2025-01-21T18:14:02.839Z,1737483242.839 [Supervisor](DEBUG): Initializing supervisor.
2025-01-21T18:14:02.843Z,1737483242.843 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-01-21T18:14:02.843Z,1737483242.843 [SyncHandler](INFO): Protected caller Thread ID is 837
2025-01-21T18:14:02.844Z,1737483242.844 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-01-21T18:14:02.845Z,1737483242.845 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-01-21T18:14:02.845Z,1737483242.845 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 838
2025-01-21T18:14:02.849Z,1737483242.849 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-01-21T18:14:02.866Z,1737483242.866 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-01-21T18:14:02.867Z,1737483242.867 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-01-21T18:14:02.867Z,1737483242.867 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 839
2025-01-21T18:14:02.871Z,1737483242.871 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-01-21T18:14:02.872Z,1737483242.872 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-01-21T18:14:02.873Z,1737483242.873 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 840
2025-01-21T18:14:02.875Z,1737483242.875 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-01-21T18:14:02.876Z,1737483242.876 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-01-21T18:14:02.876Z,1737483242.876 [logger ThreadHandler](INFO): Protected caller Thread ID is 841
2025-01-21T18:14:02.880Z,1737483242.880 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-01-21T18:14:02.880Z,1737483242.880 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-01-21T18:14:02.884Z,1737483242.884 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-01-21T18:14:03.125Z,1737483243.125 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-01-21T18:14:03.127Z,1737483243.127 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-01-21T18:14:03.344Z,1737483243.344 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-01-21T18:14:03.347Z,1737483243.347 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-01-21T18:14:03.451Z,1737483243.451 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-01-21T18:14:03.452Z,1737483243.452 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-01-21T18:14:03.642Z,1737483243.642 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-01-21T18:14:03.643Z,1737483243.643 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-01-21T18:14:04.138Z,1737483244.138 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-01-21T18:14:04.140Z,1737483244.140 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-01-21T18:14:04.257Z,1737483244.257 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-01-21T18:14:04.258Z,1737483244.258 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-01-21T18:14:04.535Z,1737483244.535 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-01-21T18:14:04.536Z,1737483244.536 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-01-21T18:14:04.753Z,1737483244.753 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-01-21T18:14:04.754Z,1737483244.754 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-01-21T18:14:05.292Z,1737483245.292 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-01-21T18:14:05.293Z,1737483245.293 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-01-21T18:14:05.726Z,1737483245.726 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-01-21T18:14:05.728Z,1737483245.728 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-01-21T18:14:05.818Z,1737483245.818 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-01-21T18:14:06.223Z,1737483246.223 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-01-21T18:14:06.223Z,1737483246.223 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-01-21T18:14:11.976Z,1737483251.976 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-01-21T18:14:11.976Z,1737483251.976 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-01-21T18:14:12.828Z,1737483252.828 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-01-21T18:14:12.829Z,1737483252.829 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-01-21T18:14:13.180Z,1737483253.180 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-01-21T18:14:13.182Z,1737483253.182 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-01-21T18:14:13.275Z,1737483253.275 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-aku/
2025-01-21T18:14:13.277Z,1737483253.277 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/secure.cfg
2025-01-21T18:14:13.371Z,1737483253.371 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/logger.cfg
2025-01-21T18:14:13.500Z,1737483253.500 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/vehicle.cfg
2025-01-21T18:14:13.613Z,1737483253.613 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/BIT.cfg
2025-01-21T18:14:13.710Z,1737483253.710 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Simulator.cfg
2025-01-21T18:14:13.804Z,1737483253.804 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Servo.cfg
2025-01-21T18:14:13.918Z,1737483253.918 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Science.cfg
2025-01-21T18:14:14.069Z,1737483254.069 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Sensor.cfg
2025-01-21T18:14:14.244Z,1737483254.244 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Control.cfg
2025-01-21T18:14:14.349Z,1737483254.349 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Battery.cfg
2025-01-21T18:14:14.624Z,1737483254.624 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-01-21T18:14:14.624Z,1737483254.624 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-01-21T18:14:14.649Z,1737483254.649 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-01-21T18:14:15.112Z,1737483255.112 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-01-21T18:14:15.114Z,1737483255.114 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-01-21T18:14:15.940Z,1737483255.940 [AHRS_M2] Loaded
2025-01-21T18:14:15.940Z,1737483255.940 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-01-21T18:14:16.193Z,1737483256.193 [BackseatComponent] Loaded
2025-01-21T18:14:16.193Z,1737483256.193 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-01-21T18:14:16.194Z,1737483256.194 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408A64E0
2025-01-21T18:14:16.194Z,1737483256.194 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 921
2025-01-21T18:14:16.197Z,1737483256.197 [LcmUniversalReporter] Loaded
2025-01-21T18:14:16.197Z,1737483256.197 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-01-21T18:14:16.997Z,1737483256.997 [BPC1] Loaded
2025-01-21T18:14:16.998Z,1737483256.998 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-01-21T18:14:17.091Z,1737483257.091 [DAT] Loaded
2025-01-21T18:14:17.091Z,1737483257.091 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-01-21T18:14:17.092Z,1737483257.092 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 408D64E0
2025-01-21T18:14:17.093Z,1737483257.093 [DAT ThreadHandler](INFO): Protected caller Thread ID is 922
2025-01-21T18:14:17.233Z,1737483257.233 [DataOverHttps] Loaded
2025-01-21T18:14:17.234Z,1737483257.234 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-01-21T18:14:17.235Z,1737483257.235 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409064E0
2025-01-21T18:14:17.235Z,1737483257.235 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 923
2025-01-21T18:14:17.257Z,1737483257.257 [Depth_Keller] Loaded
2025-01-21T18:14:17.258Z,1737483257.258 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-01-21T18:14:17.262Z,1737483257.262 [DropWeight] Loaded
2025-01-21T18:14:17.263Z,1737483257.263 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-01-21T18:14:17.326Z,1737483257.326 [NAL9602] Loaded
2025-01-21T18:14:17.326Z,1737483257.326 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-01-21T18:14:17.355Z,1737483257.355 [Onboard] Loaded
2025-01-21T18:14:17.355Z,1737483257.355 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-01-21T18:14:17.356Z,1737483257.356 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409364E0
2025-01-21T18:14:17.357Z,1737483257.357 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 924
2025-01-21T18:14:17.370Z,1737483257.370 [Power24vConverter] Loaded
2025-01-21T18:14:17.370Z,1737483257.370 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-01-21T18:14:17.387Z,1737483257.387 [Radio_Surface] Loaded
2025-01-21T18:14:17.387Z,1737483257.387 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-01-21T18:14:17.388Z,1737483257.388 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409664E0
2025-01-21T18:14:17.388Z,1737483257.388 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 925
2025-01-21T18:14:17.403Z,1737483257.403 [Sonardyne_Nano] Loaded
2025-01-21T18:14:17.404Z,1737483257.404 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-01-21T18:14:17.404Z,1737483257.404 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-01-21T18:14:17.405Z,1737483257.405 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-01-21T18:14:19.396Z,1737483259.396 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-01-21T18:14:19.397Z,1737483259.397 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-01-21T18:14:22.088Z,1737483262.088 [VerticalControl](DEBUG): Construct VerticalControl.
2025-01-21T18:14:22.146Z,1737483262.146 [VerticalControl] Loaded
2025-01-21T18:14:22.146Z,1737483262.146 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-01-21T18:14:22.149Z,1737483262.149 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-01-21T18:14:22.197Z,1737483262.197 [HorizontalControl] Loaded
2025-01-21T18:14:22.197Z,1737483262.197 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-01-21T18:14:22.200Z,1737483262.200 [SpeedControl](DEBUG): Construct SpeedControl.
2025-01-21T18:14:22.203Z,1737483262.203 [SpeedControl] Loaded
2025-01-21T18:14:22.203Z,1737483262.203 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-01-21T18:14:22.206Z,1737483262.206 [LoopControl](DEBUG): Construct LoopControl.
2025-01-21T18:14:22.206Z,1737483262.206 [LoopControl] Loaded
2025-01-21T18:14:22.206Z,1737483262.206 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-01-21T18:14:22.207Z,1737483262.207 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-01-21T18:14:22.207Z,1737483262.207 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-01-21T18:14:26.725Z,1737483266.725 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-01-21T18:14:26.725Z,1737483266.725 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-01-21T18:14:28.528Z,1737483268.528 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-01-21T18:14:28.529Z,1737483268.529 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-01-21T18:14:28.672Z,1737483268.672 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-01-21T18:14:28.672Z,1737483268.672 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-01-21T18:14:28.686Z,1737483268.686 [NavChart] Loaded
2025-01-21T18:14:28.686Z,1737483268.686 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-01-21T18:14:28.691Z,1737483268.691 [UniversalFixResidualReporter] Loaded
2025-01-21T18:14:28.692Z,1737483268.692 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-01-21T18:14:28.692Z,1737483268.692 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-01-21T18:14:28.694Z,1737483268.694 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-01-21T18:14:28.867Z,1737483268.867 [SBIT](DEBUG): Construct Startup Built In Test.
2025-01-21T18:14:28.876Z,1737483268.876 [SBIT] Loaded
2025-01-21T18:14:28.876Z,1737483268.876 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-01-21T18:14:28.879Z,1737483268.879 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-01-21T18:14:28.891Z,1737483268.891 [IBIT] Loaded
2025-01-21T18:14:28.891Z,1737483268.891 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-01-21T18:14:28.897Z,1737483268.897 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-01-21T18:14:29.001Z,1737483269.001 [CBIT] Loaded
2025-01-21T18:14:29.001Z,1737483269.001 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-01-21T18:14:29.001Z,1737483269.001 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-01-21T18:14:29.002Z,1737483269.002 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-01-21T18:14:29.217Z,1737483269.217 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-01-21T18:14:29.218Z,1737483269.218 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-01-21T18:14:29.385Z,1737483269.385 [BuoyancyServo] Loaded
2025-01-21T18:14:29.385Z,1737483269.385 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-01-21T18:14:29.407Z,1737483269.407 [ElevatorServo] Loaded
2025-01-21T18:14:29.408Z,1737483269.408 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-01-21T18:14:29.429Z,1737483269.429 [MassServo] Loaded
2025-01-21T18:14:29.429Z,1737483269.429 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-01-21T18:14:29.449Z,1737483269.449 [RudderServo] Loaded
2025-01-21T18:14:29.450Z,1737483269.450 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-01-21T18:14:29.467Z,1737483269.467 [ThrusterHE] Loaded
2025-01-21T18:14:29.467Z,1737483269.467 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-01-21T18:14:29.467Z,1737483269.467 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-01-21T18:14:29.468Z,1737483269.468 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-01-21T18:14:29.695Z,1737483269.695 [CTD_Seabird] Loaded
2025-01-21T18:14:29.696Z,1737483269.696 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-01-21T18:14:29.697Z,1737483269.697 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40B904E0
2025-01-21T18:14:29.697Z,1737483269.697 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 926
2025-01-21T18:14:29.719Z,1737483269.719 [PAR_Licor] Loaded
2025-01-21T18:14:29.719Z,1737483269.719 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-01-21T18:14:29.763Z,1737483269.763 [WetLabsBB2FL] Loaded
2025-01-21T18:14:29.764Z,1737483269.764 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-01-21T18:14:29.765Z,1737483269.765 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BC04E0
2025-01-21T18:14:29.765Z,1737483269.765 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 927
2025-01-21T18:14:29.766Z,1737483269.766 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-01-21T18:14:29.766Z,1737483269.766 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-01-21T18:14:29.838Z,1737483269.838 [DepthRateCalculator] Loaded
2025-01-21T18:14:29.838Z,1737483269.838 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-01-21T18:14:29.843Z,1737483269.843 [PitchRateCalculator] Loaded
2025-01-21T18:14:29.843Z,1737483269.843 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-01-21T18:14:29.852Z,1737483269.852 [SpeedCalculator] Loaded
2025-01-21T18:14:29.852Z,1737483269.852 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-01-21T18:14:29.857Z,1737483269.857 [YawRateCalculator] Loaded
2025-01-21T18:14:29.857Z,1737483269.857 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-01-21T18:14:29.876Z,1737483269.876 [ElevatorOffsetCalculator] Loaded
2025-01-21T18:14:29.876Z,1737483269.876 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-01-21T18:14:29.877Z,1737483269.877 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-01-21T18:14:29.877Z,1737483269.877 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-01-21T18:14:29.965Z,1737483269.965 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-01-21T18:14:29.971Z,1737483269.971 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-01-21T18:14:29.974Z,1737483269.974 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-01-21T18:14:29.985Z,1737483269.985 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-01-21T18:14:29.986Z,1737483269.986 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C4E4E0
2025-01-21T18:14:29.987Z,1737483269.987 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 928
2025-01-21T18:14:29.991Z,1737483269.991 [Supervisor](INFO): Main Thread ID is 828
2025-01-21T18:14:29.991Z,1737483269.991 [Supervisor](DEBUG): Running supervisor.
2025-01-21T18:14:29.992Z,1737483269.992 [CommandExec ThreadHandler](INFO): Handler Thread ID is 929
2025-01-21T18:14:29.992Z,1737483269.992 [CommandExec](INFO): Initializing the command executive.
2025-01-21T18:14:29.994Z,1737483269.994 [CommandLine ThreadHandler](INFO): Handler Thread ID is 930
2025-01-21T18:14:29.996Z,1737483269.996 [controlThread ThreadHandler](INFO): Handler Thread ID is 931
2025-01-21T18:14:29.996Z,1737483269.996 [controlThread](DEBUG): Initializing ControlThread
2025-01-21T18:14:30.002Z,1737483270.002 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-01-21T18:14:30.003Z,1737483270.003 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-01-21T18:14:30.004Z,1737483270.004 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-01-21T18:14:30.004Z,1737483270.004 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-01-21T18:14:30.005Z,1737483270.005 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-01-21T18:14:30.005Z,1737483270.005 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-01-21T18:14:30.006Z,1737483270.006 [SBIT](INFO): Initialize SBIT Component.
2025-01-21T18:14:30.006Z,1737483270.006 [SBIT](IMPORTANT): git: 2025-01-09_B
2025-01-21T18:14:30.006Z,1737483270.006 [SBIT](INFO): git hash: 1f9780a539b09f05de89865a2e326c5f9ffadbdc
2025-01-21T18:14:30.007Z,1737483270.007 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-01-21T18:14:30.008Z,1737483270.008 [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
2025-01-21T18:14:30.009Z,1737483270.009 [SBIT](INFO): Beginning SBIT in 54.000000 seconds.
2025-01-21T18:14:30.010Z,1737483270.010 [IBIT](INFO): Initialize IBIT Component.
2025-01-21T18:14:30.011Z,1737483270.011 [CBIT](DEBUG): Initialize CBIT Component.
2025-01-21T18:14:30.012Z,1737483270.012 [logger ThreadHandler](INFO): Handler Thread ID is 932
2025-01-21T18:14:30.024Z,1737483270.024 [CBIT](DEBUG): Initialized mux pins.
2025-01-21T18:14:30.024Z,1737483270.024 [CBIT](DEBUG): Initializing the watchdog timer.
2025-01-21T18:14:30.032Z,1737483270.032 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 933
2025-01-21T18:14:30.044Z,1737483270.044 [DAT ThreadHandler](INFO): Handler Thread ID is 934
2025-01-21T18:14:30.045Z,1737483270.045 [DAT](INFO): Powering up
2025-01-21T18:14:30.045Z,1737483270.045 [DAT](DEBUG): Initializing DAT.
2025-01-21T18:14:30.048Z,1737483270.048 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-01-21T18:14:30.048Z,1737483270.048 [CBIT](DEBUG): Initializing heartbeat.
2025-01-21T18:14:30.050Z,1737483270.050 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 936
2025-01-21T18:14:30.052Z,1737483270.052 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-01-21T18:14:30.060Z,1737483270.060 [Onboard ThreadHandler](INFO): Handler Thread ID is 937
2025-01-21T18:14:30.078Z,1737483270.078 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 938
2025-01-21T18:14:30.097Z,1737483270.097 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 939
2025-01-21T18:14:30.097Z,1737483270.097 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-01-21T18:14:30.101Z,1737483270.101 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 941
2025-01-21T18:14:30.104Z,1737483270.104 [WetLabsBB2FL](INFO): Powering up
2025-01-21T18:14:30.105Z,1737483270.105 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 943
2025-01-21T18:14:30.116Z,1737483270.116 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-01-21T18:14:30.116Z,1737483270.116 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-01-21T18:14:30.117Z,1737483270.117 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-01-21T18:14:30.117Z,1737483270.117 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-01-21T18:14:30.117Z,1737483270.117 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-01-21T18:14:30.117Z,1737483270.117 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-01-21T18:14:30.117Z,1737483270.117 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-01-21T18:14:30.117Z,1737483270.117 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-01-21T18:14:30.120Z,1737483270.120 [CBIT](DEBUG): Deactivating GF circuits.
2025-01-21T18:14:30.120Z,1737483270.120 [CBIT](DEBUG): Deactivating emergency mode.
2025-01-21T18:14:30.160Z,1737483270.160 [CBIT](DEBUG): Backplane powered.
2025-01-21T18:14:30.164Z,1737483270.164 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-01-21T18:14:30.165Z,1737483270.165 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-01-21T18:14:30.165Z,1737483270.165 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-01-21T18:14:30.165Z,1737483270.165 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-01-21T18:14:30.166Z,1737483270.166 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-01-21T18:14:30.167Z,1737483270.167 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-01-21T18:14:30.167Z,1737483270.167 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-01-21T18:14:30.168Z,1737483270.168 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-01-21T18:14:30.173Z,1737483270.173 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-01-21T18:14:30.256Z,1737483270.256 [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>

