2025-01-16T18:31:40.889Z,1737052300.889 [Supervisor](DEBUG): Initializing supervisor.
2025-01-16T18:31:40.893Z,1737052300.893 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-01-16T18:31:40.894Z,1737052300.894 [SyncHandler](INFO): Protected caller Thread ID is 558
2025-01-16T18:31:40.894Z,1737052300.894 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-01-16T18:31:40.895Z,1737052300.895 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-01-16T18:31:40.896Z,1737052300.896 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 559
2025-01-16T18:31:40.900Z,1737052300.900 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-01-16T18:31:40.917Z,1737052300.917 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-01-16T18:31:40.918Z,1737052300.918 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-01-16T18:31:40.918Z,1737052300.918 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 560
2025-01-16T18:31:40.923Z,1737052300.923 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-01-16T18:31:40.923Z,1737052300.923 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-01-16T18:31:40.924Z,1737052300.924 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 561
2025-01-16T18:31:40.926Z,1737052300.926 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-01-16T18:31:40.927Z,1737052300.927 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-01-16T18:31:40.927Z,1737052300.927 [logger ThreadHandler](INFO): Protected caller Thread ID is 562
2025-01-16T18:31:40.931Z,1737052300.931 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-01-16T18:31:40.931Z,1737052300.931 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-01-16T18:31:40.935Z,1737052300.935 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-01-16T18:31:41.261Z,1737052301.261 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-01-16T18:31:41.261Z,1737052301.261 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-01-16T18:31:41.506Z,1737052301.506 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-01-16T18:31:41.506Z,1737052301.506 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-01-16T18:31:41.631Z,1737052301.631 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-01-16T18:31:41.632Z,1737052301.632 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-01-16T18:31:41.852Z,1737052301.852 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-01-16T18:31:41.852Z,1737052301.852 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-01-16T18:31:42.386Z,1737052302.386 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-01-16T18:31:42.387Z,1737052302.387 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-01-16T18:31:42.526Z,1737052302.526 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-01-16T18:31:42.527Z,1737052302.527 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-01-16T18:31:42.908Z,1737052302.908 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-01-16T18:31:42.909Z,1737052302.909 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-01-16T18:31:43.152Z,1737052303.152 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-01-16T18:31:43.153Z,1737052303.153 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-01-16T18:31:43.735Z,1737052303.735 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-01-16T18:31:43.735Z,1737052303.735 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-01-16T18:31:44.195Z,1737052304.195 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-01-16T18:31:44.196Z,1737052304.196 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-01-16T18:31:52.080Z,1737052312.080 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-01-16T18:31:53.325Z,1737052313.325 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-01-16T18:31:53.326Z,1737052313.326 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-01-16T18:31:54.824Z,1737052314.824 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-01-16T18:31:54.825Z,1737052314.825 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-01-16T18:31:55.731Z,1737052315.731 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-01-16T18:31:55.732Z,1737052315.732 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-01-16T18:31:56.121Z,1737052316.121 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-01-16T18:31:56.121Z,1737052316.121 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-01-16T18:31:56.236Z,1737052316.236 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-aku/
2025-01-16T18:31:56.238Z,1737052316.238 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/secure.cfg
2025-01-16T18:31:56.351Z,1737052316.351 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/logger.cfg
2025-01-16T18:31:56.487Z,1737052316.487 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/vehicle.cfg
2025-01-16T18:31:56.621Z,1737052316.621 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/BIT.cfg
2025-01-16T18:31:56.739Z,1737052316.739 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Simulator.cfg
2025-01-16T18:31:56.854Z,1737052316.854 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Servo.cfg
2025-01-16T18:31:56.987Z,1737052316.987 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Science.cfg
2025-01-16T18:31:57.163Z,1737052317.163 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Sensor.cfg
2025-01-16T18:31:57.363Z,1737052317.363 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Control.cfg
2025-01-16T18:31:57.490Z,1737052317.490 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Battery.cfg
2025-01-16T18:31:57.787Z,1737052317.787 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-01-16T18:31:57.788Z,1737052317.788 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-aku/root/
2025-01-16T18:31:57.788Z,1737052317.788 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-01-16T18:31:57.806Z,1737052317.806 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-01-16T18:31:58.153Z,1737052318.153 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-01-16T18:31:58.154Z,1737052318.154 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-01-16T18:32:02.335Z,1737052322.335 [BackseatComponent] Loaded
2025-01-16T18:32:02.335Z,1737052322.335 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-01-16T18:32:02.336Z,1737052322.336 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408A64E0
2025-01-16T18:32:02.336Z,1737052322.336 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 641
2025-01-16T18:32:02.339Z,1737052322.339 [LcmUniversalReporter] Loaded
2025-01-16T18:32:02.339Z,1737052322.339 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-01-16T18:32:02.346Z,1737052322.346 [BioacousticsDataBridge] Loaded
2025-01-16T18:32:02.346Z,1737052322.346 [ComponentRegistry](DEBUG): SyncComponent "BioacousticsDataBridge" handled in the control thread.
2025-01-16T18:32:03.153Z,1737052323.153 [BPC1] Loaded
2025-01-16T18:32:03.153Z,1737052323.153 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-01-16T18:32:03.233Z,1737052323.233 [DataOverHttps] Loaded
2025-01-16T18:32:03.234Z,1737052323.234 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-01-16T18:32:03.235Z,1737052323.235 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408D64E0
2025-01-16T18:32:03.235Z,1737052323.235 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 642
2025-01-16T18:32:03.258Z,1737052323.258 [Depth_Keller] Loaded
2025-01-16T18:32:03.258Z,1737052323.258 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-01-16T18:32:03.263Z,1737052323.263 [DropWeight] Loaded
2025-01-16T18:32:03.263Z,1737052323.263 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-01-16T18:32:03.326Z,1737052323.326 [NAL9602] Loaded
2025-01-16T18:32:03.327Z,1737052323.327 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-01-16T18:32:03.355Z,1737052323.355 [Onboard] Loaded
2025-01-16T18:32:03.355Z,1737052323.355 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-01-16T18:32:03.356Z,1737052323.356 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409064E0
2025-01-16T18:32:03.357Z,1737052323.357 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 643
2025-01-16T18:32:03.371Z,1737052323.371 [Power24vConverter] Loaded
2025-01-16T18:32:03.371Z,1737052323.371 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-01-16T18:32:03.387Z,1737052323.387 [Radio_Surface] Loaded
2025-01-16T18:32:03.388Z,1737052323.388 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-01-16T18:32:03.389Z,1737052323.389 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409364E0
2025-01-16T18:32:03.389Z,1737052323.389 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 644
2025-01-16T18:32:03.390Z,1737052323.390 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-01-16T18:32:03.391Z,1737052323.391 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-01-16T18:32:03.536Z,1737052323.536 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-01-16T18:32:03.536Z,1737052323.536 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-01-16T18:32:03.596Z,1737052323.596 [VerticalControl](DEBUG): Construct VerticalControl.
2025-01-16T18:32:03.655Z,1737052323.655 [VerticalControl] Loaded
2025-01-16T18:32:03.655Z,1737052323.655 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-01-16T18:32:03.658Z,1737052323.658 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-01-16T18:32:03.706Z,1737052323.706 [HorizontalControl] Loaded
2025-01-16T18:32:03.706Z,1737052323.706 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-01-16T18:32:03.708Z,1737052323.708 [SpeedControl](DEBUG): Construct SpeedControl.
2025-01-16T18:32:03.711Z,1737052323.711 [SpeedControl] Loaded
2025-01-16T18:32:03.712Z,1737052323.712 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-01-16T18:32:03.714Z,1737052323.714 [LoopControl](DEBUG): Construct LoopControl.
2025-01-16T18:32:03.715Z,1737052323.715 [LoopControl] Loaded
2025-01-16T18:32:03.715Z,1737052323.715 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-01-16T18:32:03.716Z,1737052323.716 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-01-16T18:32:03.716Z,1737052323.716 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-01-16T18:32:03.726Z,1737052323.726 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-01-16T18:32:03.727Z,1737052323.727 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-01-16T18:32:03.760Z,1737052323.760 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-01-16T18:32:03.761Z,1737052323.761 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-01-16T18:32:03.882Z,1737052323.882 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-01-16T18:32:03.882Z,1737052323.882 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-01-16T18:32:03.895Z,1737052323.895 [NavChart] Loaded
2025-01-16T18:32:03.896Z,1737052323.896 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-01-16T18:32:03.901Z,1737052323.901 [UniversalFixResidualReporter] Loaded
2025-01-16T18:32:03.901Z,1737052323.901 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-01-16T18:32:03.902Z,1737052323.902 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-01-16T18:32:03.902Z,1737052323.902 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-01-16T18:32:04.054Z,1737052324.054 [SBIT](DEBUG): Construct Startup Built In Test.
2025-01-16T18:32:04.063Z,1737052324.063 [SBIT] Loaded
2025-01-16T18:32:04.063Z,1737052324.063 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-01-16T18:32:04.066Z,1737052324.066 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-01-16T18:32:04.079Z,1737052324.079 [IBIT] Loaded
2025-01-16T18:32:04.079Z,1737052324.079 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-01-16T18:32:04.085Z,1737052324.085 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-01-16T18:32:04.189Z,1737052324.189 [CBIT] Loaded
2025-01-16T18:32:04.189Z,1737052324.189 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-01-16T18:32:04.189Z,1737052324.189 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-01-16T18:32:04.190Z,1737052324.190 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-01-16T18:32:04.373Z,1737052324.373 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-01-16T18:32:04.374Z,1737052324.374 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-01-16T18:32:04.512Z,1737052324.512 [BuoyancyServo] Loaded
2025-01-16T18:32:04.512Z,1737052324.512 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-01-16T18:32:04.535Z,1737052324.535 [ElevatorServo] Loaded
2025-01-16T18:32:04.535Z,1737052324.535 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-01-16T18:32:04.558Z,1737052324.558 [MassServo] Loaded
2025-01-16T18:32:04.558Z,1737052324.558 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-01-16T18:32:04.576Z,1737052324.576 [RudderServo] Loaded
2025-01-16T18:32:04.576Z,1737052324.576 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-01-16T18:32:04.593Z,1737052324.593 [ThrusterHE] Loaded
2025-01-16T18:32:04.593Z,1737052324.593 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-01-16T18:32:04.594Z,1737052324.594 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-01-16T18:32:04.594Z,1737052324.594 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-01-16T18:32:04.712Z,1737052324.712 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-01-16T18:32:04.713Z,1737052324.713 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-01-16T18:32:04.773Z,1737052324.773 [DepthRateCalculator] Loaded
2025-01-16T18:32:04.773Z,1737052324.773 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-01-16T18:32:04.778Z,1737052324.778 [PitchRateCalculator] Loaded
2025-01-16T18:32:04.779Z,1737052324.779 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-01-16T18:32:04.787Z,1737052324.787 [SpeedCalculator] Loaded
2025-01-16T18:32:04.788Z,1737052324.788 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-01-16T18:32:04.792Z,1737052324.792 [YawRateCalculator] Loaded
2025-01-16T18:32:04.792Z,1737052324.792 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-01-16T18:32:04.811Z,1737052324.811 [ElevatorOffsetCalculator] Loaded
2025-01-16T18:32:04.811Z,1737052324.811 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-01-16T18:32:04.812Z,1737052324.812 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-01-16T18:32:04.812Z,1737052324.812 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-01-16T18:32:04.881Z,1737052324.881 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-01-16T18:32:04.888Z,1737052324.888 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-01-16T18:32:04.890Z,1737052324.890 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-01-16T18:32:04.901Z,1737052324.901 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-01-16T18:32:04.902Z,1737052324.902 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BBE4E0
2025-01-16T18:32:04.903Z,1737052324.903 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 645
2025-01-16T18:32:04.907Z,1737052324.907 [Supervisor](INFO): Main Thread ID is 828
2025-01-16T18:32:04.907Z,1737052324.907 [Supervisor](DEBUG): Running supervisor.
2025-01-16T18:32:04.908Z,1737052324.908 [CommandExec ThreadHandler](INFO): Handler Thread ID is 646
2025-01-16T18:32:04.908Z,1737052324.908 [CommandExec](INFO): Initializing the command executive.
2025-01-16T18:32:04.910Z,1737052324.910 [CommandLine ThreadHandler](INFO): Handler Thread ID is 647
2025-01-16T18:32:04.913Z,1737052324.913 [controlThread ThreadHandler](INFO): Handler Thread ID is 648
2025-01-16T18:32:04.913Z,1737052324.913 [controlThread](DEBUG): Initializing ControlThread
2025-01-16T18:32:04.920Z,1737052324.920 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-01-16T18:32:04.922Z,1737052324.922 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-01-16T18:32:04.923Z,1737052324.923 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-01-16T18:32:04.923Z,1737052324.923 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-01-16T18:32:04.924Z,1737052324.924 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-01-16T18:32:04.924Z,1737052324.924 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-01-16T18:32:04.924Z,1737052324.924 [SBIT](INFO): Initialize SBIT Component.
2025-01-16T18:32:04.925Z,1737052324.925 [SBIT](IMPORTANT): git: 2025-01-09_B
2025-01-16T18:32:04.925Z,1737052324.925 [SBIT](INFO): git hash: 1f9780a539b09f05de89865a2e326c5f9ffadbdc
2025-01-16T18:32:04.925Z,1737052324.925 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-01-16T18:32:04.927Z,1737052324.927 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Dec 4 01:17:04 UTC 2024
2025-01-16T18:32:04.928Z,1737052324.928 [SBIT](INFO): Beginning SBIT in 54.000000 seconds.
2025-01-16T18:32:04.929Z,1737052324.929 [IBIT](INFO): Initialize IBIT Component.
2025-01-16T18:32:04.929Z,1737052324.929 [CBIT](DEBUG): Initialize CBIT Component.
2025-01-16T18:32:04.930Z,1737052324.930 [logger ThreadHandler](INFO): Handler Thread ID is 649
2025-01-16T18:32:04.942Z,1737052324.942 [CBIT](DEBUG): Initialized mux pins.
2025-01-16T18:32:04.942Z,1737052324.942 [CBIT](DEBUG): Initializing the watchdog timer.
2025-01-16T18:32:04.951Z,1737052324.951 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 650
2025-01-16T18:32:04.963Z,1737052324.963 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 651
2025-01-16T18:32:04.964Z,1737052324.964 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-01-16T18:32:04.966Z,1737052324.966 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-01-16T18:32:04.967Z,1737052324.967 [CBIT](DEBUG): Initializing heartbeat.
2025-01-16T18:32:04.982Z,1737052324.982 [Onboard ThreadHandler](INFO): Handler Thread ID is 652
2025-01-16T18:32:04.994Z,1737052324.994 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 653
2025-01-16T18:32:05.031Z,1737052325.031 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 654
2025-01-16T18:32:05.038Z,1737052325.038 [CBIT](DEBUG): Deactivating GF circuits.
2025-01-16T18:32:05.038Z,1737052325.038 [CBIT](DEBUG): Deactivating emergency mode.
2025-01-16T18:32:05.042Z,1737052325.042 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-01-16T18:32:05.042Z,1737052325.042 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-01-16T18:32:05.043Z,1737052325.043 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-01-16T18:32:05.043Z,1737052325.043 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-01-16T18:32:05.043Z,1737052325.043 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-01-16T18:32:05.043Z,1737052325.043 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-01-16T18:32:05.043Z,1737052325.043 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-01-16T18:32:05.043Z,1737052325.043 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-01-16T18:32:05.078Z,1737052325.078 [CBIT](DEBUG): Backplane powered.
2025-01-16T18:32:05.080Z,1737052325.080 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-01-16T18:32:05.080Z,1737052325.080 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-01-16T18:32:05.080Z,1737052325.080 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-01-16T18:32:05.081Z,1737052325.081 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-01-16T18:32:05.081Z,1737052325.081 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-01-16T18:32:05.082Z,1737052325.082 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-01-16T18:32:05.083Z,1737052325.083 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-01-16T18:32:05.083Z,1737052325.083 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-01-16T18:32:05.087Z,1737052325.087 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-01-16T18:32:05.138Z,1737052325.138 [MissionManager](DEBUG): TethyslAPI: Missions/Startup.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Startup">
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="StartupSatComms">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix />
        </ReadDatum>
        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Mission>

2025-01-16T18:32:05.163Z,1737052325.163 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T18:32:05.191Z,1737052325.191 [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 Startup {
  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate StartupSatComms {
    run in sequence

    readDatum {
      timeout duration=P1M

      Universal:latitude_fix
    }

    readDatum {
      timeout duration=P1M

      Universal:platform_communications
    }
  }
}


2025-01-16T18:32:05.192Z,1737052325.192 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-01-16T18:32:05.192Z,1737052325.192 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-01-16T18:32:05.215Z,1737052325.215 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-01-16T18:32:05.402Z,1737052325.402 [Radio_Surface](INFO): Powering up
2025-01-16T18:32:05.518Z,1737052325.518 [MissionManager](DEBUG): TethyslAPI: Missions/Default.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="Default">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>13</Value>
        </Setting>
    </Guidance:Wait>
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P4H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            Default mission has been running for 
            <Arg Name="ElapsedSinceDefaultStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-01-16T18:32:05.552Z,1737052325.552 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-01-16T18:32:05.553Z,1737052325.553 [Default:A.Wait](DEBUG): Construct Wait.
2025-01-16T18:32:05.555Z,1737052325.555 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T18:32:05.595Z,1737052325.595 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-01-16T18:32:05.598Z,1737052325.598 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-01-16T18:32:05.620Z,1737052325.620 [Default:E.Execute](DEBUG): Construct Execute.
2025-01-16T18:32:05.623Z,1737052325.623 [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 Default {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute
  }

  behavior Guidance:Wait {
    """
    Wait a moment to see if the scheduler starts a new mission before
    starting to actually run Default.
    """

    run in sequence

    set duration = 13 second
  }

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

    readDatum id="Read_Iridium" {
      timeout duration=P4H {
        behavior Guidance:Execute {
          run in sequence

          set command = "Burn on"
        }

        syslog critical "Dropped weight due to communications timeout."
      }

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

    syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
  }

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-01-16T18:32:05.638Z,1737052325.638 [controlThread](DEBUG): Component order: CycleStarter,BioacousticsDataBridge,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2025-01-16T18:32:05.693Z,1737052325.693 [Power24vConverter](INFO): Powering up.
2025-01-16T18:32:05.728Z,1737052325.728 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-01-16T18:32:05.735Z,1737052325.735 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-01-16T18:32:05.736Z,1737052325.736 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-01-16T18:32:05.743Z,1737052325.743 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-01-16T18:32:05.743Z,1737052325.743 [MassServo](DEBUG): Initializing EZServoServo.
2025-01-16T18:32:05.751Z,1737052325.751 [MassServo](DEBUG): Initializing MassServo.
2025-01-16T18:32:05.751Z,1737052325.751 [RudderServo](DEBUG): Initializing EZServoServo.
2025-01-16T18:32:05.759Z,1737052325.759 [RudderServo](DEBUG): Initializing RudderServo.
2025-01-16T18:32:05.759Z,1737052325.759 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-01-16T18:32:05.767Z,1737052325.767 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-01-16T18:32:11.479Z,1737052331.479 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-01-16T18:32:33.522Z,1737052353.522 [NAL9602](INFO): Powering up NAL9602
2025-01-16T18:32:44.437Z,1737052364.437 [NAL9602](INFO): NAL9602 initialized
2025-01-16T18:32:59.520Z,1737052379.520 [SBIT](IMPORTANT): Beginning Startup BIT
2025-01-16T18:32:59.524Z,1737052379.524 [CBIT](IMPORTANT): Beginning ground fault scan
2025-01-16T18:33:03.425Z,1737052383.425 [NAL9602](INFO): SBD MO Status=0, MOMSN=11888, MT Status=0, MTMSN=0
2025-01-16T18:33:03.426Z,1737052383.426 [NAL9602](INFO): No messages in MT queue
2025-01-16T18:33:10.471Z,1737052390.471 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.000767
CHAN A1 (24V): -0.000858
CHAN A2 (12V): 0.000442
CHAN A3 (5V): -0.002268
CHAN B0 (3.3V): -0.000596
CHAN B1 (3.15aV): -0.001272
CHAN B2 (3.15bV): -0.001346
CHAN B3 (GND): -0.001910
OPEN: 0.004735
Full Scale: +/- 1 mA
2025-01-16T18:33:53.699Z,1737052433.699 [SBIT](IMPORTANT): SBIT PASSED
2025-01-16T18:33:53.700Z,1737052433.700 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-01-16T18:33:53.700Z,1737052433.700 [SBIT](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2025-01-16T18:33:53.701Z,1737052433.701 [SBIT](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2025-01-16T18:33:53.701Z,1737052433.701 [SBIT](IMPORTANT): DAT.loadAtStartup=0 bool;

2025-01-16T18:33:53.701Z,1737052433.701 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter;

2025-01-16T18:33:53.701Z,1737052433.701 [SBIT](IMPORTANT): Express linearApproximation platform_roll_angle 5.000000 degree;

2025-01-16T18:33:53.701Z,1737052433.701 [SBIT](IMPORTANT): PAR_Licor.loadAtStartup=0 bool;

2025-01-16T18:33:53.701Z,1737052433.701 [SBIT](IMPORTANT): Sonardyne_Nano.loadAtStartup=0 bool;

2025-01-16T18:33:53.701Z,1737052433.701 [SBIT](IMPORTANT): SpeedControl.rollOptimum=0.925 meter_per_second;

2025-01-16T18:33:53.701Z,1737052433.701 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=366.667102 cubic_centimeter;

2025-01-16T18:33:53.701Z,1737052433.701 [SBIT](IMPORTANT): VerticalControl.kdPitchMass=0.1 second;

2025-01-16T18:33:53.702Z,1737052433.702 [SBIT](IMPORTANT): VerticalControl.kiPitchMass=0.001 reciprocal_second;

2025-01-16T18:33:53.702Z,1737052433.702 [SBIT](IMPORTANT): VerticalControl.kpPitchMass=0.1 none;

2025-01-16T18:33:53.702Z,1737052433.702 [SBIT](IMPORTANT): VerticalControl.massDeadband=0 millimeter;

2025-01-16T18:33:53.702Z,1737052433.702 [SBIT](IMPORTANT): VerticalControl.massDefault=8.560154 millimeter;

2025-01-16T18:33:53.702Z,1737052433.702 [SBIT](IMPORTANT): VerticalControl.massOnlyForceInt=1 bool;

2025-01-16T18:33:53.702Z,1737052433.702 [SBIT](IMPORTANT): WetLabsBB2FL.loadAtStartup=0 bool;

2025-01-16T18:33:53.954Z,1737052433.954 [MissionManager](IMPORTANT): Started mission Startup
2025-01-16T18:33:53.954Z,1737052433.954 [Startup] Running Loop=1
2025-01-16T18:33:53.954Z,1737052433.954 [Startup](DEBUG): Aggregate::initialize Startup
2025-01-16T18:33:53.954Z,1737052433.954 [Startup:A.GoToSurface] Running Loop=1
2025-01-16T18:33:53.955Z,1737052433.955 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T18:33:53.955Z,1737052433.955 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T18:33:53.955Z,1737052433.955 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T18:33:53.956Z,1737052433.956 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T18:33:53.956Z,1737052433.956 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T18:33:53.956Z,1737052433.956 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T18:33:53.957Z,1737052433.957 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T18:33:53.974Z,1737052433.974 [Startup:StartupSatComms] Running Loop=1
2025-01-16T18:33:53.974Z,1737052433.974 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-01-16T18:33:53.974Z,1737052433.974 [Startup:StartupSatComms:A] Running Loop=1
2025-01-16T18:33:54.387Z,1737052434.387 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-01-16T18:34:05.260Z,1737052445.260 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T18:34:05.260Z,1737052445.260 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-01-16T18:34:05.260Z,1737052445.260 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T18:34:05.439Z,1737052445.439 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T18:34:05.819Z,1737052445.819 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T18:34:05.819Z,1737052445.819 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-01-16T18:34:23.421Z,1737052463.421 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004582
2025-01-16T18:34:34.044Z,1737052474.044 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183430.00,A,3648.28354,N,12151.91554,W,0.389,319.78,160125,,,A*7D
2025-01-16T18:34:34.047Z,1737052474.047 [NAL9602](INFO): GPS fix at 20250116T183430: (36.804726, -121.865259)
2025-01-16T18:34:34.057Z,1737052474.057 [Startup:StartupSatComms:A] Stopped
2025-01-16T18:34:34.057Z,1737052474.057 [Startup:StartupSatComms:B] Running Loop=1
2025-01-16T18:34:34.476Z,1737052474.476 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-16T18:34:41.879Z,1737052481.879 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250116T175147/Courier0018.lzma
2025-01-16T18:34:42.880Z,1737052482.880 [DataOverHttps](INFO): Moved sent file to Logs/20250116T175147/Courier0018.lzma.bak
2025-01-16T18:34:42.880Z,1737052482.880 [DataOverHttps](INFO): SBD MOMSN=23911464
2025-01-16T18:35:01.519Z,1737052501.519 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20250116T183140/Courier0000.lzma
2025-01-16T18:35:02.520Z,1737052502.520 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Courier0000.lzma.bak
2025-01-16T18:35:02.520Z,1737052502.520 [DataOverHttps](INFO): SBD MOMSN=23911466
2025-01-16T18:35:06.425Z,1737052506.425 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T18:35:21.868Z,1737052521.868 [DataOverHttps](INFO): Sending 1116 bytes from file Logs/20250116T175147/Express0019.lzma
2025-01-16T18:35:22.868Z,1737052522.868 [DataOverHttps](INFO): Moved sent file to Logs/20250116T175147/Express0019.lzma.bak
2025-01-16T18:35:22.868Z,1737052522.868 [DataOverHttps](INFO): SBD MOMSN=23911470
2025-01-16T18:35:34.328Z,1737052534.328 [Startup:StartupSatComms:B](INFO): Timed out from 2025-01-16T18:34:34.1Z
2025-01-16T18:35:34.328Z,1737052534.328 [Startup:StartupSatComms:B] Stopped
2025-01-16T18:35:34.328Z,1737052534.328 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-01-16T18:35:34.329Z,1737052534.329 [Startup:StartupSatComms] Stopped
2025-01-16T18:35:34.329Z,1737052534.329 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-01-16T18:35:34.330Z,1737052534.330 [Startup](INFO): Completed Startup
2025-01-16T18:35:34.330Z,1737052534.330 [MissionManager](INFO): Startup is completed.
2025-01-16T18:35:34.330Z,1737052534.330 [MissionManager](INFO): Uninitializing Mission Startup
2025-01-16T18:35:34.330Z,1737052534.330 [Startup] Stopped
2025-01-16T18:35:34.330Z,1737052534.330 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-01-16T18:35:34.330Z,1737052534.330 [Startup:A.GoToSurface] Stopped
2025-01-16T18:35:34.330Z,1737052534.330 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T18:35:34.731Z,1737052534.731 [MissionManager](IMPORTANT): Started mission Default
2025-01-16T18:35:34.732Z,1737052534.732 [Default] Running Loop=1
2025-01-16T18:35:34.732Z,1737052534.732 [Default](DEBUG): Aggregate::initialize Default
2025-01-16T18:35:34.732Z,1737052534.732 [Default:B.GoToSurface] Running Loop=1
2025-01-16T18:35:34.732Z,1737052534.732 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T18:35:34.732Z,1737052534.732 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T18:35:34.732Z,1737052534.732 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T18:35:34.733Z,1737052534.733 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T18:35:34.733Z,1737052534.733 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T18:35:34.733Z,1737052534.733 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T18:35:34.734Z,1737052534.734 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T18:35:34.734Z,1737052534.734 [Default:A.Wait] Running Loop=1
2025-01-16T18:35:34.782Z,1737052534.782 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-16T18:35:38.715Z,1737052538.715 [DataOverHttps](INFO): Sending 1108 bytes from file Logs/20250116T183140/Express0001.lzma
2025-01-16T18:35:39.716Z,1737052539.716 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Express0001.lzma.bak
2025-01-16T18:35:39.716Z,1737052539.716 [DataOverHttps](INFO): SBD MOMSN=23911493
2025-01-16T18:35:48.092Z,1737052548.092 [Default:A.Wait](INFO): Done Waiting.
2025-01-16T18:35:48.092Z,1737052548.092 [Default:A.Wait] Stopped
2025-01-16T18:35:48.092Z,1737052548.092 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T18:35:48.496Z,1737052548.496 [Default:CheckIn] Running Loop=1
2025-01-16T18:35:48.496Z,1737052548.496 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T18:35:48.496Z,1737052548.496 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T18:35:48.898Z,1737052548.898 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T18:35:50.509Z,1737052550.509 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183546.00,A,3648.28816,N,12151.92300,W,0.175,327.81,160125,,,A*7E
2025-01-16T18:35:50.511Z,1737052550.511 [NAL9602](INFO): GPS fix at 20250116T183546: (36.804803, -121.865383)
2025-01-16T18:35:50.540Z,1737052550.540 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T18:35:50.540Z,1737052550.540 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T18:35:50.943Z,1737052550.943 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-16T18:35:57.738Z,1737052557.738 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250116T183140/Courier0004.lzma
2025-01-16T18:35:59.358Z,1737052559.358 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Courier0004.lzma.bak
2025-01-16T18:35:59.359Z,1737052559.359 [DataOverHttps](INFO): SBD MOMSN=23911522
2025-01-16T18:36:02.649Z,1737052562.649 [NAL9602](INFO): SBD MO Status=0, MOMSN=11889, MT Status=0, MTMSN=0
2025-01-16T18:36:02.649Z,1737052562.649 [NAL9602](INFO): No messages in MT queue
2025-01-16T18:36:06.296Z,1737052566.296 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T18:36:06.296Z,1737052566.296 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-01-16T18:36:06.296Z,1737052566.296 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T18:36:06.443Z,1737052566.443 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T18:36:06.842Z,1737052566.842 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T18:36:06.842Z,1737052566.842 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-01-16T18:36:14.218Z,1737052574.218 [DataOverHttps](INFO): Sending 105 bytes from file Logs/20250116T183140/Express0005.lzma
2025-01-16T18:36:15.231Z,1737052575.231 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Express0005.lzma.bak
2025-01-16T18:36:15.233Z,1737052575.233 [DataOverHttps](INFO): SBD MOMSN=23911525
2025-01-16T18:36:16.391Z,1737052576.391 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T18:36:16.392Z,1737052576.392 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-16T18:36:16.392Z,1737052576.392 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T18:36:33.355Z,1737052593.355 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T18:38:07.497Z,1737052687.497 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T18:38:07.497Z,1737052687.497 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2025-01-16T18:38:07.497Z,1737052687.497 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T18:38:07.663Z,1737052687.663 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T18:38:08.046Z,1737052688.046 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T18:38:08.046Z,1737052688.046 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2025-01-16T18:38:26.540Z,1737052706.540 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T183825
2025-01-16T18:38:33.847Z,1737052713.847 [DataOverHttps](INFO): Received command: load Engineering/sink.tl;set sink.SinkDuration 60 min;set sink.Depth 30 m;set sink.DepthDeadband 10 m;set sink.MaxDepth 50 m;set sink:BackseatDriver.EnableBackseat 1 bool;run
2025-01-16T18:38:33.913Z,1737052713.913 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/sink.tl
2025-01-16T18:38:33.913Z,1737052713.913 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/sink.tl
2025-01-16T18:38:33.913Z,1737052713.913 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/sink.tl
2025-01-16T18:38:33.921Z,1737052713.921 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/sink.tl
2025-01-16T18:38:36.976Z,1737052716.976 [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>

