPeakReportActive = 0 bool
2025-01-16T17:18:20.624Z,1737047900.624 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestOilPeakReportActive = 0 bool
2025-01-16T17:18:20.626Z,1737047900.626 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PatchTracking = 0 bool
2025-01-16T17:18:20.672Z,1737047900.672 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.FilterWidthHorizontal = 3.000000 count
2025-01-16T17:18:20.679Z,1737047900.679 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesSlidingwindow = 100.000000 count
2025-01-16T17:18:20.681Z,1737047900.681 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionHorizontal = 80.000000 %
2025-01-16T17:18:20.735Z,1737047900.735 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectNO3Active = 0 bool
2025-01-16T17:18:20.737Z,1737047900.737 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectOilActive = 0 bool
2025-01-16T17:18:20.782Z,1737047900.782 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectFDOMActive = 0 bool
2025-01-16T17:18:20.784Z,1737047900.784 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectSalinityActive = 0 bool
2025-01-16T17:18:20.810Z,1737047900.810 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-01-16T17:18:20.812Z,1737047900.812 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-01-16T17:18:20.834Z,1737047900.834 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-01-16T17:18:20.836Z,1737047900.836 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-01-16T17:18:20.852Z,1737047900.852 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-01-16T17:18:20.862Z,1737047900.862 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledAanderaaO2 = 0 bool
2025-01-16T17:18:20.865Z,1737047900.865 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledNeilBrown = 0 bool
2025-01-16T17:18:20.890Z,1737047900.890 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledSeabird = 1 bool
2025-01-16T17:18:20.893Z,1737047900.893 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsBB2FL = 1 bool
2025-01-16T17:18:20.912Z,1737047900.912 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-01-16T17:18:20.922Z,1737047900.922 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsUBAT = 0 bool
2025-01-16T17:18:20.924Z,1737047900.924 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.LowPassWindowLength = 20.000000 count
2025-01-16T17:18:20.943Z,1737047900.943 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.MedianFilterLen = 5.000000 count
2025-01-16T17:18:20.945Z,1737047900.945 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakShallowBound = nan m
2025-01-16T17:18:20.949Z,1737047900.949 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDeepBound = nan m
2025-01-16T17:18:20.995Z,1737047900.995 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-01-16T17:18:20.997Z,1737047900.997 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = 0 bool
2025-01-16T17:18:21.020Z,1737047901.020 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlLowerThresh = nan ug/l
2025-01-16T17:18:21.022Z,1737047901.022 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlUpperThresh = nan ug/l
2025-01-16T17:18:21.036Z,1737047901.036 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesThresh = 5.000000 count
2025-01-16T17:18:21.043Z,1737047901.043 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChl = nan ug/l
2025-01-16T17:18:21.046Z,1737047901.046 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlDepth = nan m
2025-01-16T17:18:21.060Z,1737047901.060 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlTemperature = nan degC
2025-01-16T17:18:21.071Z,1737047901.071 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLatitude = nan arcdeg
2025-01-16T17:18:21.073Z,1737047901.073 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLongitude = nan arcdeg
2025-01-16T17:18:21.088Z,1737047901.088 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3 = nan umol/l
2025-01-16T17:18:21.098Z,1737047901.098 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Depth = nan m
2025-01-16T17:18:21.101Z,1737047901.101 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Latitude = nan arcdeg
2025-01-16T17:18:21.111Z,1737047901.111 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Longitude = nan arcdeg
2025-01-16T17:18:21.113Z,1737047901.113 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOil = nan kg/m3
2025-01-16T17:18:21.124Z,1737047901.124 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilDepth = nan m
2025-01-16T17:18:21.135Z,1737047901.135 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLatitude = nan arcdeg
2025-01-16T17:18:21.137Z,1737047901.137 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLongitude = nan arcdeg
2025-01-16T17:18:21.148Z,1737047901.148 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOM = nan ppb
2025-01-16T17:18:21.158Z,1737047901.158 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMDepth = nan m
2025-01-16T17:18:21.161Z,1737047901.161 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMTemperature = nan degC
2025-01-16T17:18:21.172Z,1737047901.172 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLatitude = nan arcdeg
2025-01-16T17:18:21.194Z,1737047901.194 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLongitude = nan arcdeg
2025-01-16T17:18:21.197Z,1737047901.197 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSalt = nan psu
2025-01-16T17:18:21.203Z,1737047901.203 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltDepth = nan m
2025-01-16T17:18:21.205Z,1737047901.205 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltTemperature = nan degC
2025-01-16T17:18:21.216Z,1737047901.216 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLatitude = nan arcdeg
2025-01-16T17:18:21.239Z,1737047901.239 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLongitude = nan arcdeg
2025-01-16T17:18:21.241Z,1737047901.241 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-01-16T17:18:21.251Z,1737047901.251 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-01-16T17:18:21.254Z,1737047901.254 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-01-16T17:18:21.264Z,1737047901.264 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-01-16T17:18:21.271Z,1737047901.271 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-01-16T17:18:21.273Z,1737047901.273 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-01-16T17:18:21.292Z,1737047901.292 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-01-16T17:18:21.303Z,1737047901.303 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-01-16T17:18:21.305Z,1737047901.305 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-01-16T17:18:21.316Z,1737047901.316 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-01-16T17:18:21.318Z,1737047901.318 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-01-16T17:18:21.328Z,1737047901.328 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-01-16T17:18:21.343Z,1737047901.343 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-01-16T17:18:21.345Z,1737047901.345 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-01-16T17:18:21.360Z,1737047901.360 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-01-16T17:18:21.362Z,1737047901.362 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-01-16T17:18:21.390Z,1737047901.390 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-01-16T17:18:21.401Z,1737047901.401 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-01-16T17:18:21.427Z,1737047901.427 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-01-16T17:18:21.429Z,1737047901.429 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-01-16T17:18:21.444Z,1737047901.444 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChl = nan ug/l