2025-01-21T18:14:30.273Z,1737483270.273 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-21T18:14:30.302Z,1737483270.302 [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
    }
  }
}


2025-01-21T18:14:30.303Z,1737483270.303 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-01-21T18:14:30.303Z,1737483270.303 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-01-21T18:14:30.321Z,1737483270.321 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-01-21T18:14:30.484Z,1737483270.484 [Radio_Surface](INFO): Powering up
2025-01-21T18:14:30.605Z,1737483270.605 [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>

2025-01-21T18:14:30.611Z,1737483270.611 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-01-21T18:14:30.628Z,1737483270.628 [Default:A.Wait](DEBUG): Construct Wait.
2025-01-21T18:14:30.630Z,1737483270.630 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-21T18:14:30.651Z,1737483270.651 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-01-21T18:14:30.678Z,1737483270.678 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-01-21T18:14:30.700Z,1737483270.700 [Default:E.Execute](DEBUG): Construct Execute.
2025-01-21T18:14:30.703Z,1737483270.703 [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"
  }
}


2025-01-21T18:14:30.707Z,1737483270.707 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2025-01-21T18:14:30.724Z,1737483270.724 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-01-21T18:14:30.875Z,1737483270.875 [Power24vConverter](INFO): Powering up.
2025-01-21T18:14:30.876Z,1737483270.876 [Sonardyne_Nano](INFO): Initializing.
2025-01-21T18:14:30.930Z,1737483270.930 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-01-21T18:14:30.936Z,1737483270.936 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-01-21T18:14:30.937Z,1737483270.937 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-01-21T18:14:30.944Z,1737483270.944 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-01-21T18:14:30.945Z,1737483270.945 [MassServo](DEBUG): Initializing EZServoServo.
2025-01-21T18:14:30.952Z,1737483270.952 [MassServo](DEBUG): Initializing MassServo.
2025-01-21T18:14:30.953Z,1737483270.953 [RudderServo](DEBUG): Initializing EZServoServo.
2025-01-21T18:14:30.960Z,1737483270.960 [RudderServo](DEBUG): Initializing RudderServo.
2025-01-21T18:14:30.961Z,1737483270.961 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-01-21T18:14:30.968Z,1737483270.968 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-01-21T18:14:32.212Z,1737483272.212 [WetLabsBB2FL](INFO): Powering down
2025-01-21T18:14:33.142Z,1737483273.142 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-01-21T18:14:34.380Z,1737483274.380 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2409
2025-01-21T18:14:36.621Z,1737483276.621 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-01-21T18:14:42.393Z,1737483282.393 [DAT](INFO): DAT read: 