2025-01-16T18:38:36.988Z,1737052716.988 [MissionManager](INFO): DefineArg sink.SinkDuration = 2.000000 h
2025-01-16T18:38:37.039Z,1737052717.039 [MissionManager](INFO): DefineArg sink.WaitToFloat = 20.000000 min
2025-01-16T18:38:37.047Z,1737052717.047 [MissionManager](INFO): DefineArg sink.Depth = 20.000000 m
2025-01-16T18:38:37.050Z,1737052717.050 [MissionManager](INFO): DefineArg sink.DepthDeadband = 1.000000 m
2025-01-16T18:38:37.062Z,1737052717.062 [MissionManager](INFO): DefineArg sink.SurfaceThreshold = 2.500000 m
2025-01-16T18:38:37.069Z,1737052717.069 [MissionManager](INFO): DefineArg sink.TargetDepthTimeout = 20.000000 min
2025-01-16T18:38:37.072Z,1737052717.072 [MissionManager](INFO): DefineArg sink.DoBallastAndTrim = 0 bool
2025-01-16T18:38:37.092Z,1737052717.092 [MissionManager](INFO): DefineArg sink.BTSettleTime = 10.000000 min
2025-01-16T18:38:37.099Z,1737052717.099 [MissionManager](INFO): DefineArg sink.EstimationTimeout = 45.000000 min
2025-01-16T18:38:37.101Z,1737052717.101 [MissionManager](INFO): DefineArg sink.MinEstimationTime = 10.000000 min
2025-01-16T18:38:37.109Z,1737052717.109 [MissionManager](INFO): DefineArg sink.MassEstimationErrorBound = 0.500000 mm
2025-01-16T18:38:37.120Z,1737052717.120 [MissionManager](INFO): DefineArg sink.BuoyEstimationErrorBound = 25.000000 cc
2025-01-16T18:38:37.123Z,1737052717.123 [MissionManager](INFO): DefineArg sink.EstimationConfidence = 98.000000 %
2025-01-16T18:38:37.134Z,1737052717.134 [MissionManager](INFO): DefineArg sink.MinAltitude = 5.000000 m
2025-01-16T18:38:37.137Z,1737052717.137 [MissionManager](INFO): DefineArg sink.MaxDepth = 30.000000 m
2025-01-16T18:38:37.163Z,1737052717.163 [MissionManager](INFO): DefineArg sink.MinOffshore = 2.000000 km
2025-01-16T18:38:37.172Z,1737052717.172 [MissionManager](INFO): DefineArg sink.SkipComms = 0 bool
2025-01-16T18:38:37.191Z,1737052717.191 [MissionManager](INFO): DefineOutput sink.MissionTimeout = 2.000000 h
2025-01-16T18:38:37.193Z,1737052717.193 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-01-16T18:38:37.193Z,1737052717.193 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-01-16T18:38:37.200Z,1737052717.200 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-01-16T18:38:39.264Z,1737052719.264 [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>

2025-01-16T18:38:39.281Z,1737052719.281 [MissionManager](INFO): DefineArg sink:Science.PeakDetectChlActive = 0 bool
2025-01-16T18:38:39.284Z,1737052719.284 [MissionManager](INFO): DefineArg sink:Science.TimeWindowPeakReport = nan min
2025-01-16T18:38:39.333Z,1737052719.333 [MissionManager](INFO): DefineArg sink:Science.HighestChlPeakReportActive = 0 bool
2025-01-16T18:38:39.335Z,1737052719.335 [MissionManager](INFO): DefineArg sink:Science.HighestSaltPeakReportActive = 0 bool
2025-01-16T18:38:39.338Z,1737052719.338 [MissionManager](INFO): DefineArg sink:Science.HighestOilPeakReportActive = 0 bool
2025-01-16T18:38:39.374Z,1737052719.374 [MissionManager](INFO): DefineArg sink:Science.PatchTracking = 0 bool
2025-01-16T18:38:39.377Z,1737052719.377 [MissionManager](INFO): DefineArg sink:Science.FilterWidthHorizontal = 3.000000 count
2025-01-16T18:38:39.380Z,1737052719.380 [MissionManager](INFO): DefineArg sink:Science.NumProfilesSlidingwindow = 100.000000 count
2025-01-16T18:38:39.397Z,1737052719.397 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionHorizontal = 80.000000 %
2025-01-16T18:38:39.400Z,1737052719.400 [MissionManager](INFO): DefineArg sink:Science.PeakDetectNO3Active = 0 bool
2025-01-16T18:38:39.438Z,1737052719.438 [MissionManager](INFO): DefineArg sink:Science.PeakDetectOilActive = 0 bool
2025-01-16T18:38:39.441Z,1737052719.441 [MissionManager](INFO): DefineArg sink:Science.PeakDetectFDOMActive = 0 bool
2025-01-16T18:38:39.454Z,1737052719.454 [MissionManager](INFO): DefineArg sink:Science.PeakDetectSalinityActive = 0 bool
2025-01-16T18:38:39.464Z,1737052719.464 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-01-16T18:38:39.471Z,1737052719.471 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-01-16T18:38:39.474Z,1737052719.474 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-01-16T18:38:39.485Z,1737052719.485 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-01-16T18:38:39.499Z,1737052719.499 [MissionManager](INFO): DefineArg sink:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-01-16T18:38:39.507Z,1737052719.507 [MissionManager](INFO): DefineArg sink:Science.EnabledAanderaaO2 = 0 bool
2025-01-16T18:38:39.523Z,1737052719.523 [MissionManager](INFO): DefineArg sink:Science.EnabledNeilBrown = 0 bool
2025-01-16T18:38:39.526Z,1737052719.526 [MissionManager](INFO): DefineArg sink:Science.EnabledSeabird = 0 bool
2025-01-16T18:38:39.562Z,1737052719.562 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsBB2FL = 0 bool
2025-01-16T18:38:39.569Z,1737052719.569 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-01-16T18:38:39.573Z,1737052719.573 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsUBAT = 0 bool
2025-01-16T18:38:39.584Z,1737052719.584 [MissionManager](INFO): DefineArg sink:Science.LowPassWindowLength = 20.000000 count
2025-01-16T18:38:39.587Z,1737052719.587 [MissionManager](INFO): DefineArg sink:Science.MedianFilterLen = 5.000000 count
2025-01-16T18:38:39.606Z,1737052719.606 [MissionManager](INFO): DefineArg sink:Science.PeakShallowBound = nan m
2025-01-16T18:38:39.609Z,1737052719.609 [MissionManager](INFO): DefineArg sink:Science.PeakDeepBound = nan m
2025-01-16T18:38:39.613Z,1737052719.613 [MissionManager](INFO): DefineArg sink:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-01-16T18:38:39.632Z,1737052719.632 [MissionManager](INFO): DefineArg sink:Science.ChlThreshTriggerActive = 0 bool
2025-01-16T18:38:39.635Z,1737052719.635 [MissionManager](INFO): DefineArg sink:Science.ChlLowerThresh = nan ug/l
2025-01-16T18:38:39.654Z,1737052719.654 [MissionManager](INFO): DefineArg sink:Science.ChlUpperThresh = nan ug/l
2025-01-16T18:38:39.657Z,1737052719.657 [MissionManager](INFO): DefineArg sink:Science.NumProfilesThresh = 5.000000 count
2025-01-16T18:38:39.672Z,1737052719.672 [MissionManager](INFO): DefineOutput sink:Science.PeakChl = nan ug/l
2025-01-16T18:38:39.691Z,1737052719.691 [MissionManager](INFO): DefineOutput sink:Science.PeakChlDepth = nan m
2025-01-16T18:38:39.698Z,1737052719.698 [MissionManager](INFO): DefineOutput sink:Science.PeakChlTemperature = nan degC
2025-01-16T18:38:39.701Z,1737052719.701 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLatitude = nan arcdeg
2025-01-16T18:38:39.722Z,1737052719.722 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLongitude = nan arcdeg
2025-01-16T18:38:39.726Z,1737052719.726 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3 = nan umol/l
2025-01-16T18:38:39.733Z,1737052719.733 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Depth = nan m
2025-01-16T18:38:39.740Z,1737052719.740 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Latitude = nan arcdeg
2025-01-16T18:38:39.747Z,1737052719.747 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Longitude = nan arcdeg
2025-01-16T18:38:39.750Z,1737052719.750 [MissionManager](INFO): DefineOutput sink:Science.PeakOil = nan kg/m3
2025-01-16T18:38:39.757Z,1737052719.757 [MissionManager](INFO): DefineOutput sink:Science.PeakOilDepth = nan m
2025-01-16T18:38:39.764Z,1737052719.764 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLatitude = nan arcdeg
2025-01-16T18:38:39.780Z,1737052719.780 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLongitude = nan arcdeg
2025-01-16T18:38:39.783Z,1737052719.783 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOM = nan ppb
2025-01-16T18:38:39.787Z,1737052719.787 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMDepth = nan m
2025-01-16T18:38:39.798Z,1737052719.798 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMTemperature = nan degC
2025-01-16T18:38:39.801Z,1737052719.801 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLatitude = nan arcdeg
2025-01-16T18:38:39.804Z,1737052719.804 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLongitude = nan arcdeg
2025-01-16T18:38:39.840Z,1737052719.840 [MissionManager](INFO): DefineOutput sink:Science.PeakSalt = nan psu
2025-01-16T18:38:39.843Z,1737052719.843 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltDepth = nan m
2025-01-16T18:38:39.846Z,1737052719.846 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltTemperature = nan degC
2025-01-16T18:38:39.849Z,1737052719.849 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLatitude = nan arcdeg
2025-01-16T18:38:39.853Z,1737052719.853 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLongitude = nan arcdeg
2025-01-16T18:38:39.890Z,1737052719.889 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-01-16T18:38:39.905Z,1737052719.905 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-01-16T18:38:39.908Z,1737052719.908 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-01-16T18:38:39.911Z,1737052719.911 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-01-16T18:38:39.913Z,1737052719.913 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-01-16T18:38:39.947Z,1737052719.947 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-01-16T18:38:39.961Z,1737052719.961 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-01-16T18:38:39.972Z,1737052719.972 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-01-16T18:38:39.975Z,1737052719.975 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-01-16T18:38:39.978Z,1737052719.978 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-01-16T18:38:40.002Z,1737052720.002 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-01-16T18:38:40.005Z,1737052720.005 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-01-16T18:38:40.007Z,1737052720.007 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-01-16T18:38:40.045Z,1737052720.045 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-01-16T18:38:40.048Z,1737052720.048 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-01-16T18:38:40.051Z,1737052720.051 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-01-16T18:38:40.053Z,1737052720.053 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-01-16T18:38:40.085Z,1737052720.085 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-01-16T18:38:40.088Z,1737052720.088 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-01-16T18:38:40.091Z,1737052720.091 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-01-16T18:38:40.094Z,1737052720.094 [MissionManager](INFO): DefineOutput sink:Science.PatchChl = nan ug/l
2025-01-16T18:38:40.106Z,1737052720.106 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDepth = nan m
2025-01-16T18:38:40.109Z,1737052720.109 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLatitude = nan arcdeg
2025-01-16T18:38:40.112Z,1737052720.112 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLongitude = nan arcdeg
2025-01-16T18:38:40.147Z,1737052720.147 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDistance = nan m
2025-01-16T18:38:40.150Z,1737052720.150 [MissionManager](INFO): DefineOutput sink:Science.PatchSalt = nan psu
2025-01-16T18:38:40.153Z,1737052720.153 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDepth = nan m
2025-01-16T18:38:40.156Z,1737052720.156 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLatitude = nan arcdeg
2025-01-16T18:38:40.190Z,1737052720.190 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLongitude = nan arcdeg
2025-01-16T18:38:40.193Z,1737052720.193 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDistance = nan m
2025-01-16T18:38:40.196Z,1737052720.196 [MissionManager](INFO): DefineOutput sink:Science.PatchOil = nan psu
2025-01-16T18:38:40.204Z,1737052720.204 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDepth = nan m
2025-01-16T18:38:40.207Z,1737052720.207 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLatitude = nan arcdeg
2025-01-16T18:38:40.247Z,1737052720.247 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLongitude = nan arcdeg
2025-01-16T18:38:40.251Z,1737052720.251 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDistance = nan m
2025-01-16T18:38:40.254Z,1737052720.254 [MissionManager](INFO): DefineOutput sink:Science.TriggeredOnChl = 0 bool
2025-01-16T18:38:40.257Z,1737052720.257 [MissionManager](INFO): DefineOutput sink:Science.ChlTriggering = nan ug/l
2025-01-16T18:38:40.383Z,1737052720.383 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T18:38:40.432Z,1737052720.432 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T18:38:40.478Z,1737052720.478 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T18:38:40.505Z,1737052720.505 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T18:38:40.544Z,1737052720.544 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T18:38:40.588Z,1737052720.588 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T18:38:40.675Z,1737052720.675 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T18:38:40.712Z,1737052720.712 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T18:38:40.751Z,1737052720.751 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T18:38:40.799Z,1737052720.799 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T18:38:40.839Z,1737052720.839 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T18:38:40.879Z,1737052720.879 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T18:38:40.911Z,1737052720.911 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-01-16T18:38:40.935Z,1737052720.935 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-16T18:38:40.935Z,1737052720.935 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-16T18:38:40.936Z,1737052720.936 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-16T18:38:41.503Z,1737052721.503 [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>

2025-01-16T18:38:41.528Z,1737052721.528 [MissionManager](INFO): DefineArg sink:NeedComms.DiveInterval = 1.000000 h
2025-01-16T18:38:41.535Z,1737052721.535 [MissionManager](INFO): DefineArg sink:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-16T18:38:41.538Z,1737052721.538 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-16T18:38:41.545Z,1737052721.545 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceDepthRate = nan m/s
2025-01-16T18:38:41.548Z,1737052721.548 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-16T18:38:41.572Z,1737052721.572 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-16T18:38:41.587Z,1737052721.587 [MissionManager](INFO): DefineArg sink:NeedComms.GPSTimeout = 7.000000 min
2025-01-16T18:38:41.598Z,1737052721.598 [MissionManager](INFO): DefineArg sink:NeedComms.CommsTimeout = 30.000000 min
2025-01-16T18:38:41.613Z,1737052721.613 [sink:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T18:38:41.681Z,1737052721.681 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-16T18:38:41.681Z,1737052721.681 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-16T18:38:41.687Z,1737052721.687 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-16T18:38:41.881Z,1737052721.881 [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>

2025-01-16T18:38:41.889Z,1737052721.889 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-16T18:38:41.896Z,1737052721.896 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-16T18:38:41.900Z,1737052721.900 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-16T18:38:41.911Z,1737052721.911 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-16T18:38:41.912Z,1737052721.912 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-16T18:38:41.928Z,1737052721.928 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-16T18:38:41.953Z,1737052721.953 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-16T18:38:42.004Z,1737052722.004 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-16T18:38:42.004Z,1737052722.004 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-16T18:38:42.005Z,1737052722.005 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-16T18:38:42.044Z,1737052722.044 [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>

2025-01-16T18:38:42.052Z,1737052722.052 [MissionManager](INFO): DefineArg sink:BackseatDriver.EnableBackseat = 0 bool
2025-01-16T18:38:42.059Z,1737052722.059 [sink:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-16T18:38:42.066Z,1737052722.066 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-16T18:38:42.067Z,1737052722.067 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-16T18:38:42.068Z,1737052722.068 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-16T18:38:42.302Z,1737052722.302 [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>

2025-01-16T18:38:42.307Z,1737052722.307 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleAll = 0 bool
2025-01-16T18:38:42.309Z,1737052722.309 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad1 = 0 bool
2025-01-16T18:38:42.324Z,1737052722.324 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad2 = 0 bool
2025-01-16T18:38:42.327Z,1737052722.327 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad3 = 0 bool
2025-01-16T18:38:42.330Z,1737052722.330 [MissionManager](INFO): DefineArg sink:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-16T18:38:42.353Z,1737052722.353 [sink:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-16T18:38:42.357Z,1737052722.357 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-01-16T18:38:42.357Z,1737052722.357 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-01-16T18:38:42.370Z,1737052722.370 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-01-16T18:38:43.337Z,1737052723.337 [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>

2025-01-16T18:38:43.345Z,1737052723.345 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepth = 25.000000 m
2025-01-16T18:38:43.348Z,1737052723.348 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-01-16T18:38:43.388Z,1737052723.388 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-01-16T18:38:43.404Z,1737052723.404 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-01-16T18:38:43.415Z,1737052723.415 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-01-16T18:38:43.430Z,1737052723.430 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-01-16T18:38:43.433Z,1737052723.433 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-01-16T18:38:43.436Z,1737052723.436 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstTimeout = 45.000000 min
2025-01-16T18:38:43.439Z,1737052723.439 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MinEstTime = 10.000000 min
2025-01-16T18:38:43.442Z,1737052723.442 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-01-16T18:38:43.482Z,1737052723.482 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-01-16T18:38:43.485Z,1737052723.485 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstConfidence = 99.900002 %
2025-01-16T18:38:43.503Z,1737052723.503 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-01-16T18:38:43.506Z,1737052723.506 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-01-16T18:38:43.545Z,1737052723.545 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-01-16T18:38:43.576Z,1737052723.576 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T18:38:43.580Z,1737052723.580 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-01-16T18:38:43.633Z,1737052723.633 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-01-16T18:38:43.636Z,1737052723.636 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-01-16T18:38:43.672Z,1737052723.672 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-01-16T18:38:43.679Z,1737052723.679 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-01-16T18:38:43.698Z,1737052723.698 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-01-16T18:38:43.702Z,1737052723.702 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-01-16T18:38:43.739Z,1737052723.739 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-01-16T18:38:43.741Z,1737052723.741 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-01-16T18:38:43.763Z,1737052723.763 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-01-16T18:38:43.820Z,1737052723.820 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = reader:sink.DepthDeadband
2025-01-16T18:38:43.822Z,1737052723.822 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = reader:sink.TargetDepthTimeout
2025-01-16T18:38:43.824Z,1737052723.824 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = reader:sink.BTSettleTime
2025-01-16T18:38:43.825Z,1737052723.825 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstTimeout = reader:sink.EstimationTimeout
2025-01-16T18:38:43.827Z,1737052723.827 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MinEstTime = reader:sink.MinEstimationTime
2025-01-16T18:38:43.829Z,1737052723.829 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = reader:sink.MassEstimationErrorBound
2025-01-16T18:38:43.832Z,1737052723.832 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = reader:sink.BuoyEstimationErrorBound
2025-01-16T18:38:43.833Z,1737052723.833 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstConfidence = reader:sink.EstimationConfidence
2025-01-16T18:38:43.882Z,1737052723.882 [sink:FloatUp:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T18:38:43.910Z,1737052723.910 [sink:FloatUp:B.Wait](DEBUG): Construct Wait.
2025-01-16T18:38:43.973Z,1737052723.973 [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"
}