2025-01-16T17:18:21.458Z,1737047901.458 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDepth = nan m
2025-01-16T17:18:21.462Z,1737047901.462 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLatitude = nan arcdeg
2025-01-16T17:18:21.485Z,1737047901.485 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLongitude = nan arcdeg
2025-01-16T17:18:21.501Z,1737047901.501 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDistance = nan m
2025-01-16T17:18:21.519Z,1737047901.519 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSalt = nan psu
2025-01-16T17:18:21.522Z,1737047901.522 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDepth = nan m
2025-01-16T17:18:21.536Z,1737047901.536 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLatitude = nan arcdeg
2025-01-16T17:18:21.547Z,1737047901.547 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLongitude = nan arcdeg
2025-01-16T17:18:21.549Z,1737047901.549 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDistance = nan m
2025-01-16T17:18:21.556Z,1737047901.556 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOil = nan psu
2025-01-16T17:18:21.558Z,1737047901.558 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDepth = nan m
2025-01-16T17:18:21.588Z,1737047901.588 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLatitude = nan arcdeg
2025-01-16T17:18:21.594Z,1737047901.594 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLongitude = nan arcdeg
2025-01-16T17:18:21.597Z,1737047901.597 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDistance = nan m
2025-01-16T17:18:21.616Z,1737047901.616 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.TriggeredOnChl = 0 bool
2025-01-16T17:18:21.618Z,1737047901.618 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.ChlTriggering = nan ug/l
2025-01-16T17:18:21.716Z,1737047901.716 [sci2_slowyo_test:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T17:18:21.760Z,1737047901.760 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T17:18:21.849Z,1737047901.849 [sci2_slowyo_test:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T17:18:21.896Z,1737047901.896 [sci2_slowyo_test:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T17:18:21.950Z,1737047901.950 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T17:18:22.005Z,1737047902.005 [sci2_slowyo_test:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T17:18:22.067Z,1737047902.067 [sci2_slowyo_test:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T17:18:22.103Z,1737047902.103 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T17:18:22.140Z,1737047902.140 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T17:18:22.199Z,1737047902.199 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T17:18:22.249Z,1737047902.249 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T17:18:22.295Z,1737047902.295 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T17:18:22.356Z,1737047902.356 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-01-16T17:18:22.411Z,1737047902.411 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDetectChlActive = reader:sci2_slowyo_test.PeakDetectChl
2025-01-16T17:18:22.412Z,1737047902.412 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakShallowBound = reader:sci2_slowyo_test.ShallowBoundChl
2025-01-16T17:18:22.414Z,1737047902.414 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDeepBound = reader:sci2_slowyo_test.DeepBoundChl
2025-01-16T17:18:22.420Z,1737047902.420 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = reader:sci2_slowyo_test.ChlThreshTrigger
2025-01-16T17:18:22.421Z,1737047902.421 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlLowerThresh = reader:sci2_slowyo_test.ChlLowerThreshold
2025-01-16T17:18:22.428Z,1737047902.428 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlUpperThresh = reader:sci2_slowyo_test.ChlUpperThreshold
2025-01-16T17:18:22.429Z,1737047902.429 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.NumProfilesThresh = reader:sci2_slowyo_test.NumProfilesThreshold
2025-01-16T17:18:22.430Z,1737047902.430 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-16T17:18:22.434Z,1737047902.434 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-16T17:18:22.435Z,1737047902.435 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-16T17:18:22.918Z,1737047902.918 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-01-16T17:18:22.927Z,1737047902.927 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.DiveInterval = 1.000000 h
2025-01-16T17:18:22.929Z,1737047902.929 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-16T17:18:22.935Z,1737047902.935 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-16T17:18:22.937Z,1737047902.937 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceDepthRate = nan m/s
2025-01-16T17:18:22.944Z,1737047902.944 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-16T17:18:22.946Z,1737047902.946 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-16T17:18:22.952Z,1737047902.952 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.GPSTimeout = 7.000000 min
2025-01-16T17:18:23.014Z,1737047903.014 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.CommsTimeout = 30.000000 min
2025-01-16T17:18:23.032Z,1737047903.032 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T17:18:23.105Z,1737047903.105 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-16T17:18:23.105Z,1737047903.105 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-16T17:18:23.116Z,1737047903.116 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-16T17:18:23.298Z,1737047903.298 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-16T17:18:23.305Z,1737047903.305 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-16T17:18:23.312Z,1737047903.312 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-16T17:18:23.314Z,1737047903.314 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-16T17:18:23.320Z,1737047903.320 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-16T17:18:23.321Z,1737047903.321 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-16T17:18:23.335Z,1737047903.335 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-16T17:18:23.375Z,1737047903.375 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-16T17:18:23.432Z,1737047903.432 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-16T17:18:23.432Z,1737047903.432 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-16T17:18:23.433Z,1737047903.433 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-16T17:18:23.511Z,1737047903.511 [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>