2025-01-21T18:14:42.394Z,1737483282.394 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-01-21T18:14:43.905Z,1737483283.905 [DAT](INFO): DAT read: MF Frequency Band

2025-01-21T18:14:43.906Z,1737483283.906 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-01-21T18:14:43.906Z,1737483283.906 [DAT](INFO): DAT read: Jan 21 2025 18:14:39 

2025-01-21T18:14:45.165Z,1737483285.165 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-01-21T18:14:45.166Z,1737483285.166 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-01-21T18:14:45.167Z,1737483285.167 [DAT](INFO): commRate: 800
2025-01-21T18:14:47.232Z,1737483287.232 [DAT](INFO): entering command mode
2025-01-21T18:14:47.432Z,1737483287.432 [DAT](INFO): DAT read: 

2025-01-21T18:14:47.433Z,1737483287.433 [DAT](INFO): DAT read: user:1>

2025-01-21T18:14:47.433Z,1737483287.433 [DAT](INFO): setting verbose to 3
2025-01-21T18:14:47.685Z,1737483287.685 [DAT](INFO): DAT read: user:1>

2025-01-21T18:14:47.686Z,1737483287.686 [DAT](INFO): DAT read: Verbose         | 3           

2025-01-21T18:14:47.686Z,1737483287.686 [DAT](INFO): set verbose to 3
2025-01-21T18:14:47.686Z,1737483287.686 [DAT](INFO): setting DatVerbose to 27440
2025-01-21T18:14:47.710Z,1737483287.710 [NAL9602](INFO): Powering up NAL9602
2025-01-21T18:14:47.937Z,1737483287.937 [DAT](INFO): DAT read: user:2>

2025-01-21T18:14:47.937Z,1737483287.937 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-01-21T18:14:47.938Z,1737483287.938 [DAT](INFO): set DatVerbose to 27440
2025-01-21T18:14:47.938Z,1737483287.938 [DAT](INFO): setting transmit power to 8
2025-01-21T18:14:48.189Z,1737483288.189 [DAT](INFO): DAT read: user:3>

2025-01-21T18:14:48.189Z,1737483288.189 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-01-21T18:14:48.190Z,1737483288.190 [DAT](INFO): set transmit power to 8
2025-01-21T18:14:48.190Z,1737483288.190 [DAT](INFO): setting local address to 2
2025-01-21T18:14:48.441Z,1737483288.441 [DAT](INFO): DAT read: user:4>

2025-01-21T18:14:48.442Z,1737483288.442 [DAT](INFO): DAT read: LocalAddr       | 2           

2025-01-21T18:14:48.442Z,1737483288.442 [DAT](INFO): set local address to 2
2025-01-21T18:14:48.443Z,1737483288.443 [DAT](INFO): Setting time to: 18:14:48 And date to:1/21/2025
2025-01-21T18:14:48.693Z,1737483288.693 [DAT](INFO): DAT read: user:5>

2025-01-21T18:14:48.693Z,1737483288.693 [DAT](INFO): DAT read: Tue Jan 21, 2025  18:14:48  

2025-01-21T18:14:48.694Z,1737483288.694 [DAT](INFO): Local DAT time set to Tue Jan 21, 2025  18:14:48  

2025-01-21T18:14:58.597Z,1737483298.597 [NAL9602](INFO): NAL9602 initialized
2025-01-21T18:15:13.949Z,1737483313.949 [NAL9602](INFO): SBD MO Status=0, MOMSN=12306, MT Status=0, MTMSN=0
2025-01-21T18:15:13.949Z,1737483313.949 [NAL9602](INFO): No messages in MT queue
2025-01-21T18:15:24.610Z,1737483324.610 [SBIT](IMPORTANT): Beginning Startup BIT
2025-01-21T18:15:24.614Z,1737483324.614 [CBIT](IMPORTANT): Beginning ground fault scan
2025-01-21T18:15:35.949Z,1737483335.949 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.000616
CHAN A1 (24V): -0.000571
CHAN A2 (12V): 0.000280
CHAN A3 (5V): -0.001763
CHAN B0 (3.3V): -0.000955
CHAN B1 (3.15aV): -0.001406
CHAN B2 (3.15bV): -0.001421
CHAN B3 (GND): -0.002126
OPEN: 0.004628
Full Scale: +/- 1 mA
2025-01-21T18:16:18.757Z,1737483378.757 [SBIT](IMPORTANT): SBIT PASSED
2025-01-21T18:16:18.757Z,1737483378.757 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-01-21T18:16:18.758Z,1737483378.758 [SBIT](IMPORTANT): AHRS_M2.loadAtStartup=1 bool;

2025-01-21T18:16:18.758Z,1737483378.758 [SBIT](IMPORTANT): BioacousticsDataBridge.loadAtStartup=0 bool;

2025-01-21T18:16:18.758Z,1737483378.758 [SBIT](IMPORTANT): CBIT.runNavErrorCritical=0 bool;

2025-01-21T18:16:18.758Z,1737483378.758 [SBIT](IMPORTANT): CTD_Seabird.loadAtStartup=1 bool;

2025-01-21T18:16:18.758Z,1737483378.758 [SBIT](IMPORTANT): DAT.loadAtStartup=1 bool;

2025-01-21T18:16:18.759Z,1737483378.759 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter;

2025-01-21T18:16:18.759Z,1737483378.759 [SBIT](IMPORTANT): Express none platform_roll_angle;

2025-01-21T18:16:18.759Z,1737483378.759 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour;

2025-01-21T18:16:18.759Z,1737483378.759 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt;

2025-01-21T18:16:18.759Z,1737483378.759 [SBIT](IMPORTANT): PAR_Licor.loadAtStartup=1 bool;

2025-01-21T18:16:18.759Z,1737483378.759 [SBIT](IMPORTANT): Sonardyne_Nano.loadAtStartup=1 bool;

2025-01-21T18:16:18.759Z,1737483378.759 [SBIT](IMPORTANT): SpeedControl.rollOptimum=0.925 meter_per_second;

2025-01-21T18:16:18.759Z,1737483378.759 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=366.667102 cubic_centimeter;

2025-01-21T18:16:18.759Z,1737483378.759 [SBIT](IMPORTANT): VerticalControl.kdPitchMass=0.1 second;

2025-01-21T18:16:18.760Z,1737483378.760 [SBIT](IMPORTANT): VerticalControl.kiPitchMass=0.001 reciprocal_second;

2025-01-21T18:16:18.760Z,1737483378.760 [SBIT](IMPORTANT): VerticalControl.kpPitchMass=0.1 none;

2025-01-21T18:16:18.760Z,1737483378.760 [SBIT](IMPORTANT): VerticalControl.massDeadband=0 millimeter;

2025-01-21T18:16:18.760Z,1737483378.760 [SBIT](IMPORTANT): VerticalControl.massDefault=8.560154 millimeter;

2025-01-21T18:16:18.760Z,1737483378.760 [SBIT](IMPORTANT): VerticalControl.massOnlyForceInt=1 bool;

2025-01-21T18:16:18.760Z,1737483378.760 [SBIT](IMPORTANT): WetLabsBB2FL.loadAtStartup=1 bool;