2025-01-16T18:38:43.974Z,1737052723.974 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/sink.tl id=sink
2025-01-16T18:38:51.504Z,1737052731.504 [CommandExec](IMPORTANT): got command set sink.SinkDuration 60 minute
2025-01-16T18:38:51.505Z,1737052731.505 [CommandExec](IMPORTANT): got command set sink.Depth 30 meter
2025-01-16T18:38:51.505Z,1737052731.505 [CommandExec](IMPORTANT): got command set sink.DepthDeadband 10 meter
2025-01-16T18:38:51.506Z,1737052731.506 [CommandExec](IMPORTANT): got command set sink.MaxDepth 50 meter
2025-01-16T18:38:51.507Z,1737052731.507 [CommandExec](IMPORTANT): got command set sink:BackseatDriver.EnableBackseat 1 bool
2025-01-16T18:38:51.507Z,1737052731.507 [CommandExec](IMPORTANT): got command run
2025-01-16T18:38:51.511Z,1737052731.511 [CommandExec](IMPORTANT): Running 
2025-01-16T18:38:51.540Z,1737052731.540 [Default] Stopped
2025-01-16T18:38:51.540Z,1737052731.540 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-16T18:38:51.540Z,1737052731.540 [Default:B.GoToSurface] Stopped
2025-01-16T18:38:51.540Z,1737052731.540 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T18:38:51.540Z,1737052731.540 [Default:CheckIn] Stopped
2025-01-16T18:38:51.540Z,1737052731.540 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T18:38:51.540Z,1737052731.540 [Default:CheckIn:C.Wait] Stopped
2025-01-16T18:38:51.540Z,1737052731.540 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T18:38:51.540Z,1737052731.540 [MissionManager](IMPORTANT): Started mission sink
2025-01-16T18:38:51.541Z,1737052731.541 [sink] Running Loop=1
2025-01-16T18:38:51.541Z,1737052731.541 [sink](DEBUG): Aggregate::initialize sink
2025-01-16T18:38:51.541Z,1737052731.541 [sink:Science] Running Loop=1
2025-01-16T18:38:51.541Z,1737052731.541 [sink:Science](DEBUG): Aggregate::initialize sink:Science
2025-01-16T18:38:51.541Z,1737052731.541 [sink:Science:A] Running Loop=1
2025-01-16T18:38:51.541Z,1737052731.541 [sink:Science:B] Running Loop=1
2025-01-16T18:38:51.541Z,1737052731.541 [sink:Science:C] Running Loop=1
2025-01-16T18:38:51.541Z,1737052731.541 [sink:Science:D] Running Loop=1
2025-01-16T18:38:51.541Z,1737052731.541 [sink:Science:E] Running Loop=1
2025-01-16T18:38:51.541Z,1737052731.541 [sink:Science:F] Running Loop=1
2025-01-16T18:38:51.541Z,1737052731.541 [sink:Science:Read_Oil] Running Loop=1
2025-01-16T18:38:51.542Z,1737052731.542 [sink:Science:PeakDetectChl] Running Loop=1
2025-01-16T18:38:51.542Z,1737052731.542 [sink:Science:PeakDetectChl](DEBUG): Aggregate::initialize sink:Science:PeakDetectChl
2025-01-16T18:38:51.542Z,1737052731.542 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T18:38:51.542Z,1737052731.542 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T18:38:51.545Z,1737052731.545 [sink:Science:HighestChlPeakReport] Running Loop=1
2025-01-16T18:38:51.545Z,1737052731.545 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestChlPeakReport
2025-01-16T18:38:51.545Z,1737052731.545 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T18:38:51.545Z,1737052731.545 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T18:38:51.545Z,1737052731.545 [sink:Science:PeakDetectNO3] Running Loop=1
2025-01-16T18:38:51.545Z,1737052731.545 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sink:Science:PeakDetectNO3
2025-01-16T18:38:51.546Z,1737052731.546 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T18:38:51.546Z,1737052731.546 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T18:38:51.549Z,1737052731.549 [sink:Science:PeakDetectOil] Running Loop=1
2025-01-16T18:38:51.549Z,1737052731.549 [sink:Science:PeakDetectOil](DEBUG): Aggregate::initialize sink:Science:PeakDetectOil
2025-01-16T18:38:51.550Z,1737052731.550 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T18:38:51.594Z,1737052731.594 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T18:38:51.597Z,1737052731.597 [sink:Science:HighestOilPeakReport] Running Loop=1
2025-01-16T18:38:51.597Z,1737052731.597 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestOilPeakReport
2025-01-16T18:38:51.597Z,1737052731.597 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T18:38:51.597Z,1737052731.597 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T18:38:51.598Z,1737052731.598 [sink:Science:PeakDetectFDOM] Running Loop=1
2025-01-16T18:38:51.598Z,1737052731.598 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sink:Science:PeakDetectFDOM
2025-01-16T18:38:51.598Z,1737052731.598 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T18:38:51.598Z,1737052731.598 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T18:38:51.604Z,1737052731.604 [sink:Science:PeakDetectSalinity] Running Loop=1
2025-01-16T18:38:51.604Z,1737052731.604 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sink:Science:PeakDetectSalinity
2025-01-16T18:38:51.604Z,1737052731.604 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T18:38:51.604Z,1737052731.604 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T18:38:51.607Z,1737052731.607 [sink:Science:HighestSaltPeakReport] Running Loop=1
2025-01-16T18:38:51.607Z,1737052731.607 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestSaltPeakReport
2025-01-16T18:38:51.608Z,1737052731.608 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T18:38:51.608Z,1737052731.608 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T18:38:51.608Z,1737052731.608 [sink:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-01-16T18:38:51.608Z,1737052731.608 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-01-16T18:38:51.608Z,1737052731.608 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T18:38:51.608Z,1737052731.608 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T18:38:51.609Z,1737052731.609 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-16T18:38:51.610Z,1737052731.610 [sink:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-01-16T18:38:51.646Z,1737052731.646 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-01-16T18:38:51.646Z,1737052731.646 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T18:38:51.646Z,1737052731.646 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T18:38:51.647Z,1737052731.647 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-16T18:38:51.648Z,1737052731.648 [sink:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-01-16T18:38:51.648Z,1737052731.648 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-01-16T18:38:51.648Z,1737052731.648 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T18:38:51.648Z,1737052731.648 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T18:38:51.649Z,1737052731.649 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_diatoms , but backseat URI detected. Waiting for presence.
2025-01-16T18:38:51.650Z,1737052731.650 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-01-16T18:38:51.650Z,1737052731.650 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-16T18:38:51.650Z,1737052731.650 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T18:38:51.654Z,1737052731.654 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T18:38:51.655Z,1737052731.655 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_dinoflagellates , but backseat URI detected. Waiting for presence.
2025-01-16T18:38:51.662Z,1737052731.662 [sink:Science:ChlThreshTrigger] Running Loop=1
2025-01-16T18:38:51.662Z,1737052731.662 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sink:Science:ChlThreshTrigger
2025-01-16T18:38:51.663Z,1737052731.663 [sink:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-01-16T18:38:51.663Z,1737052731.663 [sink:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-01-16T18:38:51.663Z,1737052731.663 [sink:Science:OceanCurrent] Running Loop=1
2025-01-16T18:38:51.663Z,1737052731.663 [sink:Science:OceanCurrent](DEBUG): Aggregate::initialize sink:Science:OceanCurrent
2025-01-16T18:38:51.663Z,1737052731.663 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-01-16T18:38:51.663Z,1737052731.663 [sink:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-01-16T18:38:51.663Z,1737052731.663 [sink:StandardEnvelopes] Running Loop=1
2025-01-16T18:38:51.664Z,1737052731.664 [sink:StandardEnvelopes](DEBUG): Aggregate::initialize sink:StandardEnvelopes
2025-01-16T18:38:51.664Z,1737052731.664 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T18:38:51.664Z,1737052731.664 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-16T18:38:51.664Z,1737052731.664 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T18:38:51.664Z,1737052731.664 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-16T18:38:51.664Z,1737052731.664 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T18:38:51.664Z,1737052731.664 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-16T18:38:51.664Z,1737052731.664 [sink:BackseatDriver] Running Loop=1
2025-01-16T18:38:51.664Z,1737052731.664 [sink:BackseatDriver](DEBUG): Aggregate::initialize sink:BackseatDriver
2025-01-16T18:38:51.665Z,1737052731.665 [sink:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-16T18:38:51.665Z,1737052731.665 [sink:PowerOnly] Running Loop=1
2025-01-16T18:38:51.665Z,1737052731.665 [sink:PowerOnly](DEBUG): Aggregate::initialize sink:PowerOnly
2025-01-16T18:38:51.665Z,1737052731.665 [sink:PowerOnly:A] Running Loop=1
2025-01-16T18:38:51.665Z,1737052731.665 [sink:PowerOnly:B] Running Loop=1
2025-01-16T18:38:51.665Z,1737052731.665 [sink:PowerOnly:C] Running Loop=1
2025-01-16T18:38:51.665Z,1737052731.665 [sink:PowerOnly:D] Running Loop=1
2025-01-16T18:38:51.665Z,1737052731.665 [sink:PowerOnly:E.Wait] Running Loop=1
2025-01-16T18:38:51.665Z,1737052731.665 [sink:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-16T18:38:51.665Z,1737052731.665 [sink:A] Running Loop=1
2025-01-16T18:38:51.666Z,1737052731.666 [sink:PowerOnly] Running Loop=1
2025-01-16T18:38:51.671Z,1737052731.671 [sink:PowerOnly:D] Stopped
2025-01-16T18:38:51.671Z,1737052731.671 [sink:PowerOnly:C] Stopped
2025-01-16T18:38:51.671Z,1737052731.671 [sink:PowerOnly:B] Stopped
2025-01-16T18:38:51.671Z,1737052731.671 [sink:PowerOnly:A] Stopped
2025-01-16T18:38:51.671Z,1737052731.671 [sink:BackseatDriver] Running Loop=1
2025-01-16T18:38:51.671Z,1737052731.671 [sink:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-01-16T18:38:51.735Z,1737052731.735 [sink:StandardEnvelopes] Running Loop=1
2025-01-16T18:38:51.735Z,1737052731.735 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T18:38:51.735Z,1737052731.735 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T18:38:51.736Z,1737052731.736 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T18:38:51.737Z,1737052731.737 [sink:Science] Running Loop=1
2025-01-16T18:38:51.738Z,1737052731.738 [sink:Science:ChlThreshTrigger] Stopped
2025-01-16T18:38:51.738Z,1737052731.738 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sink:Science:ChlThreshTrigger
2025-01-16T18:38:51.738Z,1737052731.738 [sink:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-01-16T18:38:51.738Z,1737052731.738 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-01-16T18:38:51.738Z,1737052731.738 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-01-16T18:38:51.742Z,1737052731.742 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-16T18:38:51.742Z,1737052731.742 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Stopped
2025-01-16T18:38:51.742Z,1737052731.742 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T18:38:51.743Z,1737052731.743 [sink:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-01-16T18:38:51.743Z,1737052731.743 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-01-16T18:38:51.743Z,1737052731.743 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Stopped
2025-01-16T18:38:51.743Z,1737052731.743 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T18:38:51.743Z,1737052731.743 [sink:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-01-16T18:38:51.743Z,1737052731.743 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-01-16T18:38:51.743Z,1737052731.743 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-16T18:38:51.743Z,1737052731.743 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T18:38:51.743Z,1737052731.743 [sink:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-01-16T18:38:51.743Z,1737052731.743 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-01-16T18:38:51.743Z,1737052731.743 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-16T18:38:51.743Z,1737052731.743 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T18:38:51.743Z,1737052731.743 [sink:Science:HighestSaltPeakReport] Stopped
2025-01-16T18:38:51.744Z,1737052731.744 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestSaltPeakReport
2025-01-16T18:38:51.744Z,1737052731.744 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T18:38:51.744Z,1737052731.744 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T18:38:51.744Z,1737052731.744 [sink:Science:PeakDetectSalinity] Stopped
2025-01-16T18:38:51.744Z,1737052731.744 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectSalinity
2025-01-16T18:38:51.744Z,1737052731.744 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2025-01-16T18:38:51.744Z,1737052731.744 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T18:38:51.744Z,1737052731.744 [sink:Science:PeakDetectFDOM] Stopped
2025-01-16T18:38:51.744Z,1737052731.744 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectFDOM
2025-01-16T18:38:51.744Z,1737052731.744 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2025-01-16T18:38:51.744Z,1737052731.744 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T18:38:51.744Z,1737052731.744 [sink:Science:HighestOilPeakReport] Stopped
2025-01-16T18:38:51.744Z,1737052731.744 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestOilPeakReport
2025-01-16T18:38:51.745Z,1737052731.745 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T18:38:51.745Z,1737052731.745 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T18:38:51.745Z,1737052731.745 [sink:Science:PeakDetectOil] Stopped
2025-01-16T18:38:51.745Z,1737052731.745 [sink:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectOil
2025-01-16T18:38:51.745Z,1737052731.745 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2025-01-16T18:38:51.745Z,1737052731.745 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T18:38:51.745Z,1737052731.745 [sink:Science:PeakDetectNO3] Stopped
2025-01-16T18:38:51.745Z,1737052731.745 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectNO3
2025-01-16T18:38:51.745Z,1737052731.745 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2025-01-16T18:38:51.745Z,1737052731.745 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T18:38:51.745Z,1737052731.745 [sink:Science:HighestChlPeakReport] Stopped
2025-01-16T18:38:51.745Z,1737052731.745 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestChlPeakReport
2025-01-16T18:38:51.745Z,1737052731.745 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T18:38:51.745Z,1737052731.745 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T18:38:51.746Z,1737052731.746 [sink:Science:PeakDetectChl] Stopped
2025-01-16T18:38:51.746Z,1737052731.746 [sink:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectChl
2025-01-16T18:38:51.746Z,1737052731.746 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2025-01-16T18:38:51.746Z,1737052731.746 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T18:38:51.746Z,1737052731.746 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-01-16T18:38:51.750Z,1737052731.750 [sink:Science:Read_Oil] Stopped
2025-01-16T18:38:51.750Z,1737052731.750 [sink:Science:F] Stopped
2025-01-16T18:38:51.751Z,1737052731.751 [sink:Science:E] Stopped
2025-01-16T18:38:51.751Z,1737052731.751 [sink:Science:D] Stopped
2025-01-16T18:38:51.751Z,1737052731.751 [sink:Science:C] Stopped
2025-01-16T18:38:51.751Z,1737052731.751 [sink:Science:B] Stopped
2025-01-16T18:38:51.751Z,1737052731.751 [sink:Science:A] Stopped
2025-01-16T18:38:51.751Z,1737052731.751 [sink:A] Stopped
2025-01-16T18:38:51.751Z,1737052731.751 [sink:D] Running Loop=1
2025-01-16T18:38:51.783Z,1737052731.783 [BackseatComponent](INFO): Powering up
2025-01-16T18:38:51.784Z,1737052731.784 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-01-16T18:38:51.975Z,1737052731.975 [sink:D] Stopped
2025-01-16T18:38:51.975Z,1737052731.975 [sink:F] Running Loop=1
2025-01-16T18:38:52.354Z,1737052732.354 [sink:F] Stopped
2025-01-16T18:38:52.354Z,1737052732.354 [sink:G] Running Loop=1
2025-01-16T18:38:52.754Z,1737052732.754 [sink:G] Stopped
2025-01-16T18:38:52.755Z,1737052732.755 [sink:H] Running Loop=1
2025-01-16T18:38:53.162Z,1737052733.162 [sink:H] Stopped
2025-01-16T18:38:53.163Z,1737052733.163 [sink:startComms] Running Loop=1
2025-01-16T18:38:53.163Z,1737052733.163 [sink:startComms](DEBUG): Aggregate::initialize sink:startComms
2025-01-16T18:38:53.163Z,1737052733.163 [sink:startComms:StartingMission] Running Loop=1
2025-01-16T18:38:53.163Z,1737052733.163 [sink:startComms:StartingMission](DEBUG): Aggregate::initialize sink:startComms:StartingMission
2025-01-16T18:38:53.164Z,1737052733.164 [sink:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-01-16T18:38:53.571Z,1737052733.571 [sink:NeedComms] Running Loop=1
2025-01-16T18:38:53.571Z,1737052733.571 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-01-16T18:38:53.571Z,1737052733.571 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T18:38:53.571Z,1737052733.571 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T18:38:53.572Z,1737052733.572 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T18:38:53.572Z,1737052733.572 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T18:38:53.572Z,1737052733.572 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T18:38:53.573Z,1737052733.573 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T18:38:53.573Z,1737052733.573 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T18:38:53.573Z,1737052733.573 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T18:38:53.573Z,1737052733.573 [sink:NeedComms:A] Running Loop=1
2025-01-16T18:38:53.575Z,1737052733.575 [sink:NeedComms:A](INFO): last time_fix was:  1737052546.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T18:38:53.575Z,1737052733.575 [sink:NeedComms:A] Stopped
2025-01-16T18:38:53.972Z,1737052733.972 [sink:NeedComms:C] Running Loop=1
2025-01-16T18:38:54.376Z,1737052734.376 [sink:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T18:38:55.981Z,1737052735.981 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183852.00,A,3648.30178,N,12151.93939,W,0.447,320.89,160125,,,A*74
2025-01-16T18:38:55.983Z,1737052735.983 [NAL9602](INFO): GPS fix at 20250116T183852: (36.805030, -121.865657)
2025-01-16T18:38:56.003Z,1737052736.003 [sink:NeedComms:C] Stopped
2025-01-16T18:38:56.003Z,1737052736.003 [sink:NeedComms:D] Running Loop=1
2025-01-16T18:38:56.400Z,1737052736.400 [sink:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-16T18:39:07.430Z,1737052747.430 [DataOverHttps](INFO): Sending 71 bytes from file Logs/20250116T183140/Courier0007.lzma
2025-01-16T18:39:08.432Z,1737052748.432 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Courier0007.lzma.bak
2025-01-16T18:39:08.432Z,1737052748.432 [DataOverHttps](INFO): SBD MOMSN=23911543
2025-01-16T18:39:09.869Z,1737052749.869 [NAL9602](INFO): SBD MO Status=0, MOMSN=11890, MT Status=0, MTMSN=0
2025-01-16T18:39:09.869Z,1737052749.869 [NAL9602](INFO): No messages in MT queue
2025-01-16T18:39:26.983Z,1737052766.983 [DataOverHttps](INFO): Sending 445 bytes from file Logs/20250116T183140/Express0008.lzma
2025-01-16T18:39:27.984Z,1737052767.984 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Express0008.lzma.bak
2025-01-16T18:39:27.984Z,1737052767.984 [DataOverHttps](INFO): SBD MOMSN=23911546
2025-01-16T18:39:40.575Z,1737052780.575 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T18:39:43.851Z,1737052783.851 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250116T183140/Express0011.lzma
2025-01-16T18:39:44.852Z,1737052784.852 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Express0011.lzma.bak
2025-01-16T18:39:44.852Z,1737052784.852 [DataOverHttps](INFO): SBD MOMSN=23911561
2025-01-16T18:39:46.239Z,1737052786.239 [sink:NeedComms:D] Stopped
2025-01-16T18:39:46.240Z,1737052786.240 [sink:NeedComms:E] Running Loop=1
2025-01-16T18:39:46.648Z,1737052786.648 [sink:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T18:39:48.247Z,1737052788.247 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,183944.00,A,3648.30501,N,12151.94364,W,0.622,300.98,160125,,,A*7E
2025-01-16T18:39:48.249Z,1737052788.249 [NAL9602](INFO): GPS fix at 20250116T183944: (36.805084, -121.865727)
2025-01-16T18:39:48.275Z,1737052788.275 [sink:NeedComms:E] Stopped
2025-01-16T18:39:48.276Z,1737052788.276 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-01-16T18:39:48.276Z,1737052788.276 [sink:NeedComms] Stopped
2025-01-16T18:39:48.276Z,1737052788.276 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-01-16T18:39:48.276Z,1737052788.276 [sink:NeedComms:B.GoToSurface] Stopped
2025-01-16T18:39:48.276Z,1737052788.276 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T18:39:48.672Z,1737052788.672 [sink:startComms:StartingMission](INFO): Completed sink:startComms:StartingMission
2025-01-16T18:39:48.673Z,1737052788.673 [sink:startComms:StartingMission] Stopped
2025-01-16T18:39:48.673Z,1737052788.673 [sink:startComms:StartingMission](DEBUG): Aggregate::uninitialize sink:startComms:StartingMission
2025-01-16T18:39:48.673Z,1737052788.673 [sink:startComms](INFO): Completed sink:startComms
2025-01-16T18:39:48.673Z,1737052788.673 [sink:startComms] Stopped
2025-01-16T18:39:48.673Z,1737052788.673 [sink:startComms](DEBUG): Aggregate::uninitialize sink:startComms
2025-01-16T18:39:48.673Z,1737052788.673 [sink:RunSink] Running Loop=1
2025-01-16T18:39:48.673Z,1737052788.673 [sink:RunSink](DEBUG): Aggregate::initialize sink:RunSink
2025-01-16T18:39:48.673Z,1737052788.673 [sink:RunSink:RunBallastAndTrim] Running Loop=1
2025-01-16T18:39:48.673Z,1737052788.673 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:RunBallastAndTrim
2025-01-16T18:39:48.674Z,1737052788.674 [sink:RunSink:RunBallastAndTrim:A] Running Loop=1
2025-01-16T18:39:49.060Z,1737052789.060 [sink:RunSink:RunBallastAndTrim] Stopped
2025-01-16T18:39:49.060Z,1737052789.060 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:RunBallastAndTrim
2025-01-16T18:39:49.060Z,1737052789.060 [sink:RunSink:RunBallastAndTrim:A] Stopped
2025-01-16T18:39:49.060Z,1737052789.060 [sink:RunSink:JustSink] Running Loop=1
2025-01-16T18:39:49.060Z,1737052789.060 [sink:RunSink:JustSink](DEBUG): Aggregate::initialize sink:RunSink:JustSink
2025-01-16T18:39:49.060Z,1737052789.060 [sink:RunSink:JustSink:A] Running Loop=1
2025-01-16T18:39:49.473Z,1737052789.473 [sink:RunSink:JustSink:A] Stopped
2025-01-16T18:39:49.473Z,1737052789.473 [sink:RunSink:JustSink:B] Running Loop=1
2025-01-16T18:39:49.881Z,1737052789.881 [sink:RunSink:JustSink:B] Stopped
2025-01-16T18:39:49.881Z,1737052789.881 [sink:RunSink:JustSink:C] Running Loop=1
2025-01-16T18:39:49.882Z,1737052789.882 [sink:RunSink:JustSink:C](DEBUG): Aggregate::initialize sink:RunSink:JustSink:C
2025-01-16T18:39:50.287Z,1737052790.287 [sink:RunSink:BallastAndTrim] Running Loop=1
2025-01-16T18:39:50.287Z,1737052790.287 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim
2025-01-16T18:39:50.287Z,1737052790.287 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-01-16T18:39:50.287Z,1737052790.287 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-01-16T18:39:50.287Z,1737052790.287 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-01-16T18:39:50.287Z,1737052790.287 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-01-16T18:39:50.288Z,1737052790.288 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-01-16T18:39:50.288Z,1737052790.288 [sink:RunSink:BallastAndTrim:F] Running Loop=1
2025-01-16T18:39:50.290Z,1737052790.290 [sink:RunSink:BallastAndTrim:F](INFO): Going to target depth. Speed set to  0.000000 m/s 
2025-01-16T18:39:50.290Z,1737052790.290 [sink:RunSink:BallastAndTrim:F] Stopped
2025-01-16T18:39:50.290Z,1737052790.290 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-01-16T18:39:50.294Z,1737052790.294 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-01-16T18:39:50.294Z,1737052790.294 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-01-16T18:39:50.294Z,1737052790.294 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-01-16T18:39:50.295Z,1737052790.295 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-01-16T18:39:50.295Z,1737052790.295 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-01-16T18:39:50.295Z,1737052790.295 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-01-16T18:39:50.295Z,1737052790.295 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-01-16T18:39:50.295Z,1737052790.295 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-16T18:39:50.295Z,1737052790.295 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-01-16T18:39:50.295Z,1737052790.295 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-01-16T18:39:50.296Z,1737052790.296 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-01-16T18:39:50.296Z,1737052790.296 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-01-16T18:39:50.296Z,1737052790.296 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-01-16T18:39:50.296Z,1737052790.296 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-01-16T18:39:50.297Z,1737052790.297 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-01-16T18:39:50.297Z,1737052790.297 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-01-16T18:39:50.297Z,1737052790.297 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-01-16T18:39:50.297Z,1737052790.297 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-01-16T18:39:50.689Z,1737052790.689 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-01-16T18:39:50.689Z,1737052790.689 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-01-16T18:39:50.689Z,1737052790.689 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-01-16T18:39:50.689Z,1737052790.689 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-01-16T18:39:50.689Z,1737052790.689 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-01-16T18:39:50.689Z,1737052790.689 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-01-16T18:39:50.689Z,1737052790.689 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-01-16T18:39:50.689Z,1737052790.689 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-01-16T18:39:50.690Z,1737052790.690 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-16T18:39:50.690Z,1737052790.690 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-01-16T18:39:50.690Z,1737052790.690 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-01-16T18:39:51.081Z,1737052791.081 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-01-16T18:39:51.081Z,1737052791.081 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-01-16T18:39:51.081Z,1737052791.081 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T18:39:51.081Z,1737052791.081 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-01-16T18:39:51.082Z,1737052791.082 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-01-16T18:39:51.082Z,1737052791.082 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-01-16T18:39:51.082Z,1737052791.082 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-01-16T18:39:51.082Z,1737052791.082 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-01-16T18:39:51.082Z,1737052791.082 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-01-16T18:39:51.082Z,1737052791.082 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-01-16T18:39:51.083Z,1737052791.083 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-01-16T18:39:51.488Z,1737052791.488 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-01-16T18:39:51.488Z,1737052791.488 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  30.000000 m 
2025-01-16T18:39:51.488Z,1737052791.488 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-01-16T18:39:51.489Z,1737052791.489 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-01-16T18:39:51.489Z,1737052791.489 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-01-16T18:39:59.381Z,1737052799.381 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250116T183958
2025-01-16T18:40:00.770Z,1737052800.770 [NAL9602](INFO): SBD MO Status=0, MOMSN=11891, MT Status=0, MTMSN=0
2025-01-16T18:40:00.771Z,1737052800.771 [NAL9602](INFO): No messages in MT queue
2025-01-16T18:40:02.089Z,1737052802.089 [BackseatComponent](INFO): Created universal data reader for depth with code: 6
2025-01-16T18:40:02.090Z,1737052802.090 [BackseatComponent](INFO): Requesting data from depth (6). Requested size is: 1
2025-01-16T18:40:02.094Z,1737052802.094 [BackseatComponent](INFO): Created universal data reader for latitude with code: 23
2025-01-16T18:40:02.095Z,1737052802.095 [BackseatComponent](INFO): Requesting data from latitude (23). Requested size is: 2
2025-01-16T18:40:02.098Z,1737052802.098 [BackseatComponent](INFO): Created universal data reader for longitude with code: 26
2025-01-16T18:40:02.098Z,1737052802.098 [BackseatComponent](INFO): Requesting data from longitude (26). Requested size is: 3
2025-01-16T18:40:02.101Z,1737052802.101 [BackseatComponent](INFO): Created universal data reader for platform_orientation with code: 52
2025-01-16T18:40:02.101Z,1737052802.101 [BackseatComponent](INFO): Requesting data from platform_orientation (52). Requested size is: 4
2025-01-16T18:40:02.103Z,1737052802.103 [BackseatComponent](INFO): Created universal data reader for platform_pitch_angle with code: 54
2025-01-16T18:40:02.103Z,1737052802.103 [BackseatComponent](INFO): Requesting data from platform_pitch_angle (54). Requested size is: 5
2025-01-16T18:40:02.105Z,1737052802.105 [BackseatComponent](INFO): Created universal data reader for platform_roll_angle with code: 59
2025-01-16T18:40:02.105Z,1737052802.105 [BackseatComponent](INFO): Requesting data from platform_roll_angle (59). Requested size is: 6
2025-01-16T18:40:02.107Z,1737052802.107 [BackseatComponent](INFO): Created universal data reader for platform_x_velocity_wrt_sea_water with code: 70
2025-01-16T18:40:02.107Z,1737052802.107 [BackseatComponent](INFO): Requesting data from platform_x_velocity_wrt_sea_water (70). Requested size is: 7
2025-01-16T18:40:08.453Z,1737052808.453 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T18:40:08.453Z,1737052808.453 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-01-16T18:40:08.453Z,1737052808.453 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T18:40:08.522Z,1737052808.522 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T18:40:08.895Z,1737052808.895 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T18:40:08.895Z,1737052808.895 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-01-16T18:40:31.475Z,1737052831.475 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T18:40:58.991Z,1737052858.991 [sink:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 1973
2025-01-16T18:41:05.480Z,1737052865.480 [BuoyancyServo](FAULT): Overload Error
2025-01-16T18:41:05.480Z,1737052865.480 [BuoyancyServo] Hardware Fault, FailCount= 1
2025-01-16T18:41:05.481Z,1737052865.481 [BuoyancyServo](ERROR): Hardware Fault
2025-01-16T18:41:05.583Z,1737052865.583 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2025-01-16T18:41:07.464Z,1737052867.464 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-01-16T18:41:07.464Z,1737052867.464 [BuoyancyServo](INFO): Powering down
2025-01-16T18:41:08.265Z,1737052868.265 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2025-01-16T18:41:08.265Z,1737052868.265 [BuoyancyServo] No Fault, FailCount= 1
2025-01-16T18:41:08.665Z,1737052868.665 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-01-16T18:41:08.665Z,1737052868.665 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-01-16T18:42:06.461Z,1737052926.461 [Power24vConverter](INFO): Powering down.
2025-01-16T18:42:09.291Z,1737052929.291 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T18:42:09.291Z,1737052929.291 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2025-01-16T18:42:09.291Z,1737052929.291 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T18:42:09.340Z,1737052929.340 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T18:42:09.713Z,1737052929.713 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T18:42:09.713Z,1737052929.713 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2025-01-16T18:42:18.615Z,1737052938.615 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T18:42:49.755Z,1737052969.755 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T18:42:59.870Z,1737052979.870 [Radio_Surface](INFO): Powering down
2025-01-16T18:43:20.907Z,1737053000.907 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T18:43:21.911Z,1737053001.911 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-16T18:44:10.491Z,1737053050.491 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T18:44:10.491Z,1737053050.491 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2025-01-16T18:44:10.491Z,1737053050.491 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T18:44:10.551Z,1737053050.551 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T18:44:10.912Z,1737053050.912 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T18:44:10.913Z,1737053050.913 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2025-01-16T18:44:16.163Z,1737053056.163 [sink:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-01-16T18:44:26.167Z,1737053066.167 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.763275
2025-01-16T18:45:00.190Z,1737053100.190 [sink:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 1974
2025-01-16T18:46:11.696Z,1737053171.696 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T18:46:11.696Z,1737053171.696 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2025-01-16T18:46:11.696Z,1737053171.696 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T18:46:11.883Z,1737053171.883 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T18:46:12.265Z,1737053172.265 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T18:46:12.265Z,1737053172.265 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2025-01-16T18:48:12.894Z,1737053292.894 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T18:48:12.894Z,1737053292.894 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2025-01-16T18:48:12.894Z,1737053292.894 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T18:48:13.083Z,1737053293.083 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T18:48:13.454Z,1737053293.454 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T18:48:13.454Z,1737053293.454 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2025-01-16T18:50:14.091Z,1737053414.091 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T18:50:14.091Z,1737053414.091 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2025-01-16T18:50:14.091Z,1737053414.091 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T18:50:14.263Z,1737053414.263 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T18:50:14.557Z,1737053414.557 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T18:50:14.557Z,1737053414.557 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2025-01-16T18:52:15.291Z,1737053535.291 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T18:52:15.291Z,1737053535.291 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2025-01-16T18:52:15.291Z,1737053535.291 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T18:52:15.452Z,1737053535.452 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T18:52:15.849Z,1737053535.849 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T18:52:15.849Z,1737053535.849 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2025-01-16T18:54:16.491Z,1737053656.491 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T18:54:16.491Z,1737053656.491 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2025-01-16T18:54:16.491Z,1737053656.491 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T18:54:16.537Z,1737053656.537 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T18:54:16.913Z,1737053656.913 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T18:54:16.913Z,1737053656.913 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2025-01-16T18:56:17.689Z,1737053777.689 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T18:56:17.689Z,1737053777.689 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2025-01-16T18:56:17.689Z,1737053777.689 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T18:56:17.768Z,1737053777.768 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T18:56:18.263Z,1737053778.263 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T18:56:18.263Z,1737053778.263 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2025-01-16T18:58:18.895Z,1737053898.895 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T18:58:18.895Z,1737053898.895 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2025-01-16T18:58:18.895Z,1737053898.895 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T18:58:19.057Z,1737053899.057 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T18:58:19.362Z,1737053899.362 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T18:58:19.362Z,1737053899.362 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2025-01-16T18:59:51.823Z,1737053991.823 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](INFO): Timed out from 2025-01-16T18:39:51.5Z
2025-01-16T18:59:51.823Z,1737053991.823 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout] Running Loop=1
2025-01-16T18:59:51.823Z,1737053991.823 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout
2025-01-16T18:59:51.823Z,1737053991.823 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A] Running Loop=1
2025-01-16T18:59:51.824Z,1737053991.824 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A](IMPORTANT): Timed out trying to reach the target depth. Stopping mission at current depth of  26.714439 m 
2025-01-16T18:59:51.824Z,1737053991.824 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A] Stopped
2025-01-16T18:59:51.824Z,1737053991.824 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute] Running Loop=1
2025-01-16T18:59:52.224Z,1737053992.224 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](INFO): Executing command stop
2025-01-16T18:59:52.225Z,1737053992.225 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute] Stopped
2025-01-16T18:59:52.225Z,1737053992.225 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout
2025-01-16T18:59:52.225Z,1737053992.225 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-01-16T18:59:52.225Z,1737053992.225 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-01-16T18:59:52.225Z,1737053992.225 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-01-16T18:59:52.225Z,1737053992.225 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-01-16T18:59:52.225Z,1737053992.225 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-01-16T18:59:52.225Z,1737053992.225 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-01-16T18:59:52.226Z,1737053992.226 [sink:RunSink:BallastAndTrim:GoToTargetDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-01-16T18:59:52.226Z,1737053992.226 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Stopped
2025-01-16T18:59:52.226Z,1737053992.226 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-01-16T18:59:52.226Z,1737053992.226 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-01-16T18:59:52.227Z,1737053992.227 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-01-16T18:59:52.227Z,1737053992.227 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-01-16T18:59:52.227Z,1737053992.227 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-01-16T18:59:52.227Z,1737053992.227 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-01-16T18:59:52.227Z,1737053992.227 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-01-16T18:59:52.227Z,1737053992.227 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-01-16T18:59:52.227Z,1737053992.227 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-01-16T18:59:52.271Z,1737053992.271 [CommandExec](IMPORTANT): got command stop
2025-01-16T18:59:52.271Z,1737053992.271 [CommandExec](IMPORTANT): Scheduling is paused
2025-01-16T18:59:52.271Z,1737053992.271 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-01-16T18:59:52.643Z,1737053992.643 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  26.739069 m 
2025-01-16T18:59:52.643Z,1737053992.643 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-01-16T18:59:52.643Z,1737053992.643 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-01-16T18:59:52.643Z,1737053992.643 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-01-16T18:59:52.643Z,1737053992.643 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-01-16T18:59:52.644Z,1737053992.644 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-01-16T18:59:52.649Z,1737053992.649 [MissionManager](INFO): MissionManager is completed.
2025-01-16T18:59:52.649Z,1737053992.649 [MissionManager](INFO): Uninitializing Mission sink
2025-01-16T18:59:52.649Z,1737053992.649 [sink] Stopped
2025-01-16T18:59:52.649Z,1737053992.649 [sink](DEBUG): Aggregate::uninitialize sink
2025-01-16T18:59:52.649Z,1737053992.649 [sink:Science] Stopped
2025-01-16T18:59:52.649Z,1737053992.649 [sink:Science](DEBUG): Aggregate::uninitialize sink:Science
2025-01-16T18:59:52.649Z,1737053992.649 [sink:Science:OceanCurrent] Stopped
2025-01-16T18:59:52.649Z,1737053992.649 [sink:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sink:Science:OceanCurrent
2025-01-16T18:59:52.649Z,1737053992.649 [sink:Science:OceanCurrent:A.] Stopped
2025-01-16T18:59:52.649Z,1737053992.649 [sink:StandardEnvelopes] Stopped
2025-01-16T18:59:52.650Z,1737053992.650 [sink:StandardEnvelopes](DEBUG): Aggregate::uninitialize sink:StandardEnvelopes
2025-01-16T18:59:52.650Z,1737053992.650 [sink:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-16T18:59:52.650Z,1737053992.650 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-16T18:59:52.650Z,1737053992.650 [sink:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-16T18:59:52.650Z,1737053992.650 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-16T18:59:52.650Z,1737053992.650 [sink:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-16T18:59:52.650Z,1737053992.650 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-16T18:59:52.650Z,1737053992.650 [sink:BackseatDriver] Stopped
2025-01-16T18:59:52.650Z,1737053992.650 [sink:BackseatDriver](DEBUG): Aggregate::uninitialize sink:BackseatDriver
2025-01-16T18:59:52.650Z,1737053992.650 [sink:BackseatDriver:A.BackseatDriver] Stopped
2025-01-16T18:59:52.651Z,1737053992.651 [sink:PowerOnly] Stopped
2025-01-16T18:59:52.651Z,1737053992.651 [sink:PowerOnly](DEBUG): Aggregate::uninitialize sink:PowerOnly
2025-01-16T18:59:52.651Z,1737053992.651 [sink:PowerOnly:E.Wait] Stopped
2025-01-16T18:59:52.651Z,1737053992.651 [sink:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T18:59:52.651Z,1737053992.651 [sink:RunSink] Stopped
2025-01-16T18:59:52.651Z,1737053992.651 [sink:RunSink](DEBUG): Aggregate::uninitialize sink:RunSink
2025-01-16T18:59:52.651Z,1737053992.651 [sink:RunSink:BallastAndTrim] Stopped
2025-01-16T18:59:52.651Z,1737053992.651 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim
2025-01-16T18:59:52.651Z,1737053992.651 [sink:RunSink:BallastAndTrim:A] Stopped
2025-01-16T18:59:52.651Z,1737053992.651 [sink:RunSink:BallastAndTrim:B] Stopped
2025-01-16T18:59:52.651Z,1737053992.651 [sink:RunSink:BallastAndTrim:C] Stopped
2025-01-16T18:59:52.651Z,1737053992.651 [sink:RunSink:BallastAndTrim:D] Stopped
2025-01-16T18:59:52.651Z,1737053992.651 [sink:RunSink:BallastAndTrim:E] Stopped
2025-01-16T18:59:52.651Z,1737053992.651 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-01-16T18:59:52.652Z,1737053992.652 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-01-16T18:59:52.652Z,1737053992.652 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-01-16T18:59:52.652Z,1737053992.652 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-01-16T18:59:52.652Z,1737053992.652 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-01-16T18:59:52.652Z,1737053992.652 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-01-16T18:59:52.652Z,1737053992.652 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T18:59:52.652Z,1737053992.652 [sink:RunSink:JustSink] Stopped
2025-01-16T18:59:52.652Z,1737053992.652 [sink:RunSink:JustSink](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink
2025-01-16T18:59:52.652Z,1737053992.652 [sink:RunSink:JustSink:C] Stopped
2025-01-16T18:59:52.652Z,1737053992.652 [sink:RunSink:JustSink:C](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink:C
2025-01-16T18:59:53.015Z,1737053993.015 [BioacousticsDataBridge](DEBUG): Backseat LCM timeout, waiting for message to resume
2025-01-16T18:59:53.031Z,1737053993.031 [MissionManager](IMPORTANT): Started mission Default
2025-01-16T18:59:53.032Z,1737053993.032 [Default] Running Loop=1
2025-01-16T18:59:53.032Z,1737053993.032 [Default](DEBUG): Aggregate::initialize Default
2025-01-16T18:59:53.032Z,1737053993.032 [Default:B.GoToSurface] Running Loop=1
2025-01-16T18:59:53.032Z,1737053993.032 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T18:59:53.032Z,1737053993.032 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T18:59:53.033Z,1737053993.033 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T18:59:53.033Z,1737053993.033 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T18:59:53.033Z,1737053993.033 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T18:59:53.034Z,1737053993.034 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T18:59:53.034Z,1737053993.034 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T18:59:53.038Z,1737053993.038 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-01-16T18:59:53.038Z,1737053993.038 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-01-16T18:59:53.039Z,1737053993.039 [Default:A.Wait] Running Loop=1
2025-01-16T18:59:53.039Z,1737053993.039 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-16T18:59:53.550Z,1737053993.550 [Radio_Surface](INFO): Powering up
2025-01-16T18:59:59.007Z,1737053999.007 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-16T19:00:06.362Z,1737054006.362 [Default:A.Wait](INFO): Done Waiting.
2025-01-16T19:00:06.363Z,1737054006.363 [Default:A.Wait] Stopped
2025-01-16T19:00:06.363Z,1737054006.363 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T19:00:11.219Z,1737054011.219 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-01-16T19:00:11.219Z,1737054011.219 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-01-16T19:00:11.220Z,1737054011.220 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-01-16T19:00:20.096Z,1737054020.096 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:00:20.097Z,1737054020.097 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2025-01-16T19:00:20.097Z,1737054020.097 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:00:20.135Z,1737054020.135 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:00:20.547Z,1737054020.547 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:00:20.547Z,1737054020.547 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2025-01-16T19:00:29.144Z,1737054029.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T19:01:00.266Z,1737054060.266 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T19:01:31.391Z,1737054091.391 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T19:02:02.518Z,1737054122.518 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T19:02:21.295Z,1737054141.295 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:02:21.295Z,1737054141.295 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2025-01-16T19:02:21.295Z,1737054141.295 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:02:21.360Z,1737054141.360 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:02:21.735Z,1737054141.735 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:02:21.735Z,1737054141.735 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2025-01-16T19:02:33.642Z,1737054153.642 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T19:03:04.779Z,1737054184.779 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T19:03:06.129Z,1737054186.129 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-01-16T19:03:06.130Z,1737054186.130 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-01-16T19:03:06.133Z,1737054186.133 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-01-16T19:03:35.906Z,1737054215.906 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T19:04:07.034Z,1737054247.034 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T19:04:22.495Z,1737054262.495 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:04:22.495Z,1737054262.495 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2025-01-16T19:04:22.495Z,1737054262.495 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:04:22.507Z,1737054262.507 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:04:22.909Z,1737054262.909 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:04:22.909Z,1737054262.909 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2025-01-16T19:04:38.170Z,1737054278.170 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T19:04:41.893Z,1737054281.893 [Default:CheckIn] Running Loop=1
2025-01-16T19:04:41.893Z,1737054281.893 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T19:04:41.893Z,1737054281.893 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T19:05:08.953Z,1737054308.953 [NAL9602](INFO): SBD MO Status=2, MOMSN=11892, MT Status=2, MTMSN=0
2025-01-16T19:05:08.953Z,1737054308.953 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T19:05:09.306Z,1737054309.306 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T19:05:29.149Z,1737054329.149 [NAL9602](INFO): SBD MO Status=0, MOMSN=11892, MT Status=0, MTMSN=0
2025-01-16T19:05:29.149Z,1737054329.149 [NAL9602](INFO): No messages in MT queue
2025-01-16T19:05:30.361Z,1737054330.361 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190526.00,A,3648.37962,N,12151.99850,W,0.719,8.60,160125,,,A*7E
2025-01-16T19:05:30.373Z,1737054330.373 [NAL9602](INFO): GPS fix at 20250116T190526: (36.806327, -121.866642)
2025-01-16T19:05:30.384Z,1737054330.384 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T19:05:30.384Z,1737054330.384 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T19:05:38.391Z,1737054338.391 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003074
2025-01-16T19:05:40.141Z,1737054340.141 [NAL9602](INFO): SBD MO Status=1, MOMSN=11893, MT Status=0, MTMSN=0
2025-01-16T19:05:40.195Z,1737054340.195 [NAL9602](INFO): Sent 203 bytes from file Logs/20250116T183140/Courier0013.lzma
2025-01-16T19:05:40.195Z,1737054340.195 [NAL9602](INFO): Packets left to send: 0
2025-01-16T19:05:45.379Z,1737054345.379 [DataOverHttps](INFO): Sending 938 bytes from file Logs/20250116T183140/Express0014.lzma
2025-01-16T19:05:46.380Z,1737054346.380 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Express0014.lzma.bak
2025-01-16T19:05:46.380Z,1737054346.380 [DataOverHttps](INFO): SBD MOMSN=23911596
2025-01-16T19:05:47.823Z,1737054347.823 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T19:05:47.824Z,1737054347.824 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-16T19:05:47.824Z,1737054347.824 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T19:06:10.841Z,1737054370.841 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T19:06:23.375Z,1737054383.375 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:06:23.376Z,1737054383.376 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-01-16T19:06:23.376Z,1737054383.376 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:06:23.387Z,1737054383.387 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:06:23.792Z,1737054383.792 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:06:23.792Z,1737054383.792 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-01-16T19:08:02.112Z,1737054482.112 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T190801
2025-01-16T19:08:09.150Z,1737054489.150 [DataOverHttps](INFO): Received command: load Engineering/sink.tl;set sink.SinkDuration 60 min;set sink.Depth 30 m;set sink.DepthDeadband 10 m;set sink.TargetDepthTimeout 30 min;set sink.MaxDepth 50 m;set sink:BackseatDriver.EnableBackseat 1 bool;run
2025-01-16T19:08:09.180Z,1737054489.180 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/sink.tl
2025-01-16T19:08:09.181Z,1737054489.181 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/sink.tl
2025-01-16T19:08:09.181Z,1737054489.181 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/sink.tl
2025-01-16T19:08:09.183Z,1737054489.183 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/sink.tl
2025-01-16T19:08:13.331Z,1737054493.331 [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>

2025-01-16T19:08:13.337Z,1737054493.337 [MissionManager](INFO): DefineArg sink.SinkDuration = 2.000000 h
2025-01-16T19:08:13.353Z,1737054493.353 [MissionManager](INFO): DefineArg sink.WaitToFloat = 20.000000 min
2025-01-16T19:08:13.387Z,1737054493.387 [MissionManager](INFO): DefineArg sink.Depth = 20.000000 m
2025-01-16T19:08:13.389Z,1737054493.389 [MissionManager](INFO): DefineArg sink.DepthDeadband = 1.000000 m
2025-01-16T19:08:13.391Z,1737054493.391 [MissionManager](INFO): DefineArg sink.SurfaceThreshold = 2.500000 m
2025-01-16T19:08:13.393Z,1737054493.393 [MissionManager](INFO): DefineArg sink.TargetDepthTimeout = 20.000000 min
2025-01-16T19:08:13.427Z,1737054493.427 [MissionManager](INFO): DefineArg sink.DoBallastAndTrim = 0 bool
2025-01-16T19:08:13.430Z,1737054493.430 [MissionManager](INFO): DefineArg sink.BTSettleTime = 10.000000 min
2025-01-16T19:08:13.432Z,1737054493.432 [MissionManager](INFO): DefineArg sink.EstimationTimeout = 45.000000 min
2025-01-16T19:08:13.434Z,1737054493.434 [MissionManager](INFO): DefineArg sink.MinEstimationTime = 10.000000 min
2025-01-16T19:08:13.464Z,1737054493.464 [MissionManager](INFO): DefineArg sink.MassEstimationErrorBound = 0.500000 mm
2025-01-16T19:08:13.466Z,1737054493.466 [MissionManager](INFO): DefineArg sink.BuoyEstimationErrorBound = 25.000000 cc
2025-01-16T19:08:13.469Z,1737054493.469 [MissionManager](INFO): DefineArg sink.EstimationConfidence = 98.000000 %
2025-01-16T19:08:13.498Z,1737054493.498 [MissionManager](INFO): DefineArg sink.MinAltitude = 5.000000 m
2025-01-16T19:08:13.500Z,1737054493.500 [MissionManager](INFO): DefineArg sink.MaxDepth = 30.000000 m
2025-01-16T19:08:13.520Z,1737054493.520 [MissionManager](INFO): DefineArg sink.MinOffshore = 2.000000 km
2025-01-16T19:08:13.522Z,1737054493.522 [MissionManager](INFO): DefineArg sink.SkipComms = 0 bool
2025-01-16T19:08:13.524Z,1737054493.524 [MissionManager](INFO): DefineOutput sink.MissionTimeout = 2.000000 h
2025-01-16T19:08:13.544Z,1737054493.544 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-01-16T19:08:13.544Z,1737054493.544 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-01-16T19:08:13.560Z,1737054493.560 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-01-16T19:08:15.376Z,1737054495.376 [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>

2025-01-16T19:08:15.411Z,1737054495.411 [MissionManager](INFO): DefineArg sink:Science.PeakDetectChlActive = 0 bool
2025-01-16T19:08:15.413Z,1737054495.413 [MissionManager](INFO): DefineArg sink:Science.TimeWindowPeakReport = nan min
2025-01-16T19:08:15.415Z,1737054495.415 [MissionManager](INFO): DefineArg sink:Science.HighestChlPeakReportActive = 0 bool
2025-01-16T19:08:15.417Z,1737054495.417 [MissionManager](INFO): DefineArg sink:Science.HighestSaltPeakReportActive = 0 bool
2025-01-16T19:08:15.419Z,1737054495.419 [MissionManager](INFO): DefineArg sink:Science.HighestOilPeakReportActive = 0 bool
2025-01-16T19:08:15.421Z,1737054495.421 [MissionManager](INFO): DefineArg sink:Science.PatchTracking = 0 bool
2025-01-16T19:08:15.423Z,1737054495.423 [MissionManager](INFO): DefineArg sink:Science.FilterWidthHorizontal = 3.000000 count
2025-01-16T19:08:15.425Z,1737054495.425 [MissionManager](INFO): DefineArg sink:Science.NumProfilesSlidingwindow = 100.000000 count
2025-01-16T19:08:15.427Z,1737054495.427 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionHorizontal = 80.000000 %
2025-01-16T19:08:15.429Z,1737054495.429 [MissionManager](INFO): DefineArg sink:Science.PeakDetectNO3Active = 0 bool
2025-01-16T19:08:15.430Z,1737054495.430 [MissionManager](INFO): DefineArg sink:Science.PeakDetectOilActive = 0 bool
2025-01-16T19:08:15.432Z,1737054495.432 [MissionManager](INFO): DefineArg sink:Science.PeakDetectFDOMActive = 0 bool
2025-01-16T19:08:15.434Z,1737054495.434 [MissionManager](INFO): DefineArg sink:Science.PeakDetectSalinityActive = 0 bool
2025-01-16T19:08:15.436Z,1737054495.436 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-01-16T19:08:15.437Z,1737054495.437 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-01-16T19:08:15.439Z,1737054495.439 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-01-16T19:08:15.441Z,1737054495.441 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-01-16T19:08:15.468Z,1737054495.468 [MissionManager](INFO): DefineArg sink:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-01-16T19:08:15.470Z,1737054495.470 [MissionManager](INFO): DefineArg sink:Science.EnabledAanderaaO2 = 0 bool
2025-01-16T19:08:15.472Z,1737054495.472 [MissionManager](INFO): DefineArg sink:Science.EnabledNeilBrown = 0 bool
2025-01-16T19:08:15.484Z,1737054495.484 [MissionManager](INFO): DefineArg sink:Science.EnabledSeabird = 0 bool
2025-01-16T19:08:15.487Z,1737054495.487 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsBB2FL = 0 bool
2025-01-16T19:08:15.489Z,1737054495.489 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-01-16T19:08:15.492Z,1737054495.492 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsUBAT = 0 bool
2025-01-16T19:08:15.494Z,1737054495.494 [MissionManager](INFO): DefineArg sink:Science.LowPassWindowLength = 20.000000 count
2025-01-16T19:08:15.511Z,1737054495.511 [MissionManager](INFO): DefineArg sink:Science.MedianFilterLen = 5.000000 count
2025-01-16T19:08:15.513Z,1737054495.513 [MissionManager](INFO): DefineArg sink:Science.PeakShallowBound = nan m
2025-01-16T19:08:15.515Z,1737054495.515 [MissionManager](INFO): DefineArg sink:Science.PeakDeepBound = nan m
2025-01-16T19:08:15.517Z,1737054495.517 [MissionManager](INFO): DefineArg sink:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-01-16T19:08:15.533Z,1737054495.533 [MissionManager](INFO): DefineArg sink:Science.ChlThreshTriggerActive = 0 bool
2025-01-16T19:08:15.535Z,1737054495.535 [MissionManager](INFO): DefineArg sink:Science.ChlLowerThresh = nan ug/l
2025-01-16T19:08:15.537Z,1737054495.537 [MissionManager](INFO): DefineArg sink:Science.ChlUpperThresh = nan ug/l
2025-01-16T19:08:15.539Z,1737054495.539 [MissionManager](INFO): DefineArg sink:Science.NumProfilesThresh = 5.000000 count
2025-01-16T19:08:15.541Z,1737054495.541 [MissionManager](INFO): DefineOutput sink:Science.PeakChl = nan ug/l
2025-01-16T19:08:15.556Z,1737054495.556 [MissionManager](INFO): DefineOutput sink:Science.PeakChlDepth = nan m
2025-01-16T19:08:15.558Z,1737054495.558 [MissionManager](INFO): DefineOutput sink:Science.PeakChlTemperature = nan degC
2025-01-16T19:08:15.560Z,1737054495.560 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLatitude = nan arcdeg
2025-01-16T19:08:15.573Z,1737054495.573 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLongitude = nan arcdeg
2025-01-16T19:08:15.575Z,1737054495.575 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3 = nan umol/l
2025-01-16T19:08:15.577Z,1737054495.577 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Depth = nan m
2025-01-16T19:08:15.579Z,1737054495.579 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Latitude = nan arcdeg
2025-01-16T19:08:15.581Z,1737054495.581 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Longitude = nan arcdeg
2025-01-16T19:08:15.598Z,1737054495.598 [MissionManager](INFO): DefineOutput sink:Science.PeakOil = nan kg/m3
2025-01-16T19:08:15.600Z,1737054495.600 [MissionManager](INFO): DefineOutput sink:Science.PeakOilDepth = nan m
2025-01-16T19:08:15.602Z,1737054495.602 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLatitude = nan arcdeg
2025-01-16T19:08:15.605Z,1737054495.605 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLongitude = nan arcdeg
2025-01-16T19:08:15.622Z,1737054495.622 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOM = nan ppb
2025-01-16T19:08:15.624Z,1737054495.624 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMDepth = nan m
2025-01-16T19:08:15.626Z,1737054495.626 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMTemperature = nan degC
2025-01-16T19:08:15.628Z,1737054495.628 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLatitude = nan arcdeg
2025-01-16T19:08:15.645Z,1737054495.645 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLongitude = nan arcdeg
2025-01-16T19:08:15.647Z,1737054495.647 [MissionManager](INFO): DefineOutput sink:Science.PeakSalt = nan psu
2025-01-16T19:08:15.649Z,1737054495.649 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltDepth = nan m
2025-01-16T19:08:15.651Z,1737054495.651 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltTemperature = nan degC
2025-01-16T19:08:15.653Z,1737054495.653 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLatitude = nan arcdeg
2025-01-16T19:08:15.670Z,1737054495.670 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLongitude = nan arcdeg
2025-01-16T19:08:15.673Z,1737054495.673 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-01-16T19:08:15.675Z,1737054495.675 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-01-16T19:08:15.677Z,1737054495.677 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-01-16T19:08:15.727Z,1737054495.727 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-01-16T19:08:15.729Z,1737054495.729 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-01-16T19:08:15.731Z,1737054495.731 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-01-16T19:08:15.733Z,1737054495.733 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-01-16T19:08:15.750Z,1737054495.750 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-01-16T19:08:15.770Z,1737054495.770 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-01-16T19:08:15.772Z,1737054495.772 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-01-16T19:08:15.775Z,1737054495.775 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-01-16T19:08:15.777Z,1737054495.777 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-01-16T19:08:15.797Z,1737054495.797 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-01-16T19:08:15.800Z,1737054495.800 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-01-16T19:08:15.802Z,1737054495.802 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-01-16T19:08:15.814Z,1737054495.814 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-01-16T19:08:15.816Z,1737054495.816 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-01-16T19:08:15.819Z,1737054495.819 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-01-16T19:08:15.821Z,1737054495.821 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-01-16T19:08:15.845Z,1737054495.845 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-01-16T19:08:15.847Z,1737054495.847 [MissionManager](INFO): DefineOutput sink:Science.PatchChl = nan ug/l
2025-01-16T19:08:15.849Z,1737054495.849 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDepth = nan m
2025-01-16T19:08:15.852Z,1737054495.852 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLatitude = nan arcdeg
2025-01-16T19:08:15.854Z,1737054495.854 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLongitude = nan arcdeg
2025-01-16T19:08:15.870Z,1737054495.870 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDistance = nan m
2025-01-16T19:08:15.873Z,1737054495.873 [MissionManager](INFO): DefineOutput sink:Science.PatchSalt = nan psu
2025-01-16T19:08:15.883Z,1737054495.883 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDepth = nan m
2025-01-16T19:08:15.885Z,1737054495.885 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLatitude = nan arcdeg
2025-01-16T19:08:15.887Z,1737054495.887 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLongitude = nan arcdeg
2025-01-16T19:08:15.889Z,1737054495.889 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDistance = nan m
2025-01-16T19:08:15.892Z,1737054495.892 [MissionManager](INFO): DefineOutput sink:Science.PatchOil = nan psu
2025-01-16T19:08:15.894Z,1737054495.894 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDepth = nan m
2025-01-16T19:08:15.919Z,1737054495.919 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLatitude = nan arcdeg
2025-01-16T19:08:15.921Z,1737054495.921 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLongitude = nan arcdeg
2025-01-16T19:08:15.923Z,1737054495.923 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDistance = nan m
2025-01-16T19:08:15.925Z,1737054495.925 [MissionManager](INFO): DefineOutput sink:Science.TriggeredOnChl = 0 bool
2025-01-16T19:08:15.946Z,1737054495.946 [MissionManager](INFO): DefineOutput sink:Science.ChlTriggering = nan ug/l
2025-01-16T19:08:15.978Z,1737054495.978 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T19:08:16.007Z,1737054496.007 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T19:08:16.033Z,1737054496.033 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T19:08:16.063Z,1737054496.063 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T19:08:16.118Z,1737054496.118 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T19:08:16.144Z,1737054496.144 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T19:08:16.169Z,1737054496.169 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T19:08:16.205Z,1737054496.205 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T19:08:16.233Z,1737054496.233 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T19:08:16.260Z,1737054496.260 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T19:08:16.287Z,1737054496.287 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T19:08:16.310Z,1737054496.310 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T19:08:16.328Z,1737054496.328 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-01-16T19:08:16.334Z,1737054496.334 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-16T19:08:16.334Z,1737054496.334 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-16T19:08:16.335Z,1737054496.335 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-16T19:08:16.527Z,1737054496.527 [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>

2025-01-16T19:08:16.531Z,1737054496.531 [MissionManager](INFO): DefineArg sink:NeedComms.DiveInterval = 1.000000 h
2025-01-16T19:08:16.533Z,1737054496.533 [MissionManager](INFO): DefineArg sink:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-16T19:08:16.535Z,1737054496.535 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-16T19:08:16.537Z,1737054496.537 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceDepthRate = nan m/s
2025-01-16T19:08:16.539Z,1737054496.539 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-16T19:08:16.541Z,1737054496.541 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-16T19:08:16.543Z,1737054496.543 [MissionManager](INFO): DefineArg sink:NeedComms.GPSTimeout = 7.000000 min
2025-01-16T19:08:16.545Z,1737054496.545 [MissionManager](INFO): DefineArg sink:NeedComms.CommsTimeout = 30.000000 min
2025-01-16T19:08:16.589Z,1737054496.589 [sink:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T19:08:16.623Z,1737054496.623 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-16T19:08:16.623Z,1737054496.623 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-16T19:08:16.625Z,1737054496.625 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-16T19:08:16.694Z,1737054496.694 [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>

2025-01-16T19:08:16.697Z,1737054496.697 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-16T19:08:16.700Z,1737054496.700 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-16T19:08:16.702Z,1737054496.702 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-16T19:08:16.704Z,1737054496.704 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-16T19:08:16.705Z,1737054496.705 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-16T19:08:16.733Z,1737054496.733 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-16T19:08:16.739Z,1737054496.739 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-16T19:08:16.747Z,1737054496.747 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-16T19:08:16.747Z,1737054496.747 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-16T19:08:16.748Z,1737054496.748 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-16T19:08:16.798Z,1737054496.798 [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>

2025-01-16T19:08:16.801Z,1737054496.801 [MissionManager](INFO): DefineArg sink:BackseatDriver.EnableBackseat = 0 bool
2025-01-16T19:08:16.803Z,1737054496.803 [sink:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-16T19:08:16.806Z,1737054496.806 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-16T19:08:16.806Z,1737054496.806 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-16T19:08:16.807Z,1737054496.807 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-16T19:08:16.951Z,1737054496.951 [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>

2025-01-16T19:08:16.954Z,1737054496.954 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleAll = 0 bool
2025-01-16T19:08:16.956Z,1737054496.956 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad1 = 0 bool
2025-01-16T19:08:16.958Z,1737054496.958 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad2 = 0 bool
2025-01-16T19:08:16.959Z,1737054496.959 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad3 = 0 bool
2025-01-16T19:08:16.962Z,1737054496.962 [MissionManager](INFO): DefineArg sink:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-16T19:08:17.004Z,1737054497.004 [sink:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-16T19:08:17.007Z,1737054497.007 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-01-16T19:08:17.007Z,1737054497.007 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-01-16T19:08:17.009Z,1737054497.009 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-01-16T19:08:17.420Z,1737054497.420 [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>

2025-01-16T19:08:17.427Z,1737054497.427 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepth = 25.000000 m
2025-01-16T19:08:17.429Z,1737054497.429 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-01-16T19:08:17.431Z,1737054497.431 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-01-16T19:08:17.433Z,1737054497.433 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-01-16T19:08:17.459Z,1737054497.459 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-01-16T19:08:17.461Z,1737054497.461 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-01-16T19:08:17.464Z,1737054497.464 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-01-16T19:08:17.466Z,1737054497.466 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstTimeout = 45.000000 min
2025-01-16T19:08:17.468Z,1737054497.468 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MinEstTime = 10.000000 min
2025-01-16T19:08:17.473Z,1737054497.473 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-01-16T19:08:17.475Z,1737054497.475 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-01-16T19:08:17.477Z,1737054497.477 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstConfidence = 99.900002 %
2025-01-16T19:08:17.480Z,1737054497.480 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-01-16T19:08:17.482Z,1737054497.482 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-01-16T19:08:17.514Z,1737054497.514 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-01-16T19:08:17.534Z,1737054497.534 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T19:08:17.537Z,1737054497.537 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-01-16T19:08:17.561Z,1737054497.561 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-01-16T19:08:17.568Z,1737054497.568 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-01-16T19:08:17.578Z,1737054497.578 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-01-16T19:08:17.589Z,1737054497.589 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-01-16T19:08:17.596Z,1737054497.596 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-01-16T19:08:17.599Z,1737054497.599 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-01-16T19:08:17.604Z,1737054497.604 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-01-16T19:08:17.605Z,1737054497.605 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-01-16T19:08:17.615Z,1737054497.615 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-01-16T19:08:17.621Z,1737054497.621 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = reader:sink.DepthDeadband
2025-01-16T19:08:17.623Z,1737054497.623 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = reader:sink.TargetDepthTimeout
2025-01-16T19:08:17.627Z,1737054497.627 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = reader:sink.BTSettleTime
2025-01-16T19:08:17.628Z,1737054497.628 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstTimeout = reader:sink.EstimationTimeout
2025-01-16T19:08:17.630Z,1737054497.630 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MinEstTime = reader:sink.MinEstimationTime
2025-01-16T19:08:17.631Z,1737054497.631 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = reader:sink.MassEstimationErrorBound
2025-01-16T19:08:17.632Z,1737054497.632 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = reader:sink.BuoyEstimationErrorBound
2025-01-16T19:08:17.634Z,1737054497.634 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstConfidence = reader:sink.EstimationConfidence
2025-01-16T19:08:17.644Z,1737054497.644 [sink:FloatUp:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-16T19:08:17.668Z,1737054497.668 [sink:FloatUp:B.Wait](DEBUG): Construct Wait.
2025-01-16T19:08:17.773Z,1737054497.773 [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"
}


2025-01-16T19:08:17.773Z,1737054497.773 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/sink.tl id=sink
2025-01-16T19:08:24.181Z,1737054504.181 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:08:24.181Z,1737054504.181 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2025-01-16T19:08:24.181Z,1737054504.181 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:08:24.225Z,1737054504.225 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:08:24.607Z,1737054504.607 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:08:24.607Z,1737054504.607 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2025-01-16T19:08:26.976Z,1737054506.976 [CommandExec](IMPORTANT): got command set sink.SinkDuration 60 minute
2025-01-16T19:08:26.977Z,1737054506.977 [CommandExec](IMPORTANT): got command set sink.Depth 30 meter
2025-01-16T19:08:26.978Z,1737054506.978 [CommandExec](IMPORTANT): got command set sink.DepthDeadband 10 meter
2025-01-16T19:08:26.978Z,1737054506.978 [CommandExec](IMPORTANT): got command set sink.TargetDepthTimeout 30 minute
2025-01-16T19:08:26.979Z,1737054506.979 [CommandExec](IMPORTANT): got command set sink.MaxDepth 50 meter
2025-01-16T19:08:26.980Z,1737054506.980 [CommandExec](IMPORTANT): got command set sink:BackseatDriver.EnableBackseat 1 bool
2025-01-16T19:08:26.980Z,1737054506.980 [CommandExec](IMPORTANT): got command run
2025-01-16T19:08:26.982Z,1737054506.982 [CommandExec](IMPORTANT): Running 
2025-01-16T19:08:27.037Z,1737054507.037 [Default] Stopped
2025-01-16T19:08:27.037Z,1737054507.037 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-16T19:08:27.037Z,1737054507.037 [Default:B.GoToSurface] Stopped
2025-01-16T19:08:27.037Z,1737054507.037 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T19:08:27.037Z,1737054507.037 [Default:CheckIn] Stopped
2025-01-16T19:08:27.037Z,1737054507.037 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T19:08:27.038Z,1737054507.038 [Default:CheckIn:C.Wait] Stopped
2025-01-16T19:08:27.038Z,1737054507.038 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T19:08:27.038Z,1737054507.038 [MissionManager](IMPORTANT): Started mission sink
2025-01-16T19:08:27.038Z,1737054507.038 [sink] Running Loop=1
2025-01-16T19:08:27.038Z,1737054507.038 [sink](DEBUG): Aggregate::initialize sink
2025-01-16T19:08:27.038Z,1737054507.038 [sink:Science] Running Loop=1
2025-01-16T19:08:27.038Z,1737054507.038 [sink:Science](DEBUG): Aggregate::initialize sink:Science
2025-01-16T19:08:27.039Z,1737054507.039 [sink:Science:A] Running Loop=1
2025-01-16T19:08:27.039Z,1737054507.039 [sink:Science:B] Running Loop=1
2025-01-16T19:08:27.039Z,1737054507.039 [sink:Science:C] Running Loop=1
2025-01-16T19:08:27.039Z,1737054507.039 [sink:Science:D] Running Loop=1
2025-01-16T19:08:27.039Z,1737054507.039 [sink:Science:E] Running Loop=1
2025-01-16T19:08:27.039Z,1737054507.039 [sink:Science:F] Running Loop=1
2025-01-16T19:08:27.039Z,1737054507.039 [sink:Science:Read_Oil] Running Loop=1
2025-01-16T19:08:27.039Z,1737054507.039 [sink:Science:PeakDetectChl] Running Loop=1
2025-01-16T19:08:27.039Z,1737054507.039 [sink:Science:PeakDetectChl](DEBUG): Aggregate::initialize sink:Science:PeakDetectChl
2025-01-16T19:08:27.039Z,1737054507.039 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T19:08:27.039Z,1737054507.039 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T19:08:27.040Z,1737054507.040 [sink:Science:HighestChlPeakReport] Running Loop=1
2025-01-16T19:08:27.041Z,1737054507.041 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestChlPeakReport
2025-01-16T19:08:27.041Z,1737054507.041 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T19:08:27.041Z,1737054507.041 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T19:08:27.041Z,1737054507.041 [sink:Science:PeakDetectNO3] Running Loop=1
2025-01-16T19:08:27.041Z,1737054507.041 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sink:Science:PeakDetectNO3
2025-01-16T19:08:27.041Z,1737054507.041 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T19:08:27.041Z,1737054507.041 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T19:08:27.043Z,1737054507.043 [sink:Science:PeakDetectOil] Running Loop=1
2025-01-16T19:08:27.043Z,1737054507.043 [sink:Science:PeakDetectOil](DEBUG): Aggregate::initialize sink:Science:PeakDetectOil
2025-01-16T19:08:27.043Z,1737054507.043 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T19:08:27.043Z,1737054507.043 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T19:08:27.045Z,1737054507.045 [sink:Science:HighestOilPeakReport] Running Loop=1
2025-01-16T19:08:27.045Z,1737054507.045 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestOilPeakReport
2025-01-16T19:08:27.045Z,1737054507.045 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T19:08:27.045Z,1737054507.045 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T19:08:27.045Z,1737054507.045 [sink:Science:PeakDetectFDOM] Running Loop=1
2025-01-16T19:08:27.045Z,1737054507.045 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sink:Science:PeakDetectFDOM
2025-01-16T19:08:27.046Z,1737054507.046 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T19:08:27.046Z,1737054507.046 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T19:08:27.075Z,1737054507.075 [sink:Science:PeakDetectSalinity] Running Loop=1
2025-01-16T19:08:27.075Z,1737054507.075 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sink:Science:PeakDetectSalinity
2025-01-16T19:08:27.075Z,1737054507.075 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T19:08:27.075Z,1737054507.075 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T19:08:27.076Z,1737054507.076 [sink:Science:HighestSaltPeakReport] Running Loop=1
2025-01-16T19:08:27.076Z,1737054507.076 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestSaltPeakReport
2025-01-16T19:08:27.076Z,1737054507.076 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T19:08:27.077Z,1737054507.077 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T19:08:27.077Z,1737054507.077 [sink:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-01-16T19:08:27.077Z,1737054507.077 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-01-16T19:08:27.077Z,1737054507.077 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T19:08:27.077Z,1737054507.077 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T19:08:27.078Z,1737054507.078 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-16T19:08:27.078Z,1737054507.078 [sink:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-01-16T19:08:27.078Z,1737054507.078 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-01-16T19:08:27.079Z,1737054507.079 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T19:08:27.079Z,1737054507.079 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T19:08:27.079Z,1737054507.079 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-16T19:08:27.080Z,1737054507.080 [sink:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-01-16T19:08:27.080Z,1737054507.080 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-01-16T19:08:27.080Z,1737054507.080 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T19:08:27.080Z,1737054507.080 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T19:08:27.080Z,1737054507.080 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_diatoms , but backseat URI detected. Waiting for presence.
2025-01-16T19:08:27.081Z,1737054507.081 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-01-16T19:08:27.081Z,1737054507.081 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-16T19:08:27.081Z,1737054507.081 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T19:08:27.081Z,1737054507.081 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T19:08:27.082Z,1737054507.082 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_dinoflagellates , but backseat URI detected. Waiting for presence.
2025-01-16T19:08:27.083Z,1737054507.083 [sink:Science:ChlThreshTrigger] Running Loop=1
2025-01-16T19:08:27.083Z,1737054507.083 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sink:Science:ChlThreshTrigger
2025-01-16T19:08:27.083Z,1737054507.083 [sink:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-01-16T19:08:27.083Z,1737054507.083 [sink:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-01-16T19:08:27.084Z,1737054507.084 [sink:Science:OceanCurrent] Running Loop=1
2025-01-16T19:08:27.084Z,1737054507.084 [sink:Science:OceanCurrent](DEBUG): Aggregate::initialize sink:Science:OceanCurrent
2025-01-16T19:08:27.084Z,1737054507.084 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-01-16T19:08:27.084Z,1737054507.084 [sink:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-01-16T19:08:27.084Z,1737054507.084 [sink:StandardEnvelopes] Running Loop=1
2025-01-16T19:08:27.084Z,1737054507.084 [sink:StandardEnvelopes](DEBUG): Aggregate::initialize sink:StandardEnvelopes
2025-01-16T19:08:27.084Z,1737054507.084 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T19:08:27.084Z,1737054507.084 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-16T19:08:27.084Z,1737054507.084 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T19:08:27.085Z,1737054507.085 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-16T19:08:27.085Z,1737054507.085 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T19:08:27.085Z,1737054507.085 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-16T19:08:27.085Z,1737054507.085 [sink:BackseatDriver] Running Loop=1
2025-01-16T19:08:27.085Z,1737054507.085 [sink:BackseatDriver](DEBUG): Aggregate::initialize sink:BackseatDriver
2025-01-16T19:08:27.085Z,1737054507.085 [sink:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-16T19:08:27.085Z,1737054507.085 [sink:PowerOnly] Running Loop=1
2025-01-16T19:08:27.085Z,1737054507.085 [sink:PowerOnly](DEBUG): Aggregate::initialize sink:PowerOnly
2025-01-16T19:08:27.085Z,1737054507.085 [sink:PowerOnly:A] Running Loop=1
2025-01-16T19:08:27.085Z,1737054507.085 [sink:PowerOnly:B] Running Loop=1
2025-01-16T19:08:27.085Z,1737054507.085 [sink:PowerOnly:C] Running Loop=1
2025-01-16T19:08:27.085Z,1737054507.085 [sink:PowerOnly:D] Running Loop=1
2025-01-16T19:08:27.086Z,1737054507.086 [sink:PowerOnly:E.Wait] Running Loop=1
2025-01-16T19:08:27.086Z,1737054507.086 [sink:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-16T19:08:27.086Z,1737054507.086 [sink:A] Running Loop=1
2025-01-16T19:08:27.097Z,1737054507.097 [sink:PowerOnly] Running Loop=1
2025-01-16T19:08:27.097Z,1737054507.097 [sink:PowerOnly:D] Stopped
2025-01-16T19:08:27.097Z,1737054507.097 [sink:PowerOnly:C] Stopped
2025-01-16T19:08:27.097Z,1737054507.097 [sink:PowerOnly:B] Stopped
2025-01-16T19:08:27.097Z,1737054507.097 [sink:PowerOnly:A] Stopped
2025-01-16T19:08:27.097Z,1737054507.097 [sink:BackseatDriver] Running Loop=1
2025-01-16T19:08:27.097Z,1737054507.097 [sink:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-01-16T19:08:27.144Z,1737054507.144 [sink:StandardEnvelopes] Running Loop=1
2025-01-16T19:08:27.144Z,1737054507.144 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-16T19:08:27.145Z,1737054507.145 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-16T19:08:27.145Z,1737054507.145 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-16T19:08:27.145Z,1737054507.145 [sink:Science] Running Loop=1
2025-01-16T19:08:27.147Z,1737054507.147 [sink:Science:ChlThreshTrigger] Stopped
2025-01-16T19:08:27.147Z,1737054507.147 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sink:Science:ChlThreshTrigger
2025-01-16T19:08:27.147Z,1737054507.147 [sink:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-01-16T19:08:27.147Z,1737054507.147 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-01-16T19:08:27.147Z,1737054507.147 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-01-16T19:08:27.147Z,1737054507.147 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-16T19:08:27.147Z,1737054507.147 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Stopped
2025-01-16T19:08:27.147Z,1737054507.147 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T19:08:27.147Z,1737054507.147 [sink:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-01-16T19:08:27.148Z,1737054507.148 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-01-16T19:08:27.148Z,1737054507.148 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Stopped
2025-01-16T19:08:27.148Z,1737054507.148 [sink:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T19:08:27.148Z,1737054507.148 [sink:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-01-16T19:08:27.148Z,1737054507.148 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-01-16T19:08:27.148Z,1737054507.148 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-16T19:08:27.148Z,1737054507.148 [sink:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T19:08:27.148Z,1737054507.148 [sink:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-01-16T19:08:27.148Z,1737054507.148 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-01-16T19:08:27.148Z,1737054507.148 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-16T19:08:27.148Z,1737054507.148 [sink:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T19:08:27.148Z,1737054507.148 [sink:Science:HighestSaltPeakReport] Stopped
2025-01-16T19:08:27.148Z,1737054507.148 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestSaltPeakReport
2025-01-16T19:08:27.148Z,1737054507.148 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T19:08:27.149Z,1737054507.149 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T19:08:27.149Z,1737054507.149 [sink:Science:PeakDetectSalinity] Stopped
2025-01-16T19:08:27.149Z,1737054507.149 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectSalinity
2025-01-16T19:08:27.149Z,1737054507.149 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2025-01-16T19:08:27.149Z,1737054507.149 [sink:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T19:08:27.149Z,1737054507.149 [sink:Science:PeakDetectFDOM] Stopped
2025-01-16T19:08:27.149Z,1737054507.149 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectFDOM
2025-01-16T19:08:27.149Z,1737054507.149 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2025-01-16T19:08:27.149Z,1737054507.149 [sink:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T19:08:27.149Z,1737054507.149 [sink:Science:HighestOilPeakReport] Stopped
2025-01-16T19:08:27.149Z,1737054507.149 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestOilPeakReport
2025-01-16T19:08:27.149Z,1737054507.149 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T19:08:27.149Z,1737054507.149 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T19:08:27.150Z,1737054507.150 [sink:Science:PeakDetectOil] Stopped
2025-01-16T19:08:27.150Z,1737054507.150 [sink:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectOil
2025-01-16T19:08:27.150Z,1737054507.150 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2025-01-16T19:08:27.150Z,1737054507.150 [sink:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T19:08:27.150Z,1737054507.150 [sink:Science:PeakDetectNO3] Stopped
2025-01-16T19:08:27.154Z,1737054507.154 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectNO3
2025-01-16T19:08:27.154Z,1737054507.154 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2025-01-16T19:08:27.154Z,1737054507.154 [sink:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T19:08:27.154Z,1737054507.154 [sink:Science:HighestChlPeakReport] Stopped
2025-01-16T19:08:27.155Z,1737054507.155 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestChlPeakReport
2025-01-16T19:08:27.155Z,1737054507.155 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T19:08:27.155Z,1737054507.155 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T19:08:27.155Z,1737054507.155 [sink:Science:PeakDetectChl] Stopped
2025-01-16T19:08:27.155Z,1737054507.155 [sink:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectChl
2025-01-16T19:08:27.155Z,1737054507.155 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2025-01-16T19:08:27.155Z,1737054507.155 [sink:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T19:08:27.155Z,1737054507.155 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-01-16T19:08:27.155Z,1737054507.155 [sink:Science:Read_Oil] Stopped
2025-01-16T19:08:27.155Z,1737054507.155 [sink:Science:F] Stopped
2025-01-16T19:08:27.155Z,1737054507.155 [sink:Science:E] Stopped
2025-01-16T19:08:27.155Z,1737054507.155 [sink:Science:D] Stopped
2025-01-16T19:08:27.155Z,1737054507.155 [sink:Science:C] Stopped
2025-01-16T19:08:27.155Z,1737054507.155 [sink:Science:B] Stopped
2025-01-16T19:08:27.156Z,1737054507.156 [sink:Science:A] Stopped
2025-01-16T19:08:27.156Z,1737054507.156 [sink:A] Stopped
2025-01-16T19:08:27.156Z,1737054507.156 [sink:D] Running Loop=1
2025-01-16T19:08:27.191Z,1737054507.191 [BackseatComponent](INFO): Powering up
2025-01-16T19:08:27.191Z,1737054507.191 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-01-16T19:08:27.419Z,1737054507.419 [sink:D] Stopped
2025-01-16T19:08:27.419Z,1737054507.419 [sink:F] Running Loop=1
2025-01-16T19:08:27.826Z,1737054507.826 [sink:F] Stopped
2025-01-16T19:08:27.826Z,1737054507.826 [sink:G] Running Loop=1
2025-01-16T19:08:28.226Z,1737054508.226 [sink:G] Stopped
2025-01-16T19:08:28.227Z,1737054508.227 [sink:H] Running Loop=1
2025-01-16T19:08:28.630Z,1737054508.630 [sink:H] Stopped
2025-01-16T19:08:28.631Z,1737054508.631 [sink:startComms] Running Loop=1
2025-01-16T19:08:28.631Z,1737054508.631 [sink:startComms](DEBUG): Aggregate::initialize sink:startComms
2025-01-16T19:08:28.631Z,1737054508.631 [sink:startComms:StartingMission] Running Loop=1
2025-01-16T19:08:28.631Z,1737054508.631 [sink:startComms:StartingMission](DEBUG): Aggregate::initialize sink:startComms:StartingMission
2025-01-16T19:08:29.039Z,1737054509.039 [sink:NeedComms] Running Loop=1
2025-01-16T19:08:29.039Z,1737054509.039 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-01-16T19:08:29.039Z,1737054509.039 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T19:08:29.039Z,1737054509.039 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T19:08:29.040Z,1737054509.040 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T19:08:29.040Z,1737054509.040 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T19:08:29.040Z,1737054509.040 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T19:08:29.041Z,1737054509.041 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T19:08:29.041Z,1737054509.041 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T19:08:29.041Z,1737054509.041 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T19:08:29.041Z,1737054509.041 [sink:NeedComms:A] Running Loop=1
2025-01-16T19:08:29.043Z,1737054509.043 [sink:NeedComms:A](INFO): last time_fix was:  1737054326.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T19:08:29.043Z,1737054509.043 [sink:NeedComms:A] Stopped
2025-01-16T19:08:29.436Z,1737054509.436 [sink:NeedComms:C] Running Loop=1
2025-01-16T19:08:29.847Z,1737054509.847 [sink:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T19:08:31.453Z,1737054511.453 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190827.00,A,3648.38809,N,12152.01290,W,0.700,315.76,160125,,,A*75
2025-01-16T19:08:31.456Z,1737054511.456 [NAL9602](INFO): GPS fix at 20250116T190827: (36.806468, -121.866882)
2025-01-16T19:08:31.467Z,1737054511.467 [sink:NeedComms:C] Stopped
2025-01-16T19:08:31.467Z,1737054511.467 [sink:NeedComms:D] Running Loop=1
2025-01-16T19:08:31.892Z,1737054511.892 [sink:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-16T19:08:38.458Z,1737054518.458 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250116T183140/Courier0016.lzma
2025-01-16T19:08:39.460Z,1737054519.460 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Courier0016.lzma.bak
2025-01-16T19:08:39.460Z,1737054519.460 [DataOverHttps](INFO): SBD MOMSN=23911626
2025-01-16T19:08:45.603Z,1737054525.603 [sink:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE
2025-01-16T19:08:45.990Z,1737054525.990 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-01-16T19:08:46.397Z,1737054526.397 [NAL9602](INFO): SBD MO Status=0, MOMSN=11894, MT Status=0, MTMSN=0
2025-01-16T19:08:46.397Z,1737054526.397 [NAL9602](INFO): No messages in MT queue
2025-01-16T19:08:58.667Z,1737054538.667 [DataOverHttps](INFO): Sending 424 bytes from file Logs/20250116T183140/Express0017.lzma
2025-01-16T19:09:00.672Z,1737054540.672 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Express0017.lzma.bak
2025-01-16T19:09:00.672Z,1737054540.672 [DataOverHttps](INFO): SBD MOMSN=23911630
2025-01-16T19:09:02.163Z,1737054542.163 [sink:NeedComms:D] Stopped
2025-01-16T19:09:02.163Z,1737054542.163 [sink:NeedComms:E] Running Loop=1
2025-01-16T19:09:02.588Z,1737054542.588 [sink:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T19:09:04.173Z,1737054544.173 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190903.00,A,3648.38964,N,12152.01496,W,0.233,337.76,160125,,,A*7D
2025-01-16T19:09:04.176Z,1737054544.176 [NAL9602](INFO): GPS fix at 20250116T190903: (36.806494, -121.866916)
2025-01-16T19:09:04.219Z,1737054544.219 [sink:NeedComms:E] Stopped
2025-01-16T19:09:04.220Z,1737054544.220 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-01-16T19:09:04.220Z,1737054544.220 [sink:NeedComms] Stopped
2025-01-16T19:09:04.220Z,1737054544.220 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-01-16T19:09:04.220Z,1737054544.220 [sink:NeedComms:B.GoToSurface] Stopped
2025-01-16T19:09:04.220Z,1737054544.220 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T19:09:04.596Z,1737054544.596 [sink:startComms:StartingMission](INFO): Completed sink:startComms:StartingMission
2025-01-16T19:09:04.596Z,1737054544.596 [sink:startComms:StartingMission] Stopped
2025-01-16T19:09:04.596Z,1737054544.596 [sink:startComms:StartingMission](DEBUG): Aggregate::uninitialize sink:startComms:StartingMission
2025-01-16T19:09:04.596Z,1737054544.596 [sink:startComms](INFO): Completed sink:startComms
2025-01-16T19:09:04.597Z,1737054544.597 [sink:startComms] Stopped
2025-01-16T19:09:04.597Z,1737054544.597 [sink:startComms](DEBUG): Aggregate::uninitialize sink:startComms
2025-01-16T19:09:04.597Z,1737054544.597 [sink:RunSink] Running Loop=1
2025-01-16T19:09:04.597Z,1737054544.597 [sink:RunSink](DEBUG): Aggregate::initialize sink:RunSink
2025-01-16T19:09:04.597Z,1737054544.597 [sink:RunSink:RunBallastAndTrim] Running Loop=1
2025-01-16T19:09:04.597Z,1737054544.597 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:RunBallastAndTrim
2025-01-16T19:09:04.597Z,1737054544.597 [sink:RunSink:RunBallastAndTrim:A] Running Loop=1
2025-01-16T19:09:04.988Z,1737054544.988 [sink:RunSink:RunBallastAndTrim] Stopped
2025-01-16T19:09:04.988Z,1737054544.988 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:RunBallastAndTrim
2025-01-16T19:09:04.988Z,1737054544.988 [sink:RunSink:RunBallastAndTrim:A] Stopped
2025-01-16T19:09:04.989Z,1737054544.989 [sink:RunSink:JustSink] Running Loop=1
2025-01-16T19:09:04.989Z,1737054544.989 [sink:RunSink:JustSink](DEBUG): Aggregate::initialize sink:RunSink:JustSink
2025-01-16T19:09:04.989Z,1737054544.989 [sink:RunSink:JustSink:A] Running Loop=1
2025-01-16T19:09:05.396Z,1737054545.396 [sink:RunSink:JustSink:A] Stopped
2025-01-16T19:09:05.396Z,1737054545.396 [sink:RunSink:JustSink:B] Running Loop=1
2025-01-16T19:09:05.824Z,1737054545.824 [sink:RunSink:JustSink:B] Stopped
2025-01-16T19:09:05.825Z,1737054545.825 [sink:RunSink:JustSink:C] Running Loop=1
2025-01-16T19:09:05.825Z,1737054545.825 [sink:RunSink:JustSink:C](DEBUG): Aggregate::initialize sink:RunSink:JustSink:C
2025-01-16T19:09:06.200Z,1737054546.200 [sink:RunSink:BallastAndTrim] Running Loop=1
2025-01-16T19:09:06.201Z,1737054546.201 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim
2025-01-16T19:09:06.201Z,1737054546.201 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-01-16T19:09:06.201Z,1737054546.201 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-01-16T19:09:06.201Z,1737054546.201 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-01-16T19:09:06.201Z,1737054546.201 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-01-16T19:09:06.201Z,1737054546.201 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-01-16T19:09:06.201Z,1737054546.201 [sink:RunSink:BallastAndTrim:F] Running Loop=1
2025-01-16T19:09:06.207Z,1737054546.207 [sink:RunSink:BallastAndTrim:F](INFO): Going to target depth. Speed set to  0.000000 m/s 
2025-01-16T19:09:06.207Z,1737054546.207 [sink:RunSink:BallastAndTrim:F] Stopped
2025-01-16T19:09:06.208Z,1737054546.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-01-16T19:09:06.208Z,1737054546.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-01-16T19:09:06.208Z,1737054546.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-01-16T19:09:06.208Z,1737054546.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-01-16T19:09:06.208Z,1737054546.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-01-16T19:09:06.208Z,1737054546.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-01-16T19:09:06.208Z,1737054546.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-01-16T19:09:06.208Z,1737054546.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-01-16T19:09:06.208Z,1737054546.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-16T19:09:06.208Z,1737054546.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-01-16T19:09:06.208Z,1737054546.208 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-01-16T19:09:06.209Z,1737054546.209 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-01-16T19:09:06.209Z,1737054546.209 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-01-16T19:09:06.209Z,1737054546.209 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-01-16T19:09:06.209Z,1737054546.209 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-01-16T19:09:06.209Z,1737054546.209 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-01-16T19:09:06.209Z,1737054546.209 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-01-16T19:09:06.210Z,1737054546.210 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-01-16T19:09:06.210Z,1737054546.210 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-01-16T19:09:06.605Z,1737054546.605 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-01-16T19:09:06.605Z,1737054546.605 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-01-16T19:09:06.605Z,1737054546.605 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-01-16T19:09:06.605Z,1737054546.605 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-01-16T19:09:06.605Z,1737054546.605 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-01-16T19:09:06.605Z,1737054546.605 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-01-16T19:09:06.605Z,1737054546.605 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-01-16T19:09:06.605Z,1737054546.605 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-01-16T19:09:06.605Z,1737054546.605 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-16T19:09:06.605Z,1737054546.605 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-01-16T19:09:06.606Z,1737054546.606 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-01-16T19:09:07.013Z,1737054547.013 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-01-16T19:09:07.013Z,1737054547.013 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-01-16T19:09:07.013Z,1737054547.013 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T19:09:07.013Z,1737054547.013 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-01-16T19:09:07.013Z,1737054547.013 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-01-16T19:09:07.014Z,1737054547.014 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-01-16T19:09:07.014Z,1737054547.014 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-01-16T19:09:07.014Z,1737054547.014 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-01-16T19:09:07.014Z,1737054547.014 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-01-16T19:09:07.014Z,1737054547.014 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-01-16T19:09:07.014Z,1737054547.014 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-01-16T19:09:07.415Z,1737054547.415 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-01-16T19:09:07.416Z,1737054547.416 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  30.000000 m 
2025-01-16T19:09:07.416Z,1737054547.416 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-01-16T19:09:07.416Z,1737054547.416 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-01-16T19:09:07.416Z,1737054547.416 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-01-16T19:09:36.319Z,1737054576.319 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250116T190934
2025-01-16T19:09:36.499Z,1737054576.499 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T19:10:22.698Z,1737054622.698 [BuoyancyServo](FAULT): Overload Error
2025-01-16T19:10:22.698Z,1737054622.698 [BuoyancyServo] Hardware Fault, FailCount= 1
2025-01-16T19:10:22.698Z,1737054622.698 [BuoyancyServo](ERROR): Hardware Fault
2025-01-16T19:10:22.708Z,1737054622.708 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2025-01-16T19:10:24.596Z,1737054624.596 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-01-16T19:10:24.596Z,1737054624.596 [BuoyancyServo](INFO): Powering down
2025-01-16T19:10:25.383Z,1737054625.383 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:10:25.383Z,1737054625.383 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-01-16T19:10:25.383Z,1737054625.383 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:10:25.401Z,1737054625.401 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:10:25.401Z,1737054625.401 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2025-01-16T19:10:25.401Z,1737054625.401 [BuoyancyServo] No Fault, FailCount= 1
2025-01-16T19:10:25.800Z,1737054625.800 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-01-16T19:10:25.801Z,1737054625.801 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-01-16T19:10:25.807Z,1737054625.807 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:10:25.807Z,1737054625.807 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-01-16T19:10:34.279Z,1737054634.279 [sink:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 1973
2025-01-16T19:10:34.663Z,1737054634.663 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-01-16T19:11:34.682Z,1737054694.682 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T19:11:49.934Z,1737054709.934 [Radio_Surface](INFO): Powering down
2025-01-16T19:12:05.807Z,1737054725.807 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T19:12:06.811Z,1737054726.811 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-16T19:12:26.577Z,1737054746.577 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:12:26.577Z,1737054746.577 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2025-01-16T19:12:26.577Z,1737054746.577 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:12:26.617Z,1737054746.617 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:12:27.037Z,1737054747.037 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:12:27.037Z,1737054747.037 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2025-01-16T19:13:10.075Z,1737054790.075 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.122772
2025-01-16T19:14:27.783Z,1737054867.783 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:14:27.784Z,1737054867.784 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2025-01-16T19:14:27.784Z,1737054867.784 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:14:27.801Z,1737054867.801 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:14:28.201Z,1737054868.201 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:14:28.201Z,1737054868.201 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2025-01-16T19:14:37.105Z,1737054877.105 [sink:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 1974
2025-01-16T19:16:28.985Z,1737054988.985 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:16:28.985Z,1737054988.985 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2025-01-16T19:16:28.985Z,1737054988.985 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:16:29.087Z,1737054989.087 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:16:29.400Z,1737054989.400 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:16:29.401Z,1737054989.401 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2025-01-16T19:17:07.774Z,1737055027.774 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-01-16T19:17:07.775Z,1737055027.775 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-01-16T19:17:07.775Z,1737055027.775 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-01-16T19:17:07.775Z,1737055027.775 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-01-16T19:17:07.775Z,1737055027.775 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-01-16T19:17:07.775Z,1737055027.775 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-01-16T19:17:07.775Z,1737055027.775 [sink:RunSink:BallastAndTrim:GoToTargetDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-01-16T19:17:07.775Z,1737055027.775 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Stopped
2025-01-16T19:17:07.775Z,1737055027.775 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-01-16T19:17:07.776Z,1737055027.776 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-01-16T19:17:07.776Z,1737055027.776 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-01-16T19:17:07.776Z,1737055027.776 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-01-16T19:17:07.776Z,1737055027.776 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-01-16T19:17:07.776Z,1737055027.776 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-01-16T19:17:07.776Z,1737055027.776 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-01-16T19:17:07.776Z,1737055027.776 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-01-16T19:17:07.776Z,1737055027.776 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-01-16T19:17:08.175Z,1737055028.175 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  30.025154 m 
2025-01-16T19:17:08.175Z,1737055028.175 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-01-16T19:17:08.175Z,1737055028.175 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-01-16T19:17:08.175Z,1737055028.175 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-01-16T19:17:08.176Z,1737055028.176 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-01-16T19:17:08.176Z,1737055028.176 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-01-16T19:18:30.179Z,1737055110.179 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:18:30.180Z,1737055110.180 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2025-01-16T19:18:30.180Z,1737055110.180 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:18:30.248Z,1737055110.248 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:18:30.731Z,1737055110.731 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:18:30.731Z,1737055110.731 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2025-01-16T19:20:31.377Z,1737055231.377 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:20:31.377Z,1737055231.377 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2025-01-16T19:20:31.377Z,1737055231.377 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:20:31.451Z,1737055231.451 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:20:31.939Z,1737055231.939 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:20:31.939Z,1737055231.939 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2025-01-16T19:22:32.583Z,1737055352.583 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:22:32.583Z,1737055352.583 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2025-01-16T19:22:32.583Z,1737055352.583 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:22:32.731Z,1737055352.731 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:22:33.032Z,1737055353.032 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:22:33.032Z,1737055353.032 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2025-01-16T19:24:33.785Z,1737055473.785 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:24:33.785Z,1737055473.785 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2025-01-16T19:24:33.785Z,1737055473.785 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:24:33.855Z,1737055473.855 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:24:34.239Z,1737055474.239 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:24:34.239Z,1737055474.239 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2025-01-16T19:26:34.983Z,1737055594.983 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:26:34.983Z,1737055594.983 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2025-01-16T19:26:34.983Z,1737055594.983 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:26:35.151Z,1737055595.151 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:26:35.408Z,1737055595.408 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:26:35.408Z,1737055595.408 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2025-01-16T19:28:36.183Z,1737055716.183 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:28:36.183Z,1737055716.183 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2025-01-16T19:28:36.183Z,1737055716.183 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:28:36.201Z,1737055716.201 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:28:36.605Z,1737055716.605 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:28:36.605Z,1737055716.605 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2025-01-16T19:30:37.389Z,1737055837.389 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:30:37.389Z,1737055837.389 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2025-01-16T19:30:37.389Z,1737055837.389 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:30:37.433Z,1737055837.433 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:30:37.801Z,1737055837.801 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:30:37.801Z,1737055837.801 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2025-01-16T19:32:38.593Z,1737055958.593 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:32:38.593Z,1737055958.593 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2025-01-16T19:32:38.593Z,1737055958.593 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:32:38.647Z,1737055958.647 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:32:39.050Z,1737055959.050 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:32:39.050Z,1737055959.050 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2025-01-16T19:34:39.787Z,1737056079.787 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:34:39.787Z,1737056079.787 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2025-01-16T19:34:39.787Z,1737056079.787 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:34:39.951Z,1737056079.951 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:34:40.339Z,1737056080.339 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:34:40.339Z,1737056080.339 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2025-01-16T19:36:40.987Z,1737056200.987 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:36:40.987Z,1737056200.987 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14
2025-01-16T19:36:40.987Z,1737056200.987 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:36:41.005Z,1737056201.005 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:36:41.405Z,1737056201.405 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:36:41.405Z,1737056201.405 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14
2025-01-16T19:38:42.187Z,1737056322.187 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:38:42.187Z,1737056322.187 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 15
2025-01-16T19:38:42.187Z,1737056322.187 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:38:42.255Z,1737056322.255 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:38:42.643Z,1737056322.643 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:38:42.643Z,1737056322.643 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 15
2025-01-16T19:40:43.396Z,1737056443.396 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:40:43.397Z,1737056443.397 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 16
2025-01-16T19:40:43.397Z,1737056443.397 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:40:43.437Z,1737056443.437 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:40:43.809Z,1737056443.809 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:40:43.809Z,1737056443.809 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 16
2025-01-16T19:42:44.588Z,1737056564.588 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:42:44.588Z,1737056564.588 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 17
2025-01-16T19:42:44.588Z,1737056564.588 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:42:44.612Z,1737056564.612 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:42:45.017Z,1737056565.017 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:42:45.018Z,1737056565.018 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 17
2025-01-16T19:44:45.788Z,1737056685.788 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:44:45.788Z,1737056685.788 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 18
2025-01-16T19:44:45.788Z,1737056685.788 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:44:45.943Z,1737056685.943 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:44:46.351Z,1737056686.351 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:44:46.351Z,1737056686.351 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 18
2025-01-16T19:46:46.987Z,1737056806.987 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:46:46.987Z,1737056806.987 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 19
2025-01-16T19:46:46.987Z,1737056806.987 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:46:47.147Z,1737056807.147 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:46:47.551Z,1737056807.551 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T19:46:47.551Z,1737056807.551 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 19
2025-01-16T19:48:48.181Z,1737056928.181 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T19:48:48.181Z,1737056928.181 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 20
2025-01-16T19:48:48.181Z,1737056928.181 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T19:48:48.231Z,1737056928.231 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T19:48:48.232Z,1737056928.232 [CBIT](FAULT): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T20:03:48.467Z,1737057828.467 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T20:03:48.467Z,1737057828.467 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 20
2025-01-16T20:05:48.711Z,1737057948.711 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T20:05:48.711Z,1737057948.711 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-01-16T20:05:48.711Z,1737057948.711 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T20:05:48.754Z,1737057948.754 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T20:05:49.137Z,1737057949.137 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T20:05:49.137Z,1737057949.137 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-01-16T20:07:49.904Z,1737058069.904 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T20:07:49.904Z,1737058069.904 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2025-01-16T20:07:49.904Z,1737058069.904 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T20:07:49.925Z,1737058069.925 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T20:07:50.333Z,1737058070.333 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T20:07:50.333Z,1737058070.333 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2025-01-16T20:09:04.642Z,1737058144.642 [sink:RunSink](INFO): Timed out from 2025-01-16T19:09:04.6Z
2025-01-16T20:09:04.642Z,1737058144.642 [sink:RunSink] Stopped
2025-01-16T20:09:04.642Z,1737058144.642 [sink:RunSink](DEBUG): Aggregate::uninitialize sink:RunSink
2025-01-16T20:09:04.642Z,1737058144.642 [sink:RunSink:BallastAndTrim] Stopped
2025-01-16T20:09:04.642Z,1737058144.642 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim
2025-01-16T20:09:04.642Z,1737058144.642 [sink:RunSink:BallastAndTrim:A] Stopped
2025-01-16T20:09:04.643Z,1737058144.643 [sink:RunSink:BallastAndTrim:B] Stopped
2025-01-16T20:09:04.643Z,1737058144.643 [sink:RunSink:BallastAndTrim:C] Stopped
2025-01-16T20:09:04.643Z,1737058144.643 [sink:RunSink:BallastAndTrim:D] Stopped
2025-01-16T20:09:04.643Z,1737058144.643 [sink:RunSink:BallastAndTrim:E] Stopped
2025-01-16T20:09:04.643Z,1737058144.643 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-01-16T20:09:04.643Z,1737058144.643 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-01-16T20:09:04.643Z,1737058144.643 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-01-16T20:09:04.643Z,1737058144.643 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-01-16T20:09:04.643Z,1737058144.643 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-01-16T20:09:04.643Z,1737058144.643 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-01-16T20:09:04.643Z,1737058144.643 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T20:09:04.643Z,1737058144.643 [sink:RunSink:JustSink] Stopped
2025-01-16T20:09:04.643Z,1737058144.643 [sink:RunSink:JustSink](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink
2025-01-16T20:09:04.643Z,1737058144.643 [sink:RunSink:JustSink:C] Stopped
2025-01-16T20:09:04.644Z,1737058144.644 [sink:RunSink:JustSink:C](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink:C
2025-01-16T20:09:04.644Z,1737058144.644 [sink:FloatUp] Running Loop=1
2025-01-16T20:09:04.644Z,1737058144.644 [sink:FloatUp](DEBUG): Aggregate::initialize sink:FloatUp
2025-01-16T20:09:04.644Z,1737058144.644 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-01-16T20:09:04.644Z,1737058144.644 [sink:FloatUp:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-16T20:09:04.644Z,1737058144.644 [sink:FloatUp:B.Wait] Running Loop=1
2025-01-16T20:09:04.644Z,1737058144.644 [sink:FloatUp:B.Wait](DEBUG): Initialize Wait Component.
2025-01-16T20:09:05.051Z,1737058145.051 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-01-16T20:09:50.752Z,1737058190.752 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T20:09:50.752Z,1737058190.752 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2025-01-16T20:09:50.752Z,1737058190.752 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T20:09:50.819Z,1737058190.819 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T20:09:51.179Z,1737058191.179 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T20:09:51.179Z,1737058191.179 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2025-01-16T20:11:15.574Z,1737058275.574 [BuoyancyServo](FAULT): Overload Error
2025-01-16T20:11:15.574Z,1737058275.574 [BuoyancyServo] Hardware Fault, FailCount= 1
2025-01-16T20:11:15.574Z,1737058275.574 [BuoyancyServo](ERROR): Hardware Fault
2025-01-16T20:11:15.689Z,1737058275.689 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2025-01-16T20:11:17.576Z,1737058277.576 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-01-16T20:11:17.576Z,1737058277.576 [BuoyancyServo](INFO): Powering down
2025-01-16T20:11:18.380Z,1737058278.380 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2025-01-16T20:11:18.380Z,1737058278.380 [BuoyancyServo] No Fault, FailCount= 1
2025-01-16T20:11:18.784Z,1737058278.784 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-01-16T20:11:18.785Z,1737058278.785 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-01-16T20:11:51.911Z,1737058311.911 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T20:11:51.911Z,1737058311.911 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2025-01-16T20:11:51.911Z,1737058311.911 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T20:11:51.959Z,1737058311.959 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T20:11:52.347Z,1737058312.347 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T20:11:52.347Z,1737058312.347 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2025-01-16T20:13:10.290Z,1737058390.290 [sink:FloatUp] Stopped
2025-01-16T20:13:10.290Z,1737058390.290 [sink:FloatUp](DEBUG): Aggregate::uninitialize sink:FloatUp
2025-01-16T20:13:10.290Z,1737058390.290 [sink:FloatUp:A.Buoyancy] Stopped
2025-01-16T20:13:10.290Z,1737058390.290 [sink:FloatUp:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-16T20:13:10.291Z,1737058390.291 [sink:FloatUp:B.Wait] Stopped
2025-01-16T20:13:10.291Z,1737058390.291 [sink:FloatUp:B.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T20:13:10.291Z,1737058390.291 [sink:EndingMission] Running Loop=1
2025-01-16T20:13:10.291Z,1737058390.291 [sink:EndingMission](DEBUG): Aggregate::initialize sink:EndingMission
2025-01-16T20:13:10.699Z,1737058390.699 [sink:NeedComms] Running Loop=1
2025-01-16T20:13:10.699Z,1737058390.699 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-01-16T20:13:10.699Z,1737058390.699 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-01-16T20:13:10.699Z,1737058390.699 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T20:13:10.700Z,1737058390.700 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-16T20:13:10.700Z,1737058390.700 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-16T20:13:10.700Z,1737058390.700 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-16T20:13:10.701Z,1737058390.701 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-16T20:13:10.701Z,1737058390.701 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T20:13:10.701Z,1737058390.701 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T20:13:10.702Z,1737058390.702 [sink:NeedComms:A] Running Loop=1
2025-01-16T20:13:10.703Z,1737058390.703 [sink:NeedComms:A](INFO): last time_fix was:  1737054543.000000 second since 1970/01/01T00:00:00Z 
2025-01-16T20:13:10.703Z,1737058390.703 [sink:NeedComms:A] Stopped
2025-01-16T20:13:11.210Z,1737058391.210 [Radio_Surface](INFO): Powering up
2025-01-16T20:13:16.987Z,1737058396.987 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-16T20:13:19.188Z,1737058399.188 [sink:NeedComms:C] Running Loop=1
2025-01-16T20:13:47.107Z,1737058427.107 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T20:13:52.718Z,1737058432.718 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T20:13:52.718Z,1737058432.718 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2025-01-16T20:13:52.718Z,1737058432.718 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T20:13:52.758Z,1737058432.758 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T20:13:53.146Z,1737058433.146 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T20:13:53.146Z,1737058433.146 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2025-01-16T20:14:11.695Z,1737058451.695 [NAL9602](INFO): SBD MO Status=0, MOMSN=11895, MT Status=0, MTMSN=0
2025-01-16T20:14:11.695Z,1737058451.695 [NAL9602](INFO): No messages in MT queue
2025-01-16T20:14:12.907Z,1737058452.907 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201412.00,A,3648.48799,N,12152.39757,W,0.311,277.36,160125,,,A*75
2025-01-16T20:14:12.909Z,1737058452.909 [NAL9602](INFO): GPS fix at 20250116T201412: (36.808133, -121.873293)
2025-01-16T20:14:12.919Z,1737058452.919 [sink:NeedComms:C] Stopped
2025-01-16T20:14:12.920Z,1737058452.920 [sink:NeedComms:D] Running Loop=1
2025-01-16T20:14:18.247Z,1737058458.247 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T20:14:22.649Z,1737058462.649 [NAL9602](INFO): SBD MO Status=1, MOMSN=11896, MT Status=0, MTMSN=0
2025-01-16T20:14:22.702Z,1737058462.702 [NAL9602](INFO): Sent 72 bytes from file Logs/20250116T183140/Courier0022.lzma
2025-01-16T20:14:22.703Z,1737058462.703 [NAL9602](INFO): Packets left to send: 0
2025-01-16T20:14:38.465Z,1737058478.465 [NAL9602](INFO): SBD MO Status=1, MOMSN=11897, MT Status=0, MTMSN=0
2025-01-16T20:14:38.515Z,1737058478.515 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T183140/Express0023.lzma
2025-01-16T20:14:38.515Z,1737058478.515 [NAL9602](INFO): Packets left to send: 2
2025-01-16T20:14:49.371Z,1737058489.371 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T20:14:53.117Z,1737058493.117 [NAL9602](INFO): SBD MO Status=2, MOMSN=11898, MT Status=2, MTMSN=0
2025-01-16T20:14:53.117Z,1737058493.117 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-16T20:15:10.223Z,1737058510.223 [NAL9602](INFO): SBD MO Status=1, MOMSN=11898, MT Status=0, MTMSN=0
2025-01-16T20:15:10.276Z,1737058510.276 [NAL9602](INFO): Sent 332 bytes from file Logs/20250116T183140/Express0023.lzma
2025-01-16T20:15:10.276Z,1737058510.276 [NAL9602](INFO): Packets left to send: 1
2025-01-16T20:15:20.495Z,1737058520.495 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-16T20:15:21.174Z,1737058521.174 [NAL9602](INFO): SBD MO Status=1, MOMSN=11899, MT Status=0, MTMSN=0
2025-01-16T20:15:21.230Z,1737058521.230 [NAL9602](INFO): Sent 70 bytes from file Logs/20250116T183140/Express0023.lzma
2025-01-16T20:15:21.231Z,1737058521.231 [NAL9602](INFO): Packets left to send: 0
2025-01-16T20:15:29.959Z,1737058529.959 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003074
2025-01-16T20:15:31.295Z,1737058531.295 [sink:NeedComms:D] Stopped
2025-01-16T20:15:31.296Z,1737058531.296 [sink:NeedComms:E] Running Loop=1
2025-01-16T20:15:32.089Z,1737058532.089 [NAL9602](INFO): SBD MO Status=0, MOMSN=11900, MT Status=0, MTMSN=0
2025-01-16T20:15:33.301Z,1737058533.301 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201532.00,A,3648.51738,N,12152.30994,W,0.039,276.04,160125,,,D*71
2025-01-16T20:15:33.303Z,1737058533.303 [NAL9602](INFO): GPS fix at 20250116T201532: (36.808623, -121.871832)
2025-01-16T20:15:33.309Z,1737058533.309 [DeadReckonUsingMultipleVelocitySources](INFO): Failure count cleared after critical for DeadReckonUsingMultipleVelocitySources
2025-01-16T20:15:33.339Z,1737058533.339 [sink:NeedComms:E] Stopped
2025-01-16T20:15:33.340Z,1737058533.340 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-01-16T20:15:33.340Z,1737058533.340 [sink:NeedComms] Stopped
2025-01-16T20:15:33.340Z,1737058533.340 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-01-16T20:15:33.340Z,1737058533.340 [sink:NeedComms:B.GoToSurface] Stopped
2025-01-16T20:15:33.340Z,1737058533.340 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T20:15:33.735Z,1737058533.735 [sink:EndingMission](INFO): Completed sink:EndingMission
2025-01-16T20:15:33.735Z,1737058533.735 [sink:EndingMission] Stopped
2025-01-16T20:15:33.736Z,1737058533.736 [sink:EndingMission](DEBUG): Aggregate::uninitialize sink:EndingMission
2025-01-16T20:15:33.740Z,1737058533.740 [sink](INFO): Completed sink
2025-01-16T20:15:33.740Z,1737058533.740 [MissionManager](INFO): sink is completed.
2025-01-16T20:15:33.741Z,1737058533.741 [MissionManager](INFO): Uninitializing Mission sink
2025-01-16T20:15:33.741Z,1737058533.741 [sink] Stopped
2025-01-16T20:15:33.741Z,1737058533.741 [sink](DEBUG): Aggregate::uninitialize sink
2025-01-16T20:15:33.741Z,1737058533.741 [sink:Science] Stopped
2025-01-16T20:15:33.741Z,1737058533.741 [sink:Science](DEBUG): Aggregate::uninitialize sink:Science
2025-01-16T20:15:33.741Z,1737058533.741 [sink:Science:OceanCurrent] Stopped
2025-01-16T20:15:33.741Z,1737058533.741 [sink:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sink:Science:OceanCurrent
2025-01-16T20:15:33.741Z,1737058533.741 [sink:Science:OceanCurrent:A.] Stopped
2025-01-16T20:15:33.741Z,1737058533.741 [sink:StandardEnvelopes] Stopped
2025-01-16T20:15:33.741Z,1737058533.741 [sink:StandardEnvelopes](DEBUG): Aggregate::uninitialize sink:StandardEnvelopes
2025-01-16T20:15:33.742Z,1737058533.742 [sink:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-16T20:15:33.742Z,1737058533.742 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-16T20:15:33.742Z,1737058533.742 [sink:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-16T20:15:33.742Z,1737058533.742 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-16T20:15:33.742Z,1737058533.742 [sink:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-16T20:15:33.742Z,1737058533.742 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-16T20:15:33.742Z,1737058533.742 [sink:BackseatDriver] Stopped
2025-01-16T20:15:33.742Z,1737058533.742 [sink:BackseatDriver](DEBUG): Aggregate::uninitialize sink:BackseatDriver
2025-01-16T20:15:33.742Z,1737058533.742 [sink:BackseatDriver:A.BackseatDriver] Stopped
2025-01-16T20:15:33.742Z,1737058533.742 [sink:PowerOnly] Stopped
2025-01-16T20:15:33.742Z,1737058533.742 [sink:PowerOnly](DEBUG): Aggregate::uninitialize sink:PowerOnly
2025-01-16T20:15:33.743Z,1737058533.743 [sink:PowerOnly:E.Wait] Stopped
2025-01-16T20:15:33.743Z,1737058533.743 [sink:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T20:15:34.011Z,1737058534.011 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-01-16T20:15:34.011Z,1737058534.011 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-01-16T20:15:34.099Z,1737058534.099 [BioacousticsDataBridge](DEBUG): Backseat LCM timeout, waiting for message to resume
2025-01-16T20:15:34.123Z,1737058534.123 [MissionManager](IMPORTANT): Started mission Default
2025-01-16T20:15:34.124Z,1737058534.124 [Default] Running Loop=1
2025-01-16T20:15:34.124Z,1737058534.124 [Default](DEBUG): Aggregate::initialize Default
2025-01-16T20:15:34.124Z,1737058534.124 [Default:B.GoToSurface] Running Loop=1
2025-01-16T20:15:34.124Z,1737058534.124 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T20:15:34.124Z,1737058534.124 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T20:15:34.124Z,1737058534.124 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T20:15:34.125Z,1737058534.125 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T20:15:34.125Z,1737058534.125 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T20:15:34.125Z,1737058534.125 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T20:15:34.126Z,1737058534.126 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T20:15:34.126Z,1737058534.126 [Default:A.Wait] Running Loop=1
2025-01-16T20:15:34.126Z,1737058534.126 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-16T20:15:47.446Z,1737058547.446 [Default:A.Wait](INFO): Done Waiting.
2025-01-16T20:15:47.446Z,1737058547.446 [Default:A.Wait] Stopped
2025-01-16T20:15:47.446Z,1737058547.446 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T20:15:47.852Z,1737058547.852 [Default:CheckIn] Running Loop=1
2025-01-16T20:15:47.852Z,1737058547.852 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T20:15:47.853Z,1737058547.853 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T20:15:49.865Z,1737058549.865 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201549.00,A,3648.51752,N,12152.31175,W,0.136,275.76,160125,,,D*7F
2025-01-16T20:15:49.867Z,1737058549.867 [NAL9602](INFO): GPS fix at 20250116T201549: (36.808625, -121.871863)
2025-01-16T20:15:49.875Z,1737058549.875 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T20:15:49.875Z,1737058549.875 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T20:15:52.027Z,1737058552.027 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-01-16T20:15:52.027Z,1737058552.027 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-01-16T20:15:52.028Z,1737058552.028 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-01-16T20:15:53.905Z,1737058553.905 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T20:15:53.905Z,1737058553.905 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-01-16T20:15:53.905Z,1737058553.905 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T20:15:53.948Z,1737058553.948 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T20:15:54.318Z,1737058554.318 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T20:15:54.318Z,1737058554.318 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-01-16T20:15:58.590Z,1737058558.590 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250116T183140/Courier0025.lzma
2025-01-16T20:15:59.592Z,1737058559.592 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Courier0025.lzma.bak
2025-01-16T20:15:59.592Z,1737058559.592 [DataOverHttps](INFO): SBD MOMSN=23911783
2025-01-16T20:16:14.962Z,1737058574.962 [DataOverHttps](INFO): Sending 114 bytes from file Logs/20250116T183140/Express0026.lzma
2025-01-16T20:16:16.972Z,1737058576.972 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Express0026.lzma.bak
2025-01-16T20:16:16.972Z,1737058576.972 [DataOverHttps](INFO): SBD MOMSN=23911787
2025-01-16T20:16:18.568Z,1737058578.568 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T20:16:18.568Z,1737058578.568 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-16T20:16:18.568Z,1737058578.568 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T20:16:22.611Z,1737058582.611 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T20:17:54.773Z,1737058674.773 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T20:17:54.773Z,1737058674.773 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2025-01-16T20:17:54.773Z,1737058674.773 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T20:17:54.804Z,1737058674.804 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T20:17:55.222Z,1737058675.222 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T20:17:55.222Z,1737058675.222 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2025-01-16T20:19:55.980Z,1737058795.980 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T20:19:55.980Z,1737058795.980 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2025-01-16T20:19:55.980Z,1737058795.980 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T20:19:55.991Z,1737058795.991 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T20:19:56.389Z,1737058796.389 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T20:19:56.389Z,1737058796.389 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2025-01-16T20:21:19.203Z,1737058879.203 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-01-16T20:21:19.204Z,1737058879.204 [Default:CheckIn:C.Wait] Stopped
2025-01-16T20:21:19.204Z,1737058879.204 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T20:21:19.204Z,1737058879.204 [Default:CheckIn:D] Running Loop=1
2025-01-16T20:21:19.616Z,1737058879.616 [Default:CheckIn:D] Stopped
2025-01-16T20:21:19.616Z,1737058879.616 [Default:CheckIn:E] Running Loop=1
2025-01-16T20:21:20.023Z,1737058880.023 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  5.758207 min 
2025-01-16T20:21:20.023Z,1737058880.023 [Default:CheckIn:E] Stopped
2025-01-16T20:21:20.023Z,1737058880.023 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-01-16T20:21:20.023Z,1737058880.023 [Default:CheckIn] Stopped
2025-01-16T20:21:20.023Z,1737058880.023 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T20:21:20.023Z,1737058880.023 [Default:CheckIn](INFO): Running loop #2
2025-01-16T20:21:20.023Z,1737058880.023 [Default:CheckIn] Running Loop=2
2025-01-16T20:21:20.023Z,1737058880.023 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-16T20:21:20.023Z,1737058880.023 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-16T20:21:22.033Z,1737058882.033 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202121.00,A,3648.52441,N,12152.35364,W,0.369,276.66,160125,,,D*78
2025-01-16T20:21:22.035Z,1737058882.035 [NAL9602](INFO): GPS fix at 20250116T202121: (36.808740, -121.872561)
2025-01-16T20:21:22.061Z,1737058882.061 [Default:CheckIn:Read_GPS] Stopped
2025-01-16T20:21:22.062Z,1737058882.062 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T20:21:28.848Z,1737058888.848 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250116T183140/Courier0028.lzma
2025-01-16T20:21:29.876Z,1737058889.876 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Courier0028.lzma.bak
2025-01-16T20:21:29.877Z,1737058889.877 [DataOverHttps](INFO): SBD MOMSN=23911796
2025-01-16T20:21:32.537Z,1737058892.537 [NAL9602](INFO): SBD MO Status=0, MOMSN=11901, MT Status=0, MTMSN=0
2025-01-16T20:21:32.537Z,1737058892.537 [NAL9602](INFO): No messages in MT queue
2025-01-16T20:21:46.302Z,1737058906.302 [DataOverHttps](INFO): Sending 246 bytes from file Logs/20250116T183140/Express0029.lzma
2025-01-16T20:21:47.304Z,1737058907.304 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Express0029.lzma.bak
2025-01-16T20:21:47.304Z,1737058907.304 [DataOverHttps](INFO): SBD MOMSN=23911799
2025-01-16T20:21:48.711Z,1737058908.711 [Default:CheckIn:Read_Iridium] Stopped
2025-01-16T20:21:48.711Z,1737058908.711 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-16T20:21:48.712Z,1737058908.712 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T20:21:55.604Z,1737058915.604 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T202154
2025-01-16T20:21:56.787Z,1737058916.787 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T20:21:56.787Z,1737058916.787 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-01-16T20:21:56.787Z,1737058916.787 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T20:21:56.820Z,1737058916.820 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T20:21:57.202Z,1737058917.202 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T20:21:57.202Z,1737058917.202 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-01-16T20:22:03.243Z,1737058923.243 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T20:22:06.014Z,1737058926.014 [DataOverHttps](INFO): Received command: run Maintenance/run_backseat_on_surface.tl
2025-01-16T20:22:06.146Z,1737058926.146 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/run_backseat_on_surface.tl
2025-01-16T20:22:06.147Z,1737058926.147 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-01-16T20:22:06.147Z,1737058926.147 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-01-16T20:22:06.150Z,1737058926.150 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/run_backseat_on_surface.tl
2025-01-16T20:22:08.135Z,1737058928.135 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/run_backseat_on_surface.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="run_backseat_on_surface">
    <DefineArg Name="ElapsedSinceMissionStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Insert Id="Science" Filename="Insert/Science.tl" />
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Sequence />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceMissionStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            run_backseat_on_surface mission has been running for 
            <Arg Name="ElapsedSinceMissionStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and run_backseat_on_surface mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-01-16T20:22:08.140Z,1737058928.140 [MissionManager](INFO): DefineArg run_backseat_on_surface.ElapsedSinceMissionStarted = 0.000000 min
2025-01-16T20:22:08.141Z,1737058928.141 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-01-16T20:22:08.141Z,1737058928.141 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-01-16T20:22:08.150Z,1737058928.150 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-01-16T20:22:09.892Z,1737058929.892 [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>

2025-01-16T20:22:09.910Z,1737058929.910 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectChlActive = 0 bool
2025-01-16T20:22:09.913Z,1737058929.913 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.TimeWindowPeakReport = nan min
2025-01-16T20:22:09.915Z,1737058929.915 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestChlPeakReportActive = 0 bool
2025-01-16T20:22:09.918Z,1737058929.918 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestSaltPeakReportActive = 0 bool
2025-01-16T20:22:09.921Z,1737058929.921 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.HighestOilPeakReportActive = 0 bool
2025-01-16T20:22:09.924Z,1737058929.924 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PatchTracking = 0 bool
2025-01-16T20:22:09.927Z,1737058929.927 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.FilterWidthHorizontal = 3.000000 count
2025-01-16T20:22:09.930Z,1737058929.930 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumProfilesSlidingwindow = 100.000000 count
2025-01-16T20:22:09.933Z,1737058929.933 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.OffPeakFractionHorizontal = 80.000000 %
2025-01-16T20:22:09.936Z,1737058929.936 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectNO3Active = 0 bool
2025-01-16T20:22:09.938Z,1737058929.938 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectOilActive = 0 bool
2025-01-16T20:22:09.941Z,1737058929.941 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectFDOMActive = 0 bool
2025-01-16T20:22:09.977Z,1737058929.977 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectSalinityActive = 0 bool
2025-01-16T20:22:09.980Z,1737058929.980 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-01-16T20:22:09.982Z,1737058929.982 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-01-16T20:22:09.985Z,1737058929.985 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-01-16T20:22:09.988Z,1737058929.988 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-01-16T20:22:10.008Z,1737058930.008 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-01-16T20:22:10.012Z,1737058930.012 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledAanderaaO2 = 0 bool
2025-01-16T20:22:10.016Z,1737058930.016 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledNeilBrown = 0 bool
2025-01-16T20:22:10.022Z,1737058930.022 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledSeabird = 0 bool
2025-01-16T20:22:10.025Z,1737058930.025 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsBB2FL = 0 bool
2025-01-16T20:22:10.029Z,1737058930.029 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-01-16T20:22:10.053Z,1737058930.053 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.EnabledWetLabsUBAT = 0 bool
2025-01-16T20:22:10.056Z,1737058930.056 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.LowPassWindowLength = 20.000000 count
2025-01-16T20:22:10.059Z,1737058930.059 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.MedianFilterLen = 5.000000 count
2025-01-16T20:22:10.087Z,1737058930.087 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakShallowBound = nan m
2025-01-16T20:22:10.091Z,1737058930.091 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.PeakDeepBound = nan m
2025-01-16T20:22:10.094Z,1737058930.094 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-01-16T20:22:10.096Z,1737058930.096 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlThreshTriggerActive = 0 bool
2025-01-16T20:22:10.132Z,1737058930.132 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlLowerThresh = nan ug/l
2025-01-16T20:22:10.135Z,1737058930.135 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.ChlUpperThresh = nan ug/l
2025-01-16T20:22:10.138Z,1737058930.138 [MissionManager](INFO): DefineArg run_backseat_on_surface:Science.NumProfilesThresh = 5.000000 count
2025-01-16T20:22:10.141Z,1737058930.141 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChl = nan ug/l
2025-01-16T20:22:10.168Z,1737058930.168 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlDepth = nan m
2025-01-16T20:22:10.171Z,1737058930.171 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlTemperature = nan degC
2025-01-16T20:22:10.184Z,1737058930.184 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlLatitude = nan arcdeg
2025-01-16T20:22:10.188Z,1737058930.188 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakChlLongitude = nan arcdeg
2025-01-16T20:22:10.191Z,1737058930.191 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3 = nan umol/l
2025-01-16T20:22:10.194Z,1737058930.194 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Depth = nan m
2025-01-16T20:22:10.205Z,1737058930.205 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Latitude = nan arcdeg
2025-01-16T20:22:10.208Z,1737058930.208 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakNO3Longitude = nan arcdeg
2025-01-16T20:22:10.220Z,1737058930.220 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOil = nan kg/m3
2025-01-16T20:22:10.223Z,1737058930.223 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilDepth = nan m
2025-01-16T20:22:10.248Z,1737058930.248 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilLatitude = nan arcdeg
2025-01-16T20:22:10.251Z,1737058930.251 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakOilLongitude = nan arcdeg
2025-01-16T20:22:10.254Z,1737058930.254 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOM = nan ppb
2025-01-16T20:22:10.258Z,1737058930.258 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMDepth = nan m
2025-01-16T20:22:10.274Z,1737058930.274 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMTemperature = nan degC
2025-01-16T20:22:10.277Z,1737058930.277 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMLatitude = nan arcdeg
2025-01-16T20:22:10.280Z,1737058930.280 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakFDOMLongitude = nan arcdeg
2025-01-16T20:22:10.307Z,1737058930.307 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSalt = nan psu
2025-01-16T20:22:10.310Z,1737058930.310 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltDepth = nan m
2025-01-16T20:22:10.313Z,1737058930.313 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltTemperature = nan degC
2025-01-16T20:22:10.317Z,1737058930.317 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltLatitude = nan arcdeg
2025-01-16T20:22:10.340Z,1737058930.340 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakSaltLongitude = nan arcdeg
2025-01-16T20:22:10.343Z,1737058930.343 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-01-16T20:22:10.350Z,1737058930.350 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-01-16T20:22:10.353Z,1737058930.353 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-01-16T20:22:10.357Z,1737058930.357 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-01-16T20:22:10.376Z,1737058930.376 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-01-16T20:22:10.379Z,1737058930.379 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-01-16T20:22:10.382Z,1737058930.382 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-01-16T20:22:10.386Z,1737058930.386 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-01-16T20:22:10.411Z,1737058930.411 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-01-16T20:22:10.415Z,1737058930.415 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-01-16T20:22:10.418Z,1737058930.418 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-01-16T20:22:10.455Z,1737058930.455 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-01-16T20:22:10.475Z,1737058930.475 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-01-16T20:22:10.486Z,1737058930.486 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-01-16T20:22:10.490Z,1737058930.490 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-01-16T20:22:10.493Z,1737058930.493 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-01-16T20:22:10.497Z,1737058930.497 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-01-16T20:22:10.534Z,1737058930.534 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-01-16T20:22:10.537Z,1737058930.537 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-01-16T20:22:10.540Z,1737058930.540 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-01-16T20:22:10.560Z,1737058930.560 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChl = nan ug/l
2025-01-16T20:22:10.565Z,1737058930.565 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlDepth = nan m
2025-01-16T20:22:10.568Z,1737058930.568 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlLatitude = nan arcdeg
2025-01-16T20:22:10.588Z,1737058930.588 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlLongitude = nan arcdeg
2025-01-16T20:22:10.596Z,1737058930.596 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchChlDistance = nan m
2025-01-16T20:22:10.600Z,1737058930.600 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSalt = nan psu
2025-01-16T20:22:10.603Z,1737058930.603 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltDepth = nan m
2025-01-16T20:22:10.621Z,1737058930.621 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltLatitude = nan arcdeg
2025-01-16T20:22:10.624Z,1737058930.624 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltLongitude = nan arcdeg
2025-01-16T20:22:10.627Z,1737058930.627 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchSaltDistance = nan m
2025-01-16T20:22:10.648Z,1737058930.648 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOil = nan psu
2025-01-16T20:22:10.653Z,1737058930.653 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilDepth = nan m
2025-01-16T20:22:10.656Z,1737058930.656 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilLatitude = nan arcdeg
2025-01-16T20:22:10.660Z,1737058930.660 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilLongitude = nan arcdeg
2025-01-16T20:22:10.675Z,1737058930.675 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.PatchOilDistance = nan m
2025-01-16T20:22:10.678Z,1737058930.678 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.TriggeredOnChl = 0 bool
2025-01-16T20:22:10.689Z,1737058930.689 [MissionManager](INFO): DefineOutput run_backseat_on_surface:Science.ChlTriggering = nan ug/l
2025-01-16T20:22:10.734Z,1737058930.734 [run_backseat_on_surface:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T20:22:10.775Z,1737058930.775 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T20:22:10.807Z,1737058930.807 [run_backseat_on_surface:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T20:22:10.822Z,1737058930.822 [run_backseat_on_surface:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T20:22:10.850Z,1737058930.850 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T20:22:10.879Z,1737058930.879 [run_backseat_on_surface:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T20:22:10.943Z,1737058930.943 [run_backseat_on_surface:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T20:22:10.963Z,1737058930.963 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-16T20:22:11.002Z,1737058931.002 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T20:22:11.025Z,1737058931.025 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T20:22:11.063Z,1737058931.063 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T20:22:11.092Z,1737058931.092 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-16T20:22:11.124Z,1737058931.124 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-01-16T20:22:11.131Z,1737058931.131 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-16T20:22:11.131Z,1737058931.131 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-16T20:22:11.139Z,1737058931.139 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-16T20:22:11.174Z,1737058931.174 [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>

2025-01-16T20:22:11.196Z,1737058931.196 [MissionManager](INFO): DefineArg run_backseat_on_surface:BackseatDriver.EnableBackseat = 0 bool
2025-01-16T20:22:11.199Z,1737058931.199 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-16T20:22:11.203Z,1737058931.203 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-16T20:22:11.204Z,1737058931.204 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-16T20:22:11.205Z,1737058931.205 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-16T20:22:11.485Z,1737058931.485 [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>

2025-01-16T20:22:11.494Z,1737058931.494 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleAll = 0 bool
2025-01-16T20:22:11.501Z,1737058931.501 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad1 = 0 bool
2025-01-16T20:22:11.504Z,1737058931.504 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad2 = 0 bool
2025-01-16T20:22:11.517Z,1737058931.517 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.SampleLoad3 = 0 bool
2025-01-16T20:22:11.521Z,1737058931.521 [MissionManager](INFO): DefineArg run_backseat_on_surface:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-16T20:22:11.540Z,1737058931.540 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-16T20:22:11.543Z,1737058931.543 [run_backseat_on_surface:E.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-16T20:22:11.569Z,1737058931.569 [run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-01-16T20:22:11.572Z,1737058931.572 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-01-16T20:22:11.598Z,1737058931.598 [run_backseat_on_surface:H.Execute](DEBUG): Construct Execute.
2025-01-16T20:22:11.648Z,1737058931.648 [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 run_backseat_on_surface {
  arguments {
    ElapsedSinceMissionStarted = 0 minute
  }

  # Power the science payload.

  insert id="Science" Insert/Science.tl

  # Power the Backseat payload.

  insert Insert/BackseatDriver.tl

  assign in sequence BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

    readDatum id="Read_Iridium" {
      timeout duration=P2H {
        behavior Guidance:Execute {
          run in sequence

          set command = "Burn on"
        }

        syslog critical "Dropped weight due to communications timeout."
      }

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceMissionStarted = elapsed ( Universal:mission_started )

    syslog important "run_backseat_on_surface mission has been running for "
         + ElapsedSinceMissionStarted~minute
  }

  syslog important "Restarting logs and run_backseat_on_surface mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-01-16T20:22:11.676Z,1737058931.676 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/run_backseat_on_surface.tl
2025-01-16T20:22:11.735Z,1737058931.735 [Default] Stopped
2025-01-16T20:22:11.735Z,1737058931.735 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-16T20:22:11.735Z,1737058931.735 [Default:B.GoToSurface] Stopped
2025-01-16T20:22:11.735Z,1737058931.735 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T20:22:11.735Z,1737058931.735 [Default:CheckIn] Stopped
2025-01-16T20:22:11.735Z,1737058931.735 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-16T20:22:11.735Z,1737058931.735 [Default:CheckIn:C.Wait] Stopped
2025-01-16T20:22:11.735Z,1737058931.735 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T20:22:11.736Z,1737058931.736 [MissionManager](IMPORTANT): Started mission run_backseat_on_surface
2025-01-16T20:22:11.736Z,1737058931.736 [run_backseat_on_surface] Running Loop=1
2025-01-16T20:22:11.736Z,1737058931.736 [run_backseat_on_surface](DEBUG): Aggregate::initialize run_backseat_on_surface
2025-01-16T20:22:11.736Z,1737058931.736 [run_backseat_on_surface:Science] Running Loop=1
2025-01-16T20:22:11.736Z,1737058931.736 [run_backseat_on_surface:Science](DEBUG): Aggregate::initialize run_backseat_on_surface:Science
2025-01-16T20:22:11.736Z,1737058931.736 [run_backseat_on_surface:Science:A] Running Loop=1
2025-01-16T20:22:11.736Z,1737058931.736 [run_backseat_on_surface:Science:B] Running Loop=1
2025-01-16T20:22:11.736Z,1737058931.736 [run_backseat_on_surface:Science:C] Running Loop=1
2025-01-16T20:22:11.736Z,1737058931.736 [run_backseat_on_surface:Science:D] Running Loop=1
2025-01-16T20:22:11.736Z,1737058931.736 [run_backseat_on_surface:Science:E] Running Loop=1
2025-01-16T20:22:11.736Z,1737058931.736 [run_backseat_on_surface:Science:F] Running Loop=1
2025-01-16T20:22:11.737Z,1737058931.737 [run_backseat_on_surface:Science:Read_Oil] Running Loop=1
2025-01-16T20:22:11.737Z,1737058931.737 [run_backseat_on_surface:Science:PeakDetectChl] Running Loop=1
2025-01-16T20:22:11.737Z,1737058931.737 [run_backseat_on_surface:Science:PeakDetectChl](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectChl
2025-01-16T20:22:11.737Z,1737058931.737 [run_backseat_on_surface:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T20:22:11.737Z,1737058931.737 [run_backseat_on_surface:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T20:22:11.739Z,1737058931.739 [run_backseat_on_surface:Science:HighestChlPeakReport] Running Loop=1
2025-01-16T20:22:11.739Z,1737058931.739 [run_backseat_on_surface:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestChlPeakReport
2025-01-16T20:22:11.739Z,1737058931.739 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T20:22:11.739Z,1737058931.739 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T20:22:11.740Z,1737058931.740 [run_backseat_on_surface:Science:PeakDetectNO3] Running Loop=1
2025-01-16T20:22:11.740Z,1737058931.740 [run_backseat_on_surface:Science:PeakDetectNO3](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectNO3
2025-01-16T20:22:11.740Z,1737058931.740 [run_backseat_on_surface:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T20:22:11.740Z,1737058931.740 [run_backseat_on_surface:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T20:22:11.742Z,1737058931.742 [run_backseat_on_surface:Science:PeakDetectOil] Running Loop=1
2025-01-16T20:22:11.742Z,1737058931.742 [run_backseat_on_surface:Science:PeakDetectOil](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectOil
2025-01-16T20:22:11.743Z,1737058931.743 [run_backseat_on_surface:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T20:22:11.743Z,1737058931.743 [run_backseat_on_surface:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T20:22:11.745Z,1737058931.745 [run_backseat_on_surface:Science:HighestOilPeakReport] Running Loop=1
2025-01-16T20:22:11.745Z,1737058931.745 [run_backseat_on_surface:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestOilPeakReport
2025-01-16T20:22:11.745Z,1737058931.745 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T20:22:11.745Z,1737058931.745 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T20:22:11.745Z,1737058931.745 [run_backseat_on_surface:Science:PeakDetectFDOM] Running Loop=1
2025-01-16T20:22:11.745Z,1737058931.745 [run_backseat_on_surface:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectFDOM
2025-01-16T20:22:11.746Z,1737058931.746 [run_backseat_on_surface:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T20:22:11.746Z,1737058931.746 [run_backseat_on_surface:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T20:22:11.747Z,1737058931.747 [run_backseat_on_surface:Science:PeakDetectSalinity] Running Loop=1
2025-01-16T20:22:11.747Z,1737058931.747 [run_backseat_on_surface:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectSalinity
2025-01-16T20:22:11.747Z,1737058931.747 [run_backseat_on_surface:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T20:22:11.747Z,1737058931.747 [run_backseat_on_surface:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T20:22:11.749Z,1737058931.749 [run_backseat_on_surface:Science:HighestSaltPeakReport] Running Loop=1
2025-01-16T20:22:11.749Z,1737058931.749 [run_backseat_on_surface:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:HighestSaltPeakReport
2025-01-16T20:22:11.749Z,1737058931.749 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-16T20:22:11.749Z,1737058931.749 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-16T20:22:11.750Z,1737058931.750 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-01-16T20:22:11.750Z,1737058931.750 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI
2025-01-16T20:22:11.750Z,1737058931.750 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T20:22:11.750Z,1737058931.750 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T20:22:11.750Z,1737058931.750 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-16T20:22:11.751Z,1737058931.751 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-01-16T20:22:11.751Z,1737058931.751 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI
2025-01-16T20:22:11.752Z,1737058931.752 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T20:22:11.752Z,1737058931.752 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T20:22:11.752Z,1737058931.752 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-16T20:22:11.753Z,1737058931.753 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-01-16T20:22:11.753Z,1737058931.753 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms
2025-01-16T20:22:11.753Z,1737058931.753 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T20:22:11.753Z,1737058931.753 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T20:22:11.754Z,1737058931.754 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_diatoms , but backseat URI detected. Waiting for presence.
2025-01-16T20:22:11.766Z,1737058931.766 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-01-16T20:22:11.767Z,1737058931.767 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-16T20:22:11.767Z,1737058931.767 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Running Loop=1
2025-01-16T20:22:11.767Z,1737058931.767 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-16T20:22:11.767Z,1737058931.767 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_dinoflagellates , but backseat URI detected. Waiting for presence.
2025-01-16T20:22:11.768Z,1737058931.768 [run_backseat_on_surface:Science:ChlThreshTrigger] Running Loop=1
2025-01-16T20:22:11.768Z,1737058931.768 [run_backseat_on_surface:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:ChlThreshTrigger
2025-01-16T20:22:11.768Z,1737058931.768 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-01-16T20:22:11.768Z,1737058931.768 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-01-16T20:22:11.769Z,1737058931.769 [run_backseat_on_surface:Science:OceanCurrent] Running Loop=1
2025-01-16T20:22:11.769Z,1737058931.769 [run_backseat_on_surface:Science:OceanCurrent](DEBUG): Aggregate::initialize run_backseat_on_surface:Science:OceanCurrent
2025-01-16T20:22:11.769Z,1737058931.769 [run_backseat_on_surface:Science:OceanCurrent:A.] Running Loop=1
2025-01-16T20:22:11.769Z,1737058931.769 [run_backseat_on_surface:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-01-16T20:22:11.769Z,1737058931.769 [run_backseat_on_surface:BackseatDriver] Running Loop=1
2025-01-16T20:22:11.769Z,1737058931.769 [run_backseat_on_surface:BackseatDriver](DEBUG): Aggregate::initialize run_backseat_on_surface:BackseatDriver
2025-01-16T20:22:11.769Z,1737058931.769 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-16T20:22:11.769Z,1737058931.769 [run_backseat_on_surface:PowerOnly] Running Loop=1
2025-01-16T20:22:11.770Z,1737058931.770 [run_backseat_on_surface:PowerOnly](DEBUG): Aggregate::initialize run_backseat_on_surface:PowerOnly
2025-01-16T20:22:11.770Z,1737058931.770 [run_backseat_on_surface:PowerOnly:A] Running Loop=1
2025-01-16T20:22:11.770Z,1737058931.770 [run_backseat_on_surface:PowerOnly:B] Running Loop=1
2025-01-16T20:22:11.770Z,1737058931.770 [run_backseat_on_surface:PowerOnly:C] Running Loop=1
2025-01-16T20:22:11.770Z,1737058931.770 [run_backseat_on_surface:PowerOnly:D] Running Loop=1
2025-01-16T20:22:11.770Z,1737058931.770 [run_backseat_on_surface:PowerOnly:E.Wait] Running Loop=1
2025-01-16T20:22:11.770Z,1737058931.770 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-16T20:22:11.770Z,1737058931.770 [run_backseat_on_surface:E.GoToSurface] Running Loop=1
2025-01-16T20:22:11.770Z,1737058931.770 [run_backseat_on_surface:E.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T20:22:11.772Z,1737058931.772 [run_backseat_on_surface:E.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T20:22:11.772Z,1737058931.772 [run_backseat_on_surface:E.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T20:22:11.773Z,1737058931.773 [run_backseat_on_surface:E.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T20:22:11.773Z,1737058931.773 [run_backseat_on_surface:E.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T20:22:11.773Z,1737058931.773 [run_backseat_on_surface:E.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T20:22:11.773Z,1737058931.773 [run_backseat_on_surface:E.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T20:22:11.774Z,1737058931.774 [run_backseat_on_surface:C] Running Loop=1
2025-01-16T20:22:11.775Z,1737058931.775 [run_backseat_on_surface:PowerOnly] Running Loop=1
2025-01-16T20:22:11.776Z,1737058931.776 [run_backseat_on_surface:PowerOnly:D] Stopped
2025-01-16T20:22:11.776Z,1737058931.776 [run_backseat_on_surface:PowerOnly:C] Stopped
2025-01-16T20:22:11.776Z,1737058931.776 [run_backseat_on_surface:PowerOnly:B] Stopped
2025-01-16T20:22:11.776Z,1737058931.776 [run_backseat_on_surface:PowerOnly:A] Stopped
2025-01-16T20:22:11.776Z,1737058931.776 [run_backseat_on_surface:C] Stopped
2025-01-16T20:22:11.776Z,1737058931.776 [run_backseat_on_surface:BackseatDriver] Running Loop=1
2025-01-16T20:22:11.776Z,1737058931.776 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-01-16T20:22:11.808Z,1737058931.808 [run_backseat_on_surface:Science] Running Loop=1
2025-01-16T20:22:11.809Z,1737058931.809 [run_backseat_on_surface:Science:ChlThreshTrigger] Stopped
2025-01-16T20:22:11.809Z,1737058931.809 [run_backseat_on_surface:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:ChlThreshTrigger
2025-01-16T20:22:11.810Z,1737058931.810 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-01-16T20:22:11.810Z,1737058931.810 [run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-01-16T20:22:11.810Z,1737058931.810 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-01-16T20:22:11.810Z,1737058931.810 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-16T20:22:11.810Z,1737058931.810 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Stopped
2025-01-16T20:22:11.810Z,1737058931.810 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T20:22:11.810Z,1737058931.810 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-01-16T20:22:11.810Z,1737058931.810 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms
2025-01-16T20:22:11.810Z,1737058931.810 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Stopped
2025-01-16T20:22:11.810Z,1737058931.810 [run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T20:22:11.810Z,1737058931.810 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-01-16T20:22:11.811Z,1737058931.811 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI
2025-01-16T20:22:11.811Z,1737058931.811 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-16T20:22:11.811Z,1737058931.811 [run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T20:22:11.811Z,1737058931.811 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-01-16T20:22:11.811Z,1737058931.811 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI
2025-01-16T20:22:11.811Z,1737058931.811 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-16T20:22:11.811Z,1737058931.811 [run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T20:22:11.811Z,1737058931.811 [run_backseat_on_surface:Science:HighestSaltPeakReport] Stopped
2025-01-16T20:22:11.811Z,1737058931.811 [run_backseat_on_surface:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestSaltPeakReport
2025-01-16T20:22:11.811Z,1737058931.811 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T20:22:11.811Z,1737058931.811 [run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T20:22:11.811Z,1737058931.811 [run_backseat_on_surface:Science:PeakDetectSalinity] Stopped
2025-01-16T20:22:11.811Z,1737058931.811 [run_backseat_on_surface:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectSalinity
2025-01-16T20:22:11.812Z,1737058931.812 [run_backseat_on_surface:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2025-01-16T20:22:11.812Z,1737058931.812 [run_backseat_on_surface:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T20:22:11.812Z,1737058931.812 [run_backseat_on_surface:Science:PeakDetectFDOM] Stopped
2025-01-16T20:22:11.812Z,1737058931.812 [run_backseat_on_surface:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectFDOM
2025-01-16T20:22:11.812Z,1737058931.812 [run_backseat_on_surface:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2025-01-16T20:22:11.812Z,1737058931.812 [run_backseat_on_surface:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T20:22:11.812Z,1737058931.812 [run_backseat_on_surface:Science:HighestOilPeakReport] Stopped
2025-01-16T20:22:11.812Z,1737058931.812 [run_backseat_on_surface:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestOilPeakReport
2025-01-16T20:22:11.812Z,1737058931.812 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T20:22:11.812Z,1737058931.812 [run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T20:22:11.812Z,1737058931.812 [run_backseat_on_surface:Science:PeakDetectOil] Stopped
2025-01-16T20:22:11.812Z,1737058931.812 [run_backseat_on_surface:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectOil
2025-01-16T20:22:11.812Z,1737058931.812 [run_backseat_on_surface:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2025-01-16T20:22:11.813Z,1737058931.813 [run_backseat_on_surface:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T20:22:11.813Z,1737058931.813 [run_backseat_on_surface:Science:PeakDetectNO3] Stopped
2025-01-16T20:22:11.813Z,1737058931.813 [run_backseat_on_surface:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectNO3
2025-01-16T20:22:11.813Z,1737058931.813 [run_backseat_on_surface:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2025-01-16T20:22:11.813Z,1737058931.813 [run_backseat_on_surface:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T20:22:11.813Z,1737058931.813 [run_backseat_on_surface:Science:HighestChlPeakReport] Stopped
2025-01-16T20:22:11.813Z,1737058931.813 [run_backseat_on_surface:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:HighestChlPeakReport
2025-01-16T20:22:11.813Z,1737058931.813 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-16T20:22:11.813Z,1737058931.813 [run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-16T20:22:11.813Z,1737058931.813 [run_backseat_on_surface:Science:PeakDetectChl] Stopped
2025-01-16T20:22:11.813Z,1737058931.813 [run_backseat_on_surface:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:PeakDetectChl
2025-01-16T20:22:11.813Z,1737058931.813 [run_backseat_on_surface:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2025-01-16T20:22:11.813Z,1737058931.813 [run_backseat_on_surface:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-16T20:22:11.814Z,1737058931.814 [run_backseat_on_surface:Science:OceanCurrent:A.] Running Loop=1
2025-01-16T20:22:11.814Z,1737058931.814 [run_backseat_on_surface:Science:Read_Oil] Stopped
2025-01-16T20:22:11.814Z,1737058931.814 [run_backseat_on_surface:Science:F] Stopped
2025-01-16T20:22:11.814Z,1737058931.814 [run_backseat_on_surface:Science:E] Stopped
2025-01-16T20:22:11.814Z,1737058931.814 [run_backseat_on_surface:Science:D] Stopped
2025-01-16T20:22:11.814Z,1737058931.814 [run_backseat_on_surface:Science:C] Stopped
2025-01-16T20:22:11.814Z,1737058931.814 [run_backseat_on_surface:Science:B] Stopped
2025-01-16T20:22:11.814Z,1737058931.814 [run_backseat_on_surface:Science:A] Stopped
2025-01-16T20:22:11.902Z,1737058931.902 [BackseatComponent](INFO): Powering up
2025-01-16T20:22:11.903Z,1737058931.903 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-01-16T20:22:12.235Z,1737058932.235 [run_backseat_on_surface:CheckIn] Running Loop=1
2025-01-16T20:22:12.235Z,1737058932.235 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::initialize run_backseat_on_surface:CheckIn
2025-01-16T20:22:12.235Z,1737058932.235 [run_backseat_on_surface:CheckIn:Read_GPS] Running Loop=1
2025-01-16T20:22:12.550Z,1737058932.550 [run_backseat_on_surface:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-16T20:22:14.158Z,1737058934.158 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202213.00,A,3648.52477,N,12152.35977,W,0.680,253.48,160125,,,D*7E
2025-01-16T20:22:14.160Z,1737058934.160 [NAL9602](INFO): GPS fix at 20250116T202213: (36.808746, -121.872663)
2025-01-16T20:22:14.168Z,1737058934.168 [run_backseat_on_surface:CheckIn:Read_GPS] Stopped
2025-01-16T20:22:14.168Z,1737058934.168 [run_backseat_on_surface:CheckIn:Read_Iridium] Running Loop=1
2025-01-16T20:22:14.584Z,1737058934.584 [run_backseat_on_surface:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-16T20:22:24.218Z,1737058944.218 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250116T183140/Courier0031.lzma
2025-01-16T20:22:25.073Z,1737058945.073 [NAL9602](INFO): SBD MO Status=0, MOMSN=11902, MT Status=0, MTMSN=0
2025-01-16T20:22:25.073Z,1737058945.073 [NAL9602](INFO): No messages in MT queue
2025-01-16T20:22:25.220Z,1737058945.220 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Courier0031.lzma.bak
2025-01-16T20:22:25.220Z,1737058945.220 [DataOverHttps](INFO): SBD MOMSN=23911808
2025-01-16T20:22:30.711Z,1737058950.711 [BioacousticsDataBridge](INFO): No valid data from altitude reader, stopping
2025-01-16T20:22:42.066Z,1737058962.066 [DataOverHttps](INFO): Sending 282 bytes from file Logs/20250116T183140/Express0032.lzma
2025-01-16T20:22:43.068Z,1737058963.068 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Express0032.lzma.bak
2025-01-16T20:22:43.068Z,1737058963.068 [DataOverHttps](INFO): SBD MOMSN=23911811
2025-01-16T20:22:55.775Z,1737058975.775 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-16T20:22:59.754Z,1737058979.754 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250116T183140/Express0035.lzma
2025-01-16T20:23:00.756Z,1737058980.756 [DataOverHttps](INFO): Moved sent file to Logs/20250116T183140/Express0035.lzma.bak
2025-01-16T20:23:00.756Z,1737058980.756 [DataOverHttps](INFO): SBD MOMSN=23911819
2025-01-16T20:23:02.287Z,1737058982.287 [run_backseat_on_surface:CheckIn:Read_Iridium] Stopped
2025-01-16T20:23:02.288Z,1737058982.288 [run_backseat_on_surface:CheckIn:C.Wait] Running Loop=1
2025-01-16T20:23:02.288Z,1737058982.288 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-16T20:23:20.256Z,1737059000.256 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250116T202319
2025-01-16T20:23:57.655Z,1737059037.655 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T20:23:57.655Z,1737059037.655 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2025-01-16T20:23:57.655Z,1737059037.655 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T20:23:57.672Z,1737059037.672 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T20:23:58.071Z,1737059038.071 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T20:23:58.071Z,1737059038.071 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2025-01-16T20:24:19.073Z,1737059059.073 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 1973
2025-01-16T20:24:19.459Z,1737059059.459 [BioacousticsDataBridge](INFO): Received valid altitude data, resuming
2025-01-16T20:25:58.853Z,1737059158.853 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2025-01-16T20:25:58.853Z,1737059158.853 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2025-01-16T20:25:58.854Z,1737059158.854 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2025-01-16T20:25:58.872Z,1737059158.872 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2025-01-16T20:25:59.281Z,1737059159.281 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2025-01-16T20:25:59.281Z,1737059159.281 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2025-01-16T20:26:42.260Z,1737059202.260 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T202641
2025-01-16T20:26:50.466Z,1737059210.466 [DataOverHttps](INFO): Received command: sched asap "configset ctd_seabird.loadatstartup 1 bool persist; configset ahrs_m2.loadatstartup 1 bool persist; configset wetlabsbb2fl.loadatstartup 1 bool persist; configset sonardyne_nano.loadatstartup 1 bool persist" 8zg6 1 2
2025-01-16T20:26:50.515Z,1737059210.515 [CommandExec](IMPORTANT): got command schedule asap "configset ctd_seabird.loadatstartup 1 bool persist; configset ahrs_m2.loadatstartup 1 bool persist; configset wetlabsbb2fl.loadatstartup 1 bool persist; configset sonardyne_nano.loadatstartup 1 bool persist" 8zg6 1 2.000000
2025-01-16T20:26:50.515Z,1737059210.515 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=8zg6
2025-01-16T20:26:50.517Z,1737059210.517 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='8zg6'): "configset ctd_seabird.loadatstartup 1 bool persist; configset ahrs_m2.loadatstartup 1 bool persist; configset wetlabsbb2fl.loadatstartup 1 bool persist; configset sonardyne_nano.loadatstartup 1 bool persist", ASAP
2025-01-16T20:26:51.468Z,1737059211.468 [DataOverHttps](IMPORTANT): SBD MTMSN=20250116T202650
2025-01-16T20:27:01.271Z,1737059221.271 [DataOverHttps](INFO): Received command: sched asap " configset par_licor.loadatstartup 1 bool persist; configset dat.loadatstartup 1 bool persist; configset bioacousticsdatabridge.loadatstartup 0 bool persist; restart app;" 8zg6 2 2
2025-01-16T20:27:01.323Z,1737059221.323 [CommandExec](IMPORTANT): got command schedule asap " configset par_licor.loadatstartup 1 bool persist; configset dat.loadatstartup 1 bool persist; configset bioacousticsdatabridge.loadatstartup 0 bool persist; restart app;" 8zg6 2 2.000000
2025-01-16T20:27:01.324Z,1737059221.324 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=8zg6
2025-01-16T20:27:01.324Z,1737059221.324 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='8zg6'): " configset par_licor.loadatstartup 1 bool persist; configset dat.loadatstartup 1 bool persist; configset bioacousticsdatabridge.loadatstartup 0 bool persist; restart app;", ASAP
2025-01-16T20:27:03.894Z,1737059223.894 [CommandExec](IMPORTANT): got command configSet CTD_Seabird.loadAtStartup 1 bool persist
2025-01-16T20:27:03.902Z,1737059223.902 [CommandExec](IMPORTANT): configSet CTD_Seabird.loadAtStartup requires a restart to take effect.
2025-01-16T20:27:03.905Z,1737059223.905 [CommandExec](IMPORTANT): got command configSet AHRS_M2.loadAtStartup 1 bool persist
2025-01-16T20:27:03.905Z,1737059223.905 [CommandExec](IMPORTANT): configSet AHRS_M2.loadAtStartup requires a restart to take effect.
2025-01-16T20:27:03.908Z,1737059223.908 [CommandExec](IMPORTANT): got command configSet WetLabsBB2FL.loadAtStartup 1 bool persist
2025-01-16T20:27:03.908Z,1737059223.908 [CommandExec](IMPORTANT): configSet WetLabsBB2FL.loadAtStartup requires a restart to take effect.
2025-01-16T20:27:03.911Z,1737059223.911 [CommandExec](IMPORTANT): got command configSet Sonardyne_Nano.loadAtStartup 1 bool persist
2025-01-16T20:27:03.911Z,1737059223.911 [CommandExec](IMPORTANT): configSet Sonardyne_Nano.loadAtStartup requires a restart to take effect.
2025-01-16T20:27:05.945Z,1737059225.945 [CommandExec](IMPORTANT): got command configSet PAR_Licor.loadAtStartup 1 bool persist
2025-01-16T20:27:05.946Z,1737059225.946 [CommandExec](IMPORTANT): configSet PAR_Licor.loadAtStartup requires a restart to take effect.
2025-01-16T20:27:05.948Z,1737059225.948 [CommandExec](IMPORTANT): got command configSet DAT.loadAtStartup 1 bool persist
2025-01-16T20:27:05.949Z,1737059225.949 [CommandExec](IMPORTANT): configSet DAT.loadAtStartup requires a restart to take effect.
2025-01-16T20:27:06.031Z,1737059226.031 [CommandExec](IMPORTANT): got command configSet BioacousticsDataBridge.loadAtStartup 0 bool persist
2025-01-16T20:27:06.032Z,1737059226.032 [CommandExec](IMPORTANT): configSet BioacousticsDataBridge.loadAtStartup requires a restart to take effect.
2025-01-16T20:27:06.034Z,1737059226.034 [CommandExec](IMPORTANT): got command restart application
2025-01-16T20:27:07.038Z,1737059227.038 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2025-01-16T20:27:07.039Z,1737059227.039 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T20:27:07.039Z,1737059227.039 [CommandExec](INFO): Uninitializing the command executive.
2025-01-16T20:27:07.039Z,1737059227.039 [CommandExec](INFO): Uninitializing the command scheduler.
2025-01-16T20:27:07.039Z,1737059227.039 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:07.190Z,1737059227.190 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-01-16T20:27:07.190Z,1737059227.190 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-01-16T20:27:07.190Z,1737059227.190 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:07.191Z,1737059227.191 [NavChartDb](INFO): Join timeout helper Thread ID is 1227
2025-01-16T20:27:07.199Z,1737059227.199 [MissionManager](INFO): MissionManager is completed.
2025-01-16T20:27:07.200Z,1737059227.200 [MissionManager](INFO): Uninitializing Mission run_backseat_on_surface
2025-01-16T20:27:07.200Z,1737059227.200 [run_backseat_on_surface] Stopped
2025-01-16T20:27:07.200Z,1737059227.200 [run_backseat_on_surface](DEBUG): Aggregate::uninitialize run_backseat_on_surface
2025-01-16T20:27:07.200Z,1737059227.200 [run_backseat_on_surface:Science] Stopped
2025-01-16T20:27:07.200Z,1737059227.200 [run_backseat_on_surface:Science](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science
2025-01-16T20:27:07.200Z,1737059227.200 [run_backseat_on_surface:Science:OceanCurrent] Stopped
2025-01-16T20:27:07.200Z,1737059227.200 [run_backseat_on_surface:Science:OceanCurrent](DEBUG): Aggregate::uninitialize run_backseat_on_surface:Science:OceanCurrent
2025-01-16T20:27:07.200Z,1737059227.200 [run_backseat_on_surface:Science:OceanCurrent:A.] Stopped
2025-01-16T20:27:07.200Z,1737059227.200 [run_backseat_on_surface:BackseatDriver] Stopped
2025-01-16T20:27:07.200Z,1737059227.200 [run_backseat_on_surface:BackseatDriver](DEBUG): Aggregate::uninitialize run_backseat_on_surface:BackseatDriver
2025-01-16T20:27:07.200Z,1737059227.200 [run_backseat_on_surface:BackseatDriver:A.BackseatDriver] Stopped
2025-01-16T20:27:07.201Z,1737059227.201 [run_backseat_on_surface:PowerOnly] Stopped
2025-01-16T20:27:07.201Z,1737059227.201 [run_backseat_on_surface:PowerOnly](DEBUG): Aggregate::uninitialize run_backseat_on_surface:PowerOnly
2025-01-16T20:27:07.201Z,1737059227.201 [run_backseat_on_surface:PowerOnly:E.Wait] Stopped
2025-01-16T20:27:07.201Z,1737059227.201 [run_backseat_on_surface:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T20:27:07.201Z,1737059227.201 [run_backseat_on_surface:E.GoToSurface] Stopped
2025-01-16T20:27:07.201Z,1737059227.201 [run_backseat_on_surface:E.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T20:27:07.201Z,1737059227.201 [run_backseat_on_surface:CheckIn] Stopped
2025-01-16T20:27:07.201Z,1737059227.201 [run_backseat_on_surface:CheckIn](DEBUG): Aggregate::uninitialize run_backseat_on_surface:CheckIn
2025-01-16T20:27:07.201Z,1737059227.201 [run_backseat_on_surface:CheckIn:C.Wait] Stopped
2025-01-16T20:27:07.201Z,1737059227.201 [run_backseat_on_surface:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T20:27:07.358Z,1737059227.358 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T20:27:07.359Z,1737059227.359 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:07.378Z,1737059227.378 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-01-16T20:27:07.378Z,1737059227.378 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:07.379Z,1737059227.379 [Radio_Surface](INFO): Join timeout helper Thread ID is 1228
2025-01-16T20:27:07.382Z,1737059227.382 [Radio_Surface](INFO): Powering down
2025-01-16T20:27:07.383Z,1737059227.383 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T20:27:07.383Z,1737059227.383 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:07.406Z,1737059227.406 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-01-16T20:27:07.406Z,1737059227.406 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:07.407Z,1737059227.407 [Onboard](INFO): Join timeout helper Thread ID is 1229
2025-01-16T20:27:07.579Z,1737059227.579 [BioacousticsDataBridge](DEBUG): Backseat LCM timeout, waiting for message to resume
2025-01-16T20:27:07.595Z,1737059227.595 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-01-16T20:27:07.595Z,1737059227.595 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-01-16T20:27:07.600Z,1737059227.600 [MissionManager](IMPORTANT): Started mission Default
2025-01-16T20:27:07.600Z,1737059227.600 [Default] Running Loop=1
2025-01-16T20:27:07.600Z,1737059227.600 [Default](DEBUG): Aggregate::initialize Default
2025-01-16T20:27:07.600Z,1737059227.600 [Default:B.GoToSurface] Running Loop=1
2025-01-16T20:27:07.600Z,1737059227.600 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-16T20:27:07.601Z,1737059227.601 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-16T20:27:07.601Z,1737059227.601 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-16T20:27:07.601Z,1737059227.601 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-16T20:27:07.602Z,1737059227.602 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-16T20:27:07.602Z,1737059227.602 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-16T20:27:07.611Z,1737059227.611 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-16T20:27:07.611Z,1737059227.611 [Default:A.Wait] Running Loop=1
2025-01-16T20:27:07.611Z,1737059227.611 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-16T20:27:08.311Z,1737059228.311 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-16T20:27:10.674Z,1737059230.674 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T20:27:10.675Z,1737059230.675 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:10.694Z,1737059230.694 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-01-16T20:27:10.694Z,1737059230.694 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:10.695Z,1737059230.695 [DataOverHttps](INFO): Join timeout helper Thread ID is 1230
2025-01-16T20:27:11.322Z,1737059231.322 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T20:27:11.323Z,1737059231.323 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:11.335Z,1737059231.335 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-01-16T20:27:11.335Z,1737059231.335 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:11.336Z,1737059231.336 [BackseatComponent](INFO): Join timeout helper Thread ID is 1231
2025-01-16T20:27:11.483Z,1737059231.483 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T20:27:11.483Z,1737059231.483 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:11.487Z,1737059231.487 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-01-16T20:27:11.487Z,1737059231.487 [logger ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:11.487Z,1737059231.487 [logger](INFO): Join timeout helper Thread ID is 1232
2025-01-16T20:27:11.534Z,1737059231.534 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T20:27:11.535Z,1737059231.535 [logger ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:11.547Z,1737059231.547 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-01-16T20:27:11.547Z,1737059231.547 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:11.547Z,1737059231.547 [CommandLine](INFO): Join timeout helper Thread ID is 1233
2025-01-16T20:27:11.634Z,1737059231.634 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T20:27:11.635Z,1737059231.635 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:11.647Z,1737059231.647 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-01-16T20:27:11.647Z,1737059231.647 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:11.648Z,1737059231.648 [CommandExec](INFO): Join timeout helper Thread ID is 1234
2025-01-16T20:27:11.649Z,1737059231.649 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-01-16T20:27:11.649Z,1737059231.649 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:11.649Z,1737059231.649 [controlThread](INFO): Join timeout helper Thread ID is 1235
2025-01-16T20:27:12.018Z,1737059232.018 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-16T20:27:12.019Z,1737059232.019 [controlThread](DEBUG): Uninitializing ControlThread
2025-01-16T20:27:12.020Z,1737059232.020 [NAL9602](INFO): Powering down
2025-01-16T20:27:12.021Z,1737059232.021 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-01-16T20:27:12.021Z,1737059232.021 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-01-16T20:27:12.022Z,1737059232.022 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-01-16T20:27:12.022Z,1737059232.022 [MissionManager](INFO): Uninitializing Mission Default
2025-01-16T20:27:12.022Z,1737059232.022 [Default] Stopped
2025-01-16T20:27:12.023Z,1737059232.023 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-16T20:27:12.023Z,1737059232.023 [Default:A.Wait] Stopped
2025-01-16T20:27:12.023Z,1737059232.023 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-16T20:27:12.023Z,1737059232.023 [Default:B.GoToSurface] Stopped
2025-01-16T20:27:12.023Z,1737059232.023 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-16T20:27:12.025Z,1737059232.025 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-01-16T20:27:12.026Z,1737059232.026 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-01-16T20:27:12.026Z,1737059232.026 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-01-16T20:27:12.026Z,1737059232.026 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-01-16T20:27:12.027Z,1737059232.027 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-01-16T20:27:12.027Z,1737059232.027 [BuoyancyServo](INFO): Powering down
2025-01-16T20:27:12.038Z,1737059232.038 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-01-16T20:27:12.038Z,1737059232.038 [ElevatorServo](INFO): Powering down
2025-01-16T20:27:12.039Z,1737059232.039 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-01-16T20:27:12.039Z,1737059232.039 [MassServo](INFO): Powering down
2025-01-16T20:27:12.040Z,1737059232.040 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-01-16T20:27:12.040Z,1737059232.040 [RudderServo](INFO): Powering down
2025-01-16T20:27:12.041Z,1737059232.041 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-01-16T20:27:12.041Z,1737059232.041 [ThrusterHE](INFO): Powering down
2025-01-16T20:27:12.042Z,1737059232.042 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-01-16T20:27:12.042Z,1737059232.042 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-01-16T20:27:12.043Z,1737059232.043 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-01-16T20:27:12.043Z,1737059232.043 [CBIT](DEBUG): Powering off loads.
2025-01-16T20:27:12.054Z,1737059232.054 [CBIT](DEBUG): Disabling WDT.
2025-01-16T20:27:12.066Z,1737059232.066 [CBIT](DEBUG): Opening all GF detection circuits.
2025-01-16T20:27:12.067Z,1737059232.067 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:12.108Z,1737059232.108 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:12.111Z,1737059232.111 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:12.117Z,1737059232.117 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:12.161Z,1737059232.161 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:12.260Z,1737059232.260 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-01-16T20:27:12.319Z,1737059232.319 [logger ThreadHandler](INFO): Thread cancelled.