2025-01-16T17:18:23.524Z,1737047903.524 [MissionManager](INFO): DefineArg sci2_slowyo_test:BackseatDriver.EnableBackseat = 0 bool
2025-01-16T17:18:23.539Z,1737047903.539 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-16T17:18:23.541Z,1737047903.541 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-16T17:18:23.541Z,1737047903.541 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-16T17:18:23.559Z,1737047903.559 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-16T17:18:23.770Z,1737047903.770 [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>

2025-01-16T17:18:23.816Z,1737047903.816 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleAll = 0 bool
2025-01-16T17:18:23.817Z,1737047903.817 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad1 = 0 bool
2025-01-16T17:18:23.823Z,1737047903.823 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad2 = 0 bool
2025-01-16T17:18:23.825Z,1737047903.825 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad3 = 0 bool
2025-01-16T17:18:23.864Z,1737047903.864 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-16T17:18:23.893Z,1737047903.893 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-16T17:18:23.951Z,1737047903.951 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T17:18:23.954Z,1737047903.954 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-01-16T17:18:23.962Z,1737047903.962 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-01-16T17:18:24.011Z,1737047904.011 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Construct.
2025-01-16T17:18:24.013Z,1737047904.013 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T17:18:24.031Z,1737047904.031 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Construct Wait.
2025-01-16T17:18:24.038Z,1737047904.038 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-01-16T17:18:24.041Z,1737047904.041 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-01-16T17:18:24.066Z,1737047904.066 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-01-16T17:18:24.076Z,1737047904.076 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T17:18:24.082Z,1737047904.082 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Construct.
2025-01-16T17:18:24.090Z,1737047904.090 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Construct.
2025-01-16T17:18:24.093Z,1737047904.093 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Construct SlowYo.
2025-01-16T17:18:24.112Z,1737047904.112 [sci2_slowyo_test:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-01-16T17:18:24.121Z,1737047904.121 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T17:18:24.163Z,1737047904.163 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T17:18:24.172Z,1737047904.172 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T17:18:24.187Z,1737047904.187 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T17:18:24.245Z,1737047904.245 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T17:18:24.274Z,1737047904.274 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T17:18:24.288Z,1737047904.288 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-01-16T17:18:24.429Z,1737047904.429 [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.