2025-01-21T18:16:19.046Z,1737483379.046 [MissionManager](IMPORTANT): Started mission Startup
2025-01-21T18:16:19.046Z,1737483379.046 [Startup] Running Loop=1
2025-01-21T18:16:19.046Z,1737483379.046 [Startup](DEBUG): Aggregate::initialize Startup
2025-01-21T18:16:19.046Z,1737483379.046 [Startup:A.GoToSurface] Running Loop=1
2025-01-21T18:16:19.046Z,1737483379.046 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-21T18:16:19.047Z,1737483379.047 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-21T18:16:19.047Z,1737483379.047 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-21T18:16:19.047Z,1737483379.047 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-21T18:16:19.048Z,1737483379.048 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-21T18:16:19.048Z,1737483379.048 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-21T18:16:19.049Z,1737483379.049 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-21T18:16:19.050Z,1737483379.050 [Startup:StartupSatComms] Running Loop=1
2025-01-21T18:16:19.050Z,1737483379.050 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-01-21T18:16:19.051Z,1737483379.051 [Startup:StartupSatComms:A] Running Loop=1
2025-01-21T18:16:19.430Z,1737483379.430 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-01-21T18:16:20.232Z,1737483380.232 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,181617.00,A,3647.83620,N,12150.79967,W,0.194,132.34,210125,,,A*72
2025-01-21T18:16:20.236Z,1737483380.236 [NAL9602](INFO): GPS fix at 20250121T181617: (36.797270, -121.846661)
2025-01-21T18:16:20.251Z,1737483380.251 [Startup:StartupSatComms:A] Stopped
2025-01-21T18:16:20.251Z,1737483380.251 [Startup:StartupSatComms:B] Running Loop=1
2025-01-21T18:16:20.671Z,1737483380.671 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-21T18:16:41.050Z,1737483401.050 [NAL9602](INFO): SBD MO Status=1, MOMSN=12307, MT Status=0, MTMSN=0
2025-01-21T18:16:41.132Z,1737483401.132 [NAL9602](INFO): Sent 18 bytes from file Logs/20250118T175332/Courier0214.lzma
2025-01-21T18:16:41.132Z,1737483401.132 [NAL9602](INFO): Packets left to send: 0
2025-01-21T18:16:42.873Z,1737483402.873 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004174
2025-01-21T18:16:52.552Z,1737483412.552 [DataOverHttps](INFO): Sending 266 bytes from file Logs/20250121T181402/Courier0000.lzma
2025-01-21T18:16:53.562Z,1737483413.562 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Courier0000.lzma.bak
2025-01-21T18:16:53.562Z,1737483413.562 [DataOverHttps](INFO): SBD MOMSN=23921693
2025-01-21T18:16:54.675Z,1737483414.675 [NAL9602](INFO): SBD MO Status=1, MOMSN=12308, MT Status=0, MTMSN=0
2025-01-21T18:16:54.732Z,1737483414.732 [NAL9602](INFO): Sent 266 bytes from file Logs/20250121T181402/Courier0000.lzma
2025-01-21T18:16:54.732Z,1737483414.732 [NAL9602](INFO): Packets left to send: 0
2025-01-21T18:16:54.834Z,1737483414.834 [Startup:StartupSatComms:B] Stopped
2025-01-21T18:16:54.834Z,1737483414.834 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-01-21T18:16:54.834Z,1737483414.834 [Startup:StartupSatComms] Stopped
2025-01-21T18:16:54.834Z,1737483414.834 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-01-21T18:16:54.835Z,1737483414.835 [Startup](INFO): Completed Startup
2025-01-21T18:16:54.835Z,1737483414.835 [MissionManager](INFO): Startup is completed.
2025-01-21T18:16:54.840Z,1737483414.840 [MissionManager](INFO): Uninitializing Mission Startup
2025-01-21T18:16:54.840Z,1737483414.840 [Startup] Stopped
2025-01-21T18:16:54.840Z,1737483414.840 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-01-21T18:16:54.840Z,1737483414.840 [Startup:A.GoToSurface] Stopped
2025-01-21T18:16:54.840Z,1737483414.840 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-21T18:16:55.189Z,1737483415.189 [MissionManager](IMPORTANT): Started mission Default
2025-01-21T18:16:55.189Z,1737483415.189 [Default] Running Loop=1
2025-01-21T18:16:55.190Z,1737483415.190 [Default](DEBUG): Aggregate::initialize Default
2025-01-21T18:16:55.190Z,1737483415.190 [Default:B.GoToSurface] Running Loop=1
2025-01-21T18:16:55.190Z,1737483415.190 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-21T18:16:55.190Z,1737483415.190 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-21T18:16:55.190Z,1737483415.190 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-21T18:16:55.190Z,1737483415.190 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-21T18:16:55.191Z,1737483415.191 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-21T18:16:55.191Z,1737483415.191 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-21T18:16:55.191Z,1737483415.191 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-21T18:16:55.236Z,1737483415.236 [Default:A.Wait] Running Loop=1
2025-01-21T18:16:55.236Z,1737483415.236 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-21T18:17:08.478Z,1737483428.478 [Default:A.Wait](INFO): Done Waiting.
2025-01-21T18:17:08.478Z,1737483428.478 [Default:A.Wait] Stopped
2025-01-21T18:17:08.478Z,1737483428.478 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-21T18:17:08.881Z,1737483428.881 [Default:CheckIn] Running Loop=1
2025-01-21T18:17:08.881Z,1737483428.881 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-21T18:17:08.881Z,1737483428.881 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-21T18:17:09.295Z,1737483429.295 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-21T18:17:10.891Z,1737483430.891 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,181707.00,A,3647.83609,N,12150.80110,W,0.136,142.70,210125,,,A*78
2025-01-21T18:17:10.893Z,1737483430.893 [NAL9602](INFO): GPS fix at 20250121T181707: (36.797268, -121.846685)
2025-01-21T18:17:10.946Z,1737483430.946 [Default:CheckIn:Read_GPS] Stopped
2025-01-21T18:17:10.946Z,1737483430.946 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-21T18:17:11.334Z,1737483431.334 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-21T18:17:18.839Z,1737483438.839 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20250118T175332/Express0215.lzma
2025-01-21T18:17:19.842Z,1737483439.842 [DataOverHttps](INFO): Moved sent file to Logs/20250118T175332/Express0215.lzma.bak
2025-01-21T18:17:19.842Z,1737483439.842 [DataOverHttps](INFO): SBD MOMSN=23921701
2025-01-21T18:17:41.275Z,1737483461.275 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250121T181402/Courier0004.lzma
2025-01-21T18:17:42.278Z,1737483462.278 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Courier0004.lzma.bak
2025-01-21T18:17:42.278Z,1737483462.278 [DataOverHttps](INFO): SBD MOMSN=23921709
2025-01-21T18:17:43.373Z,1737483463.373 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-21T18:17:59.033Z,1737483479.033 [DataOverHttps](INFO): Sending 1088 bytes from file Logs/20250121T181402/Express0001.lzma
2025-01-21T18:18:00.034Z,1737483480.034 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Express0001.lzma.bak
2025-01-21T18:18:00.034Z,1737483480.034 [DataOverHttps](INFO): SBD MOMSN=23921712
2025-01-21T18:18:16.287Z,1737483496.287 [DataOverHttps](INFO): Sending 217 bytes from file Logs/20250121T181402/Express0005.lzma
2025-01-21T18:18:17.291Z,1737483497.291 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Express0005.lzma.bak
2025-01-21T18:18:17.291Z,1737483497.291 [DataOverHttps](INFO): SBD MOMSN=23921745
2025-01-21T18:18:18.523Z,1737483498.523 [Default:CheckIn:Read_Iridium] Stopped
2025-01-21T18:18:18.523Z,1737483498.523 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-21T18:18:18.523Z,1737483498.523 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-21T18:19:26.862Z,1737483566.862 [DataOverHttps](IMPORTANT): SBD MTMSN=20250121T181925
2025-01-21T18:19:34.824Z,1737483574.824 [DataOverHttps](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 4 h;set keepstation.NeedCommsTime 15 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 50 m" i2wb 1 2
2025-01-21T18:19:34.846Z,1737483574.846 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 4 h;set keepstation.NeedCommsTime 15 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 50 m" i2wb 1 2.000000
2025-01-21T18:19:34.846Z,1737483574.846 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=i2wb
2025-01-21T18:19:34.847Z,1737483574.847 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='i2wb'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 4 h;set keepstation.NeedCommsTime 15 min;set keepstation.Latitude 36.797 degree;set keepstation.Longitude -121.847 degree;set keepstation.Depth 50 m", ASAP
2025-01-21T18:19:35.826Z,1737483575.826 [DataOverHttps](IMPORTANT): SBD MTMSN=20250121T181934
2025-01-21T18:19:45.412Z,1737483585.412 [DataOverHttps](INFO): Received command: sched asap "set keepstation.DepthDeadband 30 m;set keepstation.Speed 1 m/s;set keepstation.MaxDepth 90 m;run" i2wb 2 2
2025-01-21T18:19:45.484Z,1737483585.484 [CommandExec](IMPORTANT): got command schedule asap "set keepstation.DepthDeadband 30 m;set keepstation.Speed 1 m/s;set keepstation.MaxDepth 90 m;run" i2wb 2 2.000000
2025-01-21T18:19:45.485Z,1737483585.485 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=i2wb
2025-01-21T18:19:45.485Z,1737483585.485 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='i2wb'): "set keepstation.DepthDeadband 30 m;set keepstation.Speed 1 m/s;set keepstation.MaxDepth 90 m;run", ASAP
2025-01-21T18:19:45.595Z,1737483585.595 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-01-21T18:19:45.602Z,1737483585.602 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-01-21T18:19:45.602Z,1737483585.602 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-01-21T18:19:45.610Z,1737483585.610 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-01-21T18:19:46.470Z,1737483586.470 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="ApproachDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:KeepStation>
            <Parallel />
            <Setting>
                <Guidance:KeepStation.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.radius />
                <Arg Name="Radius" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:KeepStation>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-01-21T18:19:46.476Z,1737483586.476 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-01-21T18:19:46.479Z,1737483586.479 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-01-21T18:19:46.482Z,1737483586.482 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-01-21T18:19:46.485Z,1737483586.485 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-01-21T18:19:46.488Z,1737483586.488 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-01-21T18:19:46.491Z,1737483586.491 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-01-21T18:19:46.494Z,1737483586.494 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-01-21T18:19:46.497Z,1737483586.497 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-01-21T18:19:46.499Z,1737483586.499 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-01-21T18:19:46.504Z,1737483586.504 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-01-21T18:19:46.507Z,1737483586.507 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-01-21T18:19:46.507Z,1737483586.507 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-21T18:19:46.507Z,1737483586.507 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-21T18:19:46.509Z,1737483586.509 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-21T18:19:46.880Z,1737483586.880 [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>

2025-01-21T18:19:46.885Z,1737483586.885 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-01-21T18:19:46.888Z,1737483586.888 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-21T18:19:46.891Z,1737483586.891 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-21T18:19:46.918Z,1737483586.918 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-01-21T18:19:46.922Z,1737483586.922 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-21T18:19:46.937Z,1737483586.937 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-21T18:19:46.944Z,1737483586.944 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-01-21T18:19:46.947Z,1737483586.947 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-01-21T18:19:46.962Z,1737483586.962 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-21T18:19:47.043Z,1737483587.043 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-21T18:19:47.043Z,1737483587.043 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-21T18:19:47.052Z,1737483587.052 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-21T18:19:47.241Z,1737483587.241 [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>

2025-01-21T18:19:47.273Z,1737483587.273 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-21T18:19:47.280Z,1737483587.280 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-21T18:19:47.288Z,1737483587.288 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-21T18:19:47.291Z,1737483587.291 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-21T18:19:47.296Z,1737483587.296 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-21T18:19:47.313Z,1737483587.313 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-21T18:19:47.330Z,1737483587.330 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-21T18:19:47.347Z,1737483587.347 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-21T18:19:47.347Z,1737483587.347 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-21T18:19:47.353Z,1737483587.353 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-21T18:19:47.389Z,1737483587.389 [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>

2025-01-21T18:19:47.417Z,1737483587.417 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-01-21T18:19:47.422Z,1737483587.422 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-21T18:19:47.426Z,1737483587.426 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-21T18:19:47.426Z,1737483587.426 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-21T18:19:47.427Z,1737483587.427 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-21T18:19:47.730Z,1737483587.730 [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>

2025-01-21T18:19:47.743Z,1737483587.743 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-01-21T18:19:47.750Z,1737483587.750 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-01-21T18:19:47.757Z,1737483587.757 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-01-21T18:19:47.764Z,1737483587.764 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-01-21T18:19:47.767Z,1737483587.767 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-21T18:19:47.782Z,1737483587.782 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-21T18:19:47.814Z,1737483587.814 [keepstation:H.Pitch](DEBUG): Construct.
2025-01-21T18:19:47.843Z,1737483587.843 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-21T18:19:47.847Z,1737483587.847 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-01-21T18:19:47.865Z,1737483587.865 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-01-21T18:19:47.872Z,1737483587.872 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-01-21T18:19:47.889Z,1737483587.889 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-01-21T18:19:47.897Z,1737483587.897 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-01-21T18:19:47.911Z,1737483587.911 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-01-21T18:19:47.952Z,1737483587.952 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  call id="StartingMission" refId="NeedComms"

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

    run in sequence

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = ApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:KeepStation {
      run in parallel

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

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

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-01-21T18:19:47.953Z,1737483587.953 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-01-21T18:20:02.026Z,1737483602.026 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 4 hour
2025-01-21T18:20:02.027Z,1737483602.027 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 15 minute
2025-01-21T18:20:02.028Z,1737483602.028 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.797 degree
2025-01-21T18:20:02.029Z,1737483602.029 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.847 degree
2025-01-21T18:20:02.030Z,1737483602.030 [CommandExec](IMPORTANT): got command set keepstation.Depth 50 meter
2025-01-21T18:20:11.272Z,1737483611.272 [CommandExec](IMPORTANT): got command set keepstation.DepthDeadband 30 meter
2025-01-21T18:20:11.273Z,1737483611.273 [CommandExec](IMPORTANT): got command set keepstation.Speed 1 meter_per_second
2025-01-21T18:20:11.274Z,1737483611.274 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 90 meter
2025-01-21T18:20:11.274Z,1737483611.274 [CommandExec](IMPORTANT): got command run
2025-01-21T18:20:11.280Z,1737483611.280 [CommandExec](IMPORTANT): Running 
2025-01-21T18:20:11.660Z,1737483611.660 [Default] Stopped
2025-01-21T18:20:11.660Z,1737483611.660 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-21T18:20:11.660Z,1737483611.660 [Default:B.GoToSurface] Stopped
2025-01-21T18:20:11.660Z,1737483611.660 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-21T18:20:11.660Z,1737483611.660 [Default:CheckIn] Stopped
2025-01-21T18:20:11.660Z,1737483611.660 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-21T18:20:11.660Z,1737483611.660 [Default:CheckIn:C.Wait] Stopped
2025-01-21T18:20:11.661Z,1737483611.661 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-21T18:20:11.661Z,1737483611.661 [MissionManager](IMPORTANT): Started mission keepstation
2025-01-21T18:20:11.661Z,1737483611.661 [keepstation] Running Loop=1
2025-01-21T18:20:11.661Z,1737483611.661 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-01-21T18:20:11.661Z,1737483611.661 [keepstation:StandardEnvelopes] Running Loop=1
2025-01-21T18:20:11.661Z,1737483611.661 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-01-21T18:20:11.661Z,1737483611.661 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-21T18:20:11.661Z,1737483611.661 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-21T18:20:11.662Z,1737483611.662 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-21T18:20:11.662Z,1737483611.662 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-21T18:20:11.662Z,1737483611.662 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-21T18:20:11.662Z,1737483611.662 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-21T18:20:11.662Z,1737483611.662 [keepstation:BackseatDriver] Running Loop=1
2025-01-21T18:20:11.662Z,1737483611.662 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-01-21T18:20:11.662Z,1737483611.662 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-21T18:20:11.662Z,1737483611.662 [keepstation:PowerOnly] Running Loop=1
2025-01-21T18:20:11.662Z,1737483611.662 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-01-21T18:20:11.663Z,1737483611.663 [keepstation:PowerOnly:A] Running Loop=1
2025-01-21T18:20:11.663Z,1737483611.663 [keepstation:PowerOnly:B] Running Loop=1
2025-01-21T18:20:11.663Z,1737483611.663 [keepstation:PowerOnly:C] Running Loop=1
2025-01-21T18:20:11.663Z,1737483611.663 [keepstation:PowerOnly:D] Running Loop=1
2025-01-21T18:20:11.663Z,1737483611.663 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-01-21T18:20:11.663Z,1737483611.663 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-21T18:20:11.663Z,1737483611.663 [keepstation:H.Pitch] Running Loop=1
2025-01-21T18:20:11.663Z,1737483611.663 [keepstation:H.Pitch](DEBUG): Initialize.
2025-01-21T18:20:11.663Z,1737483611.663 [keepstation:B] Running Loop=1
2025-01-21T18:20:11.700Z,1737483611.700 [keepstation:H.Pitch] Running Loop=1
2025-01-21T18:20:11.701Z,1737483611.701 [keepstation:PowerOnly] Running Loop=1
2025-01-21T18:20:11.701Z,1737483611.701 [keepstation:PowerOnly:D] Stopped
2025-01-21T18:20:11.701Z,1737483611.701 [keepstation:PowerOnly:C] Stopped
2025-01-21T18:20:11.701Z,1737483611.701 [keepstation:PowerOnly:B] Stopped
2025-01-21T18:20:11.701Z,1737483611.701 [keepstation:PowerOnly:A] Stopped
2025-01-21T18:20:11.701Z,1737483611.701 [keepstation:BackseatDriver] Running Loop=1
2025-01-21T18:20:11.702Z,1737483611.702 [keepstation:StandardEnvelopes] Running Loop=1
2025-01-21T18:20:11.702Z,1737483611.702 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-21T18:20:11.702Z,1737483611.702 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-21T18:20:11.703Z,1737483611.703 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-21T18:20:11.703Z,1737483611.703 [keepstation:B] Stopped
2025-01-21T18:20:11.712Z,1737483611.712 [keepstation:D] Running Loop=1
2025-01-21T18:20:12.010Z,1737483612.010 [keepstation:D] Stopped
2025-01-21T18:20:12.010Z,1737483612.010 [keepstation:E] Running Loop=1
2025-01-21T18:20:12.461Z,1737483612.461 [keepstation:E] Stopped
2025-01-21T18:20:12.461Z,1737483612.461 [keepstation:StartingMission] Running Loop=1
2025-01-21T18:20:12.461Z,1737483612.461 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-01-21T18:20:12.822Z,1737483612.822 [keepstation:NeedComms] Running Loop=1
2025-01-21T18:20:12.822Z,1737483612.822 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-01-21T18:20:12.822Z,1737483612.822 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-01-21T18:20:12.823Z,1737483612.823 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-21T18:20:12.823Z,1737483612.823 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-21T18:20:12.823Z,1737483612.823 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-21T18:20:12.828Z,1737483612.828 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-21T18:20:12.828Z,1737483612.828 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-21T18:20:12.829Z,1737483612.829 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-21T18:20:12.829Z,1737483612.829 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-21T18:20:12.829Z,1737483612.829 [keepstation:NeedComms:A] Running Loop=1
2025-01-21T18:20:12.830Z,1737483612.830 [keepstation:NeedComms:A](INFO): last time_fix was:  1737483427.000000 second since 1970/01/01T00:00:00Z 
2025-01-21T18:20:12.831Z,1737483612.831 [keepstation:NeedComms:A] Stopped
2025-01-21T18:20:13.238Z,1737483613.238 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-01-21T18:20:13.239Z,1737483613.239 [keepstation:NeedComms:C] Running Loop=1
2025-01-21T18:20:13.694Z,1737483613.694 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-21T18:20:15.220Z,1737483615.220 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182011.00,A,3647.83577,N,12150.80388,W,0.097,278.95,210125,,,A*79
2025-01-21T18:20:15.223Z,1737483615.223 [NAL9602](INFO): GPS fix at 20250121T182011: (36.797263, -121.846731)
2025-01-21T18:20:15.248Z,1737483615.248 [keepstation:NeedComms:C] Stopped
2025-01-21T18:20:15.248Z,1737483615.248 [keepstation:NeedComms:D] Running Loop=1
2025-01-21T18:20:15.645Z,1737483615.645 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-21T18:20:16.762Z,1737483616.762 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250121T181402/Courier0007.lzma
2025-01-21T18:20:17.370Z,1737483617.370 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Courier0007.lzma.bak
2025-01-21T18:20:17.370Z,1737483617.370 [DataOverHttps](INFO): SBD MOMSN=23921751
2025-01-21T18:20:31.838Z,1737483631.838 [NAL9602](INFO): SBD MO Status=0, MOMSN=12309, MT Status=0, MTMSN=0
2025-01-21T18:20:31.839Z,1737483631.839 [NAL9602](INFO): No messages in MT queue
2025-01-21T18:20:35.407Z,1737483635.407 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250121T181402/Courier0010.lzma
2025-01-21T18:20:36.410Z,1737483636.410 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Courier0010.lzma.bak
2025-01-21T18:20:36.410Z,1737483636.410 [DataOverHttps](INFO): SBD MOMSN=23921754
2025-01-21T18:20:53.228Z,1737483653.228 [DataOverHttps](INFO): Sending 607 bytes from file Logs/20250121T181402/Express0008.lzma
2025-01-21T18:20:54.234Z,1737483654.234 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Express0008.lzma.bak
2025-01-21T18:20:54.234Z,1737483654.234 [DataOverHttps](INFO): SBD MOMSN=23921757
2025-01-21T18:21:02.581Z,1737483662.581 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-21T18:21:15.423Z,1737483675.423 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250121T181402/Express0011.lzma
2025-01-21T18:21:16.426Z,1737483676.426 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Express0011.lzma.bak
2025-01-21T18:21:16.426Z,1737483676.426 [DataOverHttps](INFO): SBD MOMSN=23921781
2025-01-21T18:21:17.949Z,1737483677.949 [keepstation:NeedComms:D] Stopped
2025-01-21T18:21:17.950Z,1737483677.950 [keepstation:NeedComms:E] Running Loop=1
2025-01-21T18:21:18.353Z,1737483678.353 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-21T18:21:19.959Z,1737483679.959 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182116.00,A,3647.83607,N,12150.80558,W,0.175,317.51,210125,,,A*7D
2025-01-21T18:21:19.961Z,1737483679.961 [NAL9602](INFO): GPS fix at 20250121T182116: (36.797268, -121.846760)
2025-01-21T18:21:20.015Z,1737483680.015 [keepstation:NeedComms:E] Stopped
2025-01-21T18:21:20.024Z,1737483680.024 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-01-21T18:21:20.024Z,1737483680.024 [keepstation:NeedComms] Stopped
2025-01-21T18:21:20.024Z,1737483680.024 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-01-21T18:21:20.024Z,1737483680.024 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-01-21T18:21:20.024Z,1737483680.024 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-21T18:21:20.398Z,1737483680.398 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-01-21T18:21:20.398Z,1737483680.398 [keepstation:StartingMission] Stopped
2025-01-21T18:21:20.398Z,1737483680.398 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-01-21T18:21:20.398Z,1737483680.398 [keepstation:TransitToStation] Running Loop=1
2025-01-21T18:21:20.398Z,1737483680.398 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-01-21T18:21:20.398Z,1737483680.398 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-01-21T18:21:20.398Z,1737483680.398 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-21T18:21:20.398Z,1737483680.398 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-01-21T18:21:20.398Z,1737483680.398 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-01-21T18:21:20.399Z,1737483680.399 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-01-21T18:21:20.399Z,1737483680.399 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-01-21T18:21:20.399Z,1737483680.399 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-01-21T18:21:20.399Z,1737483680.399 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-01-21T18:21:20.429Z,1737483680.429 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-01-21T18:21:20.798Z,1737483680.798 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-01-21T18:21:20.799Z,1737483680.799 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-01-21T18:21:20.799Z,1737483680.799 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-01-21T18:21:20.799Z,1737483680.799 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-01-21T18:21:20.840Z,1737483680.840 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-01-21T18:21:20.840Z,1737483680.840 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-01-21T18:21:20.841Z,1737483680.841 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-01-21T18:21:30.544Z,1737483690.544 [NAL9602](INFO): SBD MO Status=0, MOMSN=12310, MT Status=0, MTMSN=0
2025-01-21T18:21:30.544Z,1737483690.544 [NAL9602](INFO): No messages in MT queue
2025-01-21T18:22:01.307Z,1737483721.307 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-21T18:22:14.658Z,1737483734.658 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-01-21T18:22:14.658Z,1737483734.658 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-01-21T18:22:14.658Z,1737483734.658 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-01-21T18:22:14.659Z,1737483734.659 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-01-21T18:22:14.659Z,1737483734.659 [keepstation:TransitToStation] Stopped
2025-01-21T18:22:14.659Z,1737483734.659 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-01-21T18:22:14.659Z,1737483734.659 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-01-21T18:22:14.660Z,1737483734.660 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-21T18:22:14.660Z,1737483734.660 [keepstation:TransitToStation:B.Pitch] Stopped
2025-01-21T18:22:14.660Z,1737483734.660 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-01-21T18:22:14.660Z,1737483734.660 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-01-21T18:22:14.660Z,1737483734.660 [keepstation:OnStation] Running Loop=1
2025-01-21T18:22:14.660Z,1737483734.660 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-01-21T18:22:15.126Z,1737483735.126 [keepstation:NeedComms] Running Loop=1
2025-01-21T18:22:15.126Z,1737483735.126 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-01-21T18:22:15.126Z,1737483735.126 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-01-21T18:22:15.126Z,1737483735.126 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-21T18:22:15.127Z,1737483735.127 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-21T18:22:15.127Z,1737483735.127 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-21T18:22:15.127Z,1737483735.127 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-21T18:22:15.128Z,1737483735.128 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-21T18:22:15.128Z,1737483735.128 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-21T18:22:15.128Z,1737483735.128 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-21T18:22:15.129Z,1737483735.129 [keepstation:NeedComms:A] Running Loop=1
2025-01-21T18:22:15.130Z,1737483735.130 [keepstation:NeedComms:A](INFO): last time_fix was:  1737483676.000000 second since 1970/01/01T00:00:00Z 
2025-01-21T18:22:15.130Z,1737483735.130 [keepstation:NeedComms:A] Stopped
2025-01-21T18:22:15.547Z,1737483735.547 [keepstation:NeedComms:C] Running Loop=1
2025-01-21T18:22:17.634Z,1737483737.634 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182213.00,A,3647.82504,N,12150.81282,W,2.080,194.21,210125,,,A*7C
2025-01-21T18:22:17.637Z,1737483737.637 [NAL9602](INFO): GPS fix at 20250121T182213: (36.797084, -121.846880)
2025-01-21T18:22:17.679Z,1737483737.679 [keepstation:NeedComms:C] Stopped
2025-01-21T18:22:17.679Z,1737483737.679 [keepstation:NeedComms:D] Running Loop=1
2025-01-21T18:22:18.318Z,1737483738.318 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-21T18:22:18.612Z,1737483738.612 [keepstation:NeedComms:D] Stopped
2025-01-21T18:22:18.612Z,1737483738.612 [keepstation:NeedComms:E] Running Loop=1
2025-01-21T18:23:12.986Z,1737483792.986 [NAL9602](INFO): SBD MO Status=0, MOMSN=12311, MT Status=0, MTMSN=0
2025-01-21T18:23:12.987Z,1737483792.987 [NAL9602](INFO): No messages in MT queue
2025-01-21T18:23:14.203Z,1737483794.203 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182310.00,A,3647.80719,N,12150.81171,W,0.778,158.62,210125,,,A*78
2025-01-21T18:23:14.206Z,1737483794.206 [NAL9602](INFO): GPS fix at 20250121T182310: (36.796787, -121.846862)
2025-01-21T18:23:14.218Z,1737483794.218 [keepstation:NeedComms:E] Stopped
2025-01-21T18:23:14.219Z,1737483794.219 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-01-21T18:23:14.219Z,1737483794.219 [keepstation:NeedComms] Stopped
2025-01-21T18:23:14.219Z,1737483794.219 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-01-21T18:23:14.220Z,1737483794.220 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-01-21T18:23:14.220Z,1737483794.220 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-21T18:23:14.637Z,1737483794.637 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-01-21T18:23:14.637Z,1737483794.637 [keepstation:OnStation] Stopped
2025-01-21T18:23:14.637Z,1737483794.637 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-01-21T18:23:14.638Z,1737483794.638 [keepstation:KeepStation] Running Loop=1
2025-01-21T18:23:14.638Z,1737483794.638 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-01-21T18:23:14.638Z,1737483794.638 [keepstation:KeepStation:A] Running Loop=1
2025-01-21T18:23:14.638Z,1737483794.638 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-01-21T18:23:14.638Z,1737483794.638 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-01-21T18:23:14.638Z,1737483794.638 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-01-21T18:23:14.638Z,1737483794.638 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-01-21T18:23:14.639Z,1737483794.639 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-01-21T18:23:14.639Z,1737483794.639 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-01-21T18:23:15.021Z,1737483795.021 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-01-21T18:23:15.022Z,1737483795.022 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-01-21T18:23:15.022Z,1737483795.022 [keepstation:KeepStation:A] Running Loop=1
2025-01-21T18:23:46.557Z,1737483826.557 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-21T18:24:30.101Z,1737483870.101 [DataOverHttps](IMPORTANT): SBD MTMSN=20250121T182429
2025-01-21T18:24:30.680Z,1737483870.680 [BuoyancyServo](FAULT): Overload Error
2025-01-21T18:24:30.680Z,1737483870.680 [BuoyancyServo] Hardware Fault, FailCount= 1
2025-01-21T18:24:30.680Z,1737483870.680 [BuoyancyServo](ERROR): Hardware Fault
2025-01-21T18:24:30.929Z,1737483870.929 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2025-01-21T18:24:32.723Z,1737483872.723 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-01-21T18:24:32.725Z,1737483872.725 [BuoyancyServo](INFO): Powering down
2025-01-21T18:24:33.692Z,1737483873.692 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2025-01-21T18:24:33.692Z,1737483873.692 [BuoyancyServo] No Fault, FailCount= 1
2025-01-21T18:24:33.901Z,1737483873.901 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-01-21T18:24:33.936Z,1737483873.936 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-01-21T18:24:37.867Z,1737483877.867 [DataOverHttps](INFO): Received command: stop
2025-01-21T18:24:37.873Z,1737483877.873 [CommandExec](IMPORTANT): got command stop
2025-01-21T18:24:37.874Z,1737483877.874 [CommandExec](IMPORTANT): Scheduling is paused
2025-01-21T18:24:37.874Z,1737483877.874 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-01-21T18:24:37.918Z,1737483877.918 [MissionManager](INFO): MissionManager is completed.
2025-01-21T18:24:37.918Z,1737483877.918 [MissionManager](INFO): Uninitializing Mission keepstation
2025-01-21T18:24:37.918Z,1737483877.918 [keepstation] Stopped
2025-01-21T18:24:37.918Z,1737483877.918 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-01-21T18:24:37.919Z,1737483877.919 [keepstation:StandardEnvelopes] Stopped
2025-01-21T18:24:37.919Z,1737483877.919 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-01-21T18:24:37.919Z,1737483877.919 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-21T18:24:37.919Z,1737483877.919 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-21T18:24:37.919Z,1737483877.919 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-21T18:24:37.919Z,1737483877.919 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-21T18:24:37.919Z,1737483877.919 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-21T18:24:37.919Z,1737483877.919 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-21T18:24:37.919Z,1737483877.919 [keepstation:BackseatDriver] Stopped
2025-01-21T18:24:37.919Z,1737483877.919 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-01-21T18:24:37.919Z,1737483877.919 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-01-21T18:24:37.919Z,1737483877.919 [keepstation:PowerOnly] Stopped
2025-01-21T18:24:37.944Z,1737483877.944 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-01-21T18:24:37.944Z,1737483877.944 [keepstation:PowerOnly:E.Wait] Stopped
2025-01-21T18:24:37.944Z,1737483877.944 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-21T18:24:37.944Z,1737483877.944 [keepstation:H.Pitch] Stopped
2025-01-21T18:24:37.944Z,1737483877.944 [keepstation:KeepStation] Stopped
2025-01-21T18:24:37.944Z,1737483877.944 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-01-21T18:24:37.944Z,1737483877.944 [keepstation:KeepStation:A] Stopped
2025-01-21T18:24:37.944Z,1737483877.944 [keepstation:KeepStation:B.Pitch] Stopped
2025-01-21T18:24:37.944Z,1737483877.944 [keepstation:KeepStation:C.KeepStation] Stopped
2025-01-21T18:24:37.944Z,1737483877.944 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-01-21T18:24:37.944Z,1737483877.944 [keepstation:KeepStation:D.Wait] Stopped
2025-01-21T18:24:37.945Z,1737483877.945 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-01-21T18:24:38.315Z,1737483878.315 [MissionManager](IMPORTANT): Started mission Default
2025-01-21T18:24:38.315Z,1737483878.315 [Default] Running Loop=1
2025-01-21T18:24:38.316Z,1737483878.316 [Default](DEBUG): Aggregate::initialize Default
2025-01-21T18:24:38.316Z,1737483878.316 [Default:B.GoToSurface] Running Loop=1
2025-01-21T18:24:38.316Z,1737483878.316 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-21T18:24:38.316Z,1737483878.316 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-21T18:24:38.316Z,1737483878.316 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-21T18:24:38.317Z,1737483878.317 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-21T18:24:38.317Z,1737483878.317 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-21T18:24:38.317Z,1737483878.317 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-21T18:24:38.318Z,1737483878.318 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-21T18:24:38.318Z,1737483878.318 [Default:A.Wait] Running Loop=1
2025-01-21T18:24:38.318Z,1737483878.318 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-21T18:24:51.653Z,1737483891.653 [Default:A.Wait](INFO): Done Waiting.
2025-01-21T18:24:51.653Z,1737483891.653 [Default:A.Wait] Stopped
2025-01-21T18:24:51.653Z,1737483891.653 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-21T18:24:52.052Z,1737483892.052 [Default:CheckIn] Running Loop=1
2025-01-21T18:24:52.053Z,1737483892.053 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-21T18:24:52.054Z,1737483892.054 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-21T18:24:54.064Z,1737483894.064 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182453.00,A,3647.80122,N,12150.80546,W,0.467,240.99,210125,,,A*74
2025-01-21T18:24:54.067Z,1737483894.067 [NAL9602](INFO): GPS fix at 20250121T182453: (36.796687, -121.846758)
2025-01-21T18:24:54.078Z,1737483894.078 [Default:CheckIn:Read_GPS] Stopped
2025-01-21T18:24:54.078Z,1737483894.078 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-21T18:25:06.051Z,1737483906.051 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250121T181402/Courier0013.lzma
2025-01-21T18:25:07.055Z,1737483907.055 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Courier0013.lzma.bak
2025-01-21T18:25:07.055Z,1737483907.055 [DataOverHttps](INFO): SBD MOMSN=23921787
2025-01-21T18:25:11.566Z,1737483911.566 [NAL9602](INFO): SBD MO Status=0, MOMSN=12312, MT Status=0, MTMSN=0
2025-01-21T18:25:11.567Z,1737483911.567 [NAL9602](INFO): No messages in MT queue
2025-01-21T18:25:27.436Z,1737483927.436 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250121T181402/Courier0016.lzma
2025-01-21T18:25:28.438Z,1737483928.438 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Courier0016.lzma.bak
2025-01-21T18:25:28.438Z,1737483928.438 [DataOverHttps](IMPORTANT): SBD MOMSN=23921791, MTMSN=20250121T182527
2025-01-21T18:25:36.572Z,1737483936.572 [DataOverHttps](INFO): Received command: run Maintenance/ballast_and_trim.tl
2025-01-21T18:25:36.615Z,1737483936.615 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/ballast_and_trim.tl
2025-01-21T18:25:36.626Z,1737483936.626 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/ballast_and_trim.tl
2025-01-21T18:25:36.626Z,1737483936.626 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/ballast_and_trim.tl
2025-01-21T18:25:36.638Z,1737483936.638 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/ballast_and_trim.tl
2025-01-21T18:25:40.661Z,1737483940.661 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/ballast_and_trim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="ballast_and_trim">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>90</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="SettleTime">
        <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>98.0</Value>
    </DefineArg>
    <DefineArg Name="massDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>52</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="CheckDepths">
        <Units:bool />
        <Value>1</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <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="CheckTargetDepths">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="CheckDepths" />
            </Not>
        </Break>
        <Aggregate Id="CheckDepth1">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth1" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth1 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Aggregate Id="CheckDepth2">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth2" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth2 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Assign>
            <Sequence />
            <Arg Name="CheckDepths" />
            <Units:bool />
            <Value>0</Value>
        </Assign>
    </Aggregate>
    <Aggregate Id="StartingMission">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Syslog Severity="Info">Checking for additional instructions before submerging.</Syslog>
        <Call RefId="NeedComms" Id="StartingMission" />
    </Aggregate>
    <Aggregate Id="RunBallastAndTrim">
        <Sequence />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSpeed">
                <Arg Name="ApproachSpeed" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthRate">
                <Arg Name="ApproachDepthRate" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachPitchLimit">
                <Arg Name="ApproachPitchLimit" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSettleTimePreDive">
                <Arg Name="ApproachSettleTimePreDive" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="ApproachDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="SettleTime" />
            </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>
            <RedefineArg Name="InsertMassDeadband">
                <Arg Name="massDeadband" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunDepth1">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth1" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
        <Aggregate Id="RunDepth2">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth2" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth2" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" />
</Mission>

2025-01-21T18:25:40.681Z,1737483940.681 [MissionManager](INFO): DefineArg ballast_and_trim.MissionTimeout = 90.000000 min
2025-01-21T18:25:40.683Z,1737483940.683 [MissionManager](INFO): DefineArg ballast_and_trim.SkipComms = 0 bool
2025-01-21T18:25:40.719Z,1737483940.719 [MissionManager](INFO): DefineArg ballast_and_trim.Depth1 = 35.000000 m
2025-01-21T18:25:40.766Z,1737483940.766 [MissionManager](INFO): DefineArg ballast_and_trim.Depth2 = nan m
2025-01-21T18:25:40.777Z,1737483940.777 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 0.100000 m
2025-01-21T18:25:40.797Z,1737483940.797 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSpeed = 1.000000 m/s
2025-01-21T18:25:40.799Z,1737483940.799 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthTimeout = 20.000000 min
2025-01-21T18:25:40.811Z,1737483940.811 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthRate = 0.400000 m/s
2025-01-21T18:25:40.825Z,1737483940.825 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachPitchLimit = 20.000000 arcdeg
2025-01-21T18:25:40.836Z,1737483940.836 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSettleTimePreDive = 0.000000 min
2025-01-21T18:25:40.845Z,1737483940.845 [MissionManager](INFO): DefineArg ballast_and_trim.SettleTime = 10.000000 min
2025-01-21T18:25:40.856Z,1737483940.856 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationTimeout = 45.000000 min
2025-01-21T18:25:40.859Z,1737483940.859 [MissionManager](INFO): DefineArg ballast_and_trim.MinEstimationTime = 10.000000 min
2025-01-21T18:25:40.870Z,1737483940.870 [MissionManager](INFO): DefineArg ballast_and_trim.MassEstimationErrorBound = 0.500000 mm
2025-01-21T18:25:40.878Z,1737483940.878 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyEstimationErrorBound = 25.000000 cc
2025-01-21T18:25:40.901Z,1737483940.901 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationConfidence = 98.000000 %
2025-01-21T18:25:40.912Z,1737483940.912 [MissionManager](INFO): DefineArg ballast_and_trim.massDeadband = 0.250000 mm
2025-01-21T18:25:40.918Z,1737483940.918 [MissionManager](INFO): DefineArg ballast_and_trim.MinAltitude = 5.000000 m
2025-01-21T18:25:40.930Z,1737483940.930 [MissionManager](INFO): DefineArg ballast_and_trim.MaxDepth = 52.000000 m
2025-01-21T18:25:40.933Z,1737483940.933 [MissionManager](INFO): DefineArg ballast_and_trim.MinOffshore = 2.000000 km
2025-01-21T18:25:40.952Z,1737483940.952 [MissionManager](INFO): DefineArg ballast_and_trim.CheckDepths = 1.000000 bool
2025-01-21T18:25:40.952Z,1737483940.952 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-01-21T18:25:40.953Z,1737483940.953 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-01-21T18:25:40.969Z,1737483940.969 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-01-21T18:25:42.321Z,1737483942.321 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-21T18:25:47.217Z,1737483947.217 [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>

2025-01-21T18:25:47.272Z,1737483947.272 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool
2025-01-21T18:25:47.280Z,1737483947.280 [MissionManager](INFO): DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min
2025-01-21T18:25:47.282Z,1737483947.282 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool
2025-01-21T18:25:47.289Z,1737483947.289 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool
2025-01-21T18:25:47.296Z,1737483947.296 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool
2025-01-21T18:25:47.299Z,1737483947.299 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PatchTracking = 0 bool
2025-01-21T18:25:47.306Z,1737483947.306 [MissionManager](INFO): DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count
2025-01-21T18:25:47.313Z,1737483947.313 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-01-21T18:25:47.324Z,1737483947.324 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-01-21T18:25:47.327Z,1737483947.327 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool
2025-01-21T18:25:47.370Z,1737483947.370 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool
2025-01-21T18:25:47.377Z,1737483947.377 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool
2025-01-21T18:25:47.393Z,1737483947.393 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool
2025-01-21T18:25:47.395Z,1737483947.395 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-01-21T18:25:47.430Z,1737483947.430 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-01-21T18:25:47.437Z,1737483947.437 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-01-21T18:25:47.452Z,1737483947.452 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-01-21T18:25:47.455Z,1737483947.455 [MissionManager](INFO): DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-01-21T18:25:47.467Z,1737483947.467 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0 bool
2025-01-21T18:25:47.474Z,1737483947.474 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledNeilBrown = 0 bool
2025-01-21T18:25:47.490Z,1737483947.490 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledSeabird = 1 bool
2025-01-21T18:25:47.502Z,1737483947.502 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1 bool
2025-01-21T18:25:47.528Z,1737483947.528 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-01-21T18:25:47.531Z,1737483947.531 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 0 bool
2025-01-21T18:25:47.543Z,1737483947.543 [MissionManager](INFO): DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count
2025-01-21T18:25:47.554Z,1737483947.554 [MissionManager](INFO): DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count
2025-01-21T18:25:47.581Z,1737483947.581 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakShallowBound = nan m
2025-01-21T18:25:47.604Z,1737483947.604 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDeepBound = nan m
2025-01-21T18:25:47.607Z,1737483947.607 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-01-21T18:25:47.638Z,1737483947.638 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlThreshTriggerActive = 0 bool
2025-01-21T18:25:47.651Z,1737483947.651 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlLowerThresh = nan ug/l
2025-01-21T18:25:47.658Z,1737483947.658 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlUpperThresh = nan ug/l
2025-01-21T18:25:47.666Z,1737483947.666 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesThresh = 5.000000 count
2025-01-21T18:25:47.686Z,1737483947.686 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChl = nan ug/l
2025-01-21T18:25:47.698Z,1737483947.698 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlDepth = nan m
2025-01-21T18:25:47.709Z,1737483947.709 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlTemperature = nan degC
2025-01-21T18:25:47.721Z,1737483947.721 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg
2025-01-21T18:25:47.736Z,1737483947.736 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg
2025-01-21T18:25:47.739Z,1737483947.739 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3 = nan umol/l
2025-01-21T18:25:47.750Z,1737483947.750 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Depth = nan m
2025-01-21T18:25:47.762Z,1737483947.762 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg
2025-01-21T18:25:47.773Z,1737483947.773 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg
2025-01-21T18:25:47.789Z,1737483947.789 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOil = nan kg/m3
2025-01-21T18:25:47.817Z,1737483947.817 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilDepth = nan m
2025-01-21T18:25:47.825Z,1737483947.825 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg
2025-01-21T18:25:47.856Z,1737483947.856 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg
2025-01-21T18:25:47.859Z,1737483947.859 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOM = nan ppb
2025-01-21T18:25:47.867Z,1737483947.867 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMDepth = nan m
2025-01-21T18:25:47.896Z,1737483947.896 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC
2025-01-21T18:25:47.899Z,1737483947.899 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg
2025-01-21T18:25:47.910Z,1737483947.910 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg
2025-01-21T18:25:47.921Z,1737483947.921 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSalt = nan psu
2025-01-21T18:25:47.929Z,1737483947.929 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltDepth = nan m
2025-01-21T18:25:47.952Z,1737483947.952 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltTemperature = nan degC
2025-01-21T18:25:47.955Z,1737483947.955 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg
2025-01-21T18:25:48.003Z,1737483948.003 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg
2025-01-21T18:25:48.018Z,1737483948.018 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-01-21T18:25:48.023Z,1737483948.023 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-01-21T18:25:48.056Z,1737483948.056 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-01-21T18:25:48.063Z,1737483948.063 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-01-21T18:25:48.087Z,1737483948.087 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-01-21T18:25:48.095Z,1737483948.095 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-01-21T18:25:48.111Z,1737483948.111 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-01-21T18:25:48.136Z,1737483948.136 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-01-21T18:25:48.152Z,1737483948.152 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-01-21T18:25:48.155Z,1737483948.155 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-01-21T18:25:48.167Z,1737483948.167 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-01-21T18:25:48.198Z,1737483948.198 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-01-21T18:25:48.211Z,1737483948.211 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-01-21T18:25:48.226Z,1737483948.226 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-01-21T18:25:48.234Z,1737483948.234 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-01-21T18:25:48.251Z,1737483948.251 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-01-21T18:25:48.262Z,1737483948.262 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-01-21T18:25:48.270Z,1737483948.270 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-01-21T18:25:48.317Z,1737483948.317 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-01-21T18:25:48.336Z,1737483948.336 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-01-21T18:25:48.339Z,1737483948.339 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChl = nan ug/l
2025-01-21T18:25:48.363Z,1737483948.363 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDepth = nan m
2025-01-21T18:25:48.394Z,1737483948.394 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg
2025-01-21T18:25:48.409Z,1737483948.409 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg
2025-01-21T18:25:48.421Z,1737483948.421 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m
2025-01-21T18:25:48.440Z,1737483948.440 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSalt = nan psu
2025-01-21T18:25:48.443Z,1737483948.443 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDepth = nan m
2025-01-21T18:25:48.465Z,1737483948.465 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg
2025-01-21T18:25:48.477Z,1737483948.477 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg
2025-01-21T18:25:48.487Z,1737483948.487 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m
2025-01-21T18:25:48.491Z,1737483948.491 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOil = nan psu
2025-01-21T18:25:48.502Z,1737483948.502 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDepth = nan m
2025-01-21T18:25:48.514Z,1737483948.514 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg
2025-01-21T18:25:48.525Z,1737483948.525 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg
2025-01-21T18:25:48.536Z,1737483948.536 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m
2025-01-21T18:25:48.539Z,1737483948.539 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.TriggeredOnChl = 0 bool
2025-01-21T18:25:48.555Z,1737483948.555 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.ChlTriggering = nan ug/l
2025-01-21T18:25:48.687Z,1737483948.687 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-21T18:25:48.732Z,1737483948.732 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-21T18:25:48.808Z,1737483948.808 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-21T18:25:48.842Z,1737483948.842 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-21T18:25:48.903Z,1737483948.903 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-21T18:25:48.943Z,1737483948.943 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-21T18:25:49.027Z,1737483949.027 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-21T18:25:49.087Z,1737483949.087 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-21T18:25:49.138Z,1737483949.138 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-21T18:25:49.216Z,1737483949.216 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-21T18:25:49.307Z,1737483949.307 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-21T18:25:49.357Z,1737483949.357 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-21T18:25:49.397Z,1737483949.397 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-01-21T18:25:49.419Z,1737483949.419 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-01-21T18:25:49.419Z,1737483949.419 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-01-21T18:25:49.437Z,1737483949.437 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-01-21T18:25:50.098Z,1737483950.098 [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>

2025-01-21T18:25:50.123Z,1737483950.123 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.DiveInterval = 1.000000 h
2025-01-21T18:25:50.135Z,1737483950.135 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.WaitForPitchUp = 10.000000 min
2025-01-21T18:25:50.143Z,1737483950.143 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-01-21T18:25:50.158Z,1737483950.158 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceDepthRate = nan m/s
2025-01-21T18:25:50.166Z,1737483950.166 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-01-21T18:25:50.174Z,1737483950.174 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-01-21T18:25:50.193Z,1737483950.193 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.GPSTimeout = 7.000000 min
2025-01-21T18:25:50.223Z,1737483950.223 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.CommsTimeout = 30.000000 min
2025-01-21T18:25:50.251Z,1737483950.251 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-01-21T18:25:50.333Z,1737483950.333 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-21T18:25:50.333Z,1737483950.333 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-21T18:25:50.334Z,1737483950.334 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-21T18:25:50.589Z,1737483950.589 [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>

2025-01-21T18:25:50.612Z,1737483950.612 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-21T18:25:50.615Z,1737483950.615 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-21T18:25:50.626Z,1737483950.626 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-21T18:25:50.651Z,1737483950.651 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-21T18:25:50.665Z,1737483950.665 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-21T18:25:50.689Z,1737483950.689 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-21T18:25:50.718Z,1737483950.718 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-21T18:25:50.778Z,1737483950.778 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-21T18:25:50.778Z,1737483950.778 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-21T18:25:50.779Z,1737483950.779 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-21T18:25:50.893Z,1737483950.893 [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>

2025-01-21T18:25:50.905Z,1737483950.905 [MissionManager](INFO): DefineArg ballast_and_trim:BackseatDriver.EnableBackseat = 0 bool
2025-01-21T18:25:50.907Z,1737483950.907 [ballast_and_trim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-21T18:25:50.930Z,1737483950.930 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-21T18:25:50.930Z,1737483950.930 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-21T18:25:50.931Z,1737483950.931 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-21T18:25:51.423Z,1737483951.423 [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>

2025-01-21T18:25:51.442Z,1737483951.442 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleAll = 0 bool
2025-01-21T18:25:51.457Z,1737483951.457 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad1 = 0 bool
2025-01-21T18:25:51.468Z,1737483951.468 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad2 = 0 bool
2025-01-21T18:25:51.471Z,1737483951.471 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad3 = 0 bool
2025-01-21T18:25:51.482Z,1737483951.482 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-21T18:25:51.516Z,1737483951.516 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-21T18:25:51.543Z,1737483951.543 [ballast_and_trim:CheckTargetDepths:CheckDepth1:B.Execute](DEBUG): Construct Execute.
2025-01-21T18:25:51.559Z,1737483951.559 [ballast_and_trim:CheckTargetDepths:CheckDepth2:B.Execute](DEBUG): Construct Execute.
2025-01-21T18:25:51.582Z,1737483951.582 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-01-21T18:25:51.582Z,1737483951.582 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-01-21T18:25:51.592Z,1737483951.592 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-01-21T18:25:52.675Z,1737483952.675 [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>

2025-01-21T18:25:52.691Z,1737483952.691 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m
2025-01-21T18:25:52.706Z,1737483952.706 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-01-21T18:25:52.717Z,1737483952.717 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-01-21T18:25:52.726Z,1737483952.726 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-01-21T18:25:52.735Z,1737483952.735 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-01-21T18:25:52.743Z,1737483952.743 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-01-21T18:25:52.766Z,1737483952.766 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-01-21T18:25:52.785Z,1737483952.785 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min
2025-01-21T18:25:52.797Z,1737483952.797 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min
2025-01-21T18:25:52.804Z,1737483952.804 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-01-21T18:25:52.817Z,1737483952.817 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-01-21T18:25:52.824Z,1737483952.824 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900002 %
2025-01-21T18:25:52.827Z,1737483952.827 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-01-21T18:25:52.834Z,1737483952.834 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-01-21T18:25:52.874Z,1737483952.874 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-01-21T18:25:52.945Z,1737483952.945 [DataOverHttps](INFO): Sending 186 bytes from file Logs/20250121T181402/Express0014.lzma
2025-01-21T18:25:52.956Z,1737483952.956 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-01-21T18:25:52.959Z,1737483952.959 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-01-21T18:25:52.997Z,1737483952.997 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-01-21T18:25:53.011Z,1737483953.011 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-01-21T18:25:53.014Z,1737483953.014 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-01-21T18:25:53.037Z,1737483953.037 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-01-21T18:25:53.044Z,1737483953.044 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-01-21T18:25:53.047Z,