#! TethysL version initially based on automated translation from original Science/sci2.xml
#! and then (syntactically) simplified with use of array/macro extensions in TethysL.

mission sci2_slowyo_test {
  """
  Vehicle yo-yo's to the specified waypoints, with science turned on.
  """

  arguments {
    MissionTimeout = 2 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 60 minute
      """
      How often to surface for communications
      """

    NeedCommsSurfaceDepthRate = 0.3 meter_per_second
      """
      How quickly to ascend for comms
      """

    Repeat = 1 count
      """
      Number of times the vehicle should try to cycle through waypoints..
      """

    Lat[1..7] = NaN degree
      """
      Latitude of waypoint {$}. If nan, waypoint is skipped.
      """

    Lon[1..7] = NaN degree
      """
      Longitude of waypoint {$}. If nan, waypoint is skipped.
      """

    ApproachDepthTimeout = 15 minute
      """
      Maximum time duration for the vehicle to reach the target depth
      """

    SlowYoDiveAngle = 15 degree
      """
      Dive Angle while performing SlowYo
      """

    Speed = 1.0 meter_per_second
      """
      Speed while performing the YoYo behavior.
      """

    SlowYoMinDepth = 10 meter
      """
      Min Depth while performing SlowYo
      """

    SlowYoMaxDepth = 40 meter
      """
      Max Depth while performing SlowYo
      """

    SlowYoNumYoYos = 1 count
      """
      Min number of SlowYos for success
      """

    SlowYoTurningWindow = 10 meter
      """
      Distance from min or max depth to start a smooth transition
      """

    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
      """

    CaptureRadius = NaN meter
      """
      Acceptable distance from waypoint.
      """

    PeakDetectChl = false
      """
      Whether to enable peak chl detection on each yo-yo profile
      """

    ShallowBoundChl = NaN meter
      """
      Used only when PeakDetectChl is true. Shallow depth bound for peak chl detection
      """

    DeepBoundChl = NaN meter
      """
      Used only when PeakDetectChl is true. Deep depth bound for peak chl detection
      """

    ChlThreshTrigger = false
      """
      Whether to enable chl threshold triggering
      """

    ChlLowerThreshold = NaN microgram_per_liter
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChllowerThreshold is ignored if NaN.
      """

    ChlUpperThreshold = NaN microgram_per_liter
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
      """

    NumProfilesThreshold = 5 count
      """
      Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
      """

    BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
      """
      Buoyancy bladder position while performing the YoYo behavior. Defaults
      to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
      for active buoyancy
      """

    ElevatorDefault = 0 degree
      """
      Shuts off the elevators.
      """

    MassDefault = Control:VerticalControl.massDefault
      """
      Static setting for mass during the mission. Set to NaN mm for active
      mass position.
      """

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 60 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum offshore distance for the entire mission.
      """
  }

  output {
    DiveMode = 0 count

    DoingComms = 0 count

    SurfaceSink = 1 count

    InitialDive = 2 count

    SlowYo = 3 count
  }

  timeout duration=MissionTimeout

  insert id="Science" Insert/Science.tl {
    """
    Most missions will run the science sensors. If you don't place this
    aggregate above NeedComms, science instruments get turned off on the
    last upcast and while floating on the surface.
    """

    redefineArg PeakDetectChlActive = PeakDetectChl
    redefineArg PeakShallowBound = ShallowBoundChl
    redefineArg PeakDeepBound = DeepBoundChl
    redefineArg ChlThreshTriggerActive = ChlThreshTrigger
    redefineArg ChlLowerThresh = ChlLowerThreshold
    redefineArg ChlUpperThresh = ChlUpperThreshold
    redefineArg NumProfilesThresh = NumProfilesThreshold
  }

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:SurfaceDepthRate = NeedCommsSurfaceDepthRate

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    aggregate setInitial {
      run in sequence

      break if ( SinkOffSurface )

      assign in sequence DiveMode = InitialDive
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

  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
        }

        # Skip initial dive if we're already at start-of-slowyo depth
        aggregate sinkToInit {
          run in sequence

          break if ( Universal:depth >= SlowYoMinDepth )

          assign in sequence DiveMode = InitialDive
        }

        aggregate sinkToYo {
          run in sequence

          break if ( Universal:depth < SlowYoMinDepth )

          assign in sequence DiveMode = SlowYo
        }
      }
    }

    aggregate InitialDive {
      """
      Descend from the surface to target depth, limit pitch and
      depth-rate.
      """

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

        syslog info "Waiting for 1 minute while pumping down to neutral."

        behavior Guidance:Wait {
          """
          Take a few moments to ensure the VBS reaches neutral.
          """

          run in sequence

          set duration = 1 minute
        }

        syslog "Moving to " + SlowYoMinDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = Speed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = SlowYoMinDepth
          }
        }

        assign in sequence DiveMode = SlowYo
      }
    }

    aggregate SlowYoToWaypoint {
      run while ( DiveMode == SlowYo )

      aggregate SlowYoTask {
        run in parallel

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set elevatorAngle = ElevatorDefault
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }

        aggregate SlowYoLoop {
          run in sequence repeat=Repeat

          behavior Guidance:SlowYo {
            run in sequence

            set diveAngle = SlowYoDiveAngle
            set minDepth = SlowYoMinDepth
            set maxDepth = SlowYoMaxDepth
            set turningWindow = SlowYoTurningWindow
            set numYoYos = SlowYoNumYoYos
          }
        }
      }
    }
  }

  aggregate StopIfTriggered {
    """
    If peak chlorophyll values on NumProfilesThresh consecutive yo-yo profiles fall in [ChlLowerThreshold ChlUpperThreshold], stop mission.
    """

    run when ( Science:TriggeredOnChl )

    behavior Guidance:Execute {
      run in sequence

      set command = "stop"
    }
  }

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat[1]
        set longitude = Lon[1]
        set captureRadius = CaptureRadius
      }
    }

    macro $i = 2..7 {
      aggregate Wpt$i {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat[$i]
          set longitude = Lon[$i]
        }
      }
    }
  }
}


2025-01-16T17:18:24.429Z,1737047904.429 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_slowyo_test.tl id=sci2_slowyo_test
2025-01-16T17:18:25.582Z,1737047905.582 [DataOverHttps](INFO): Received command: restart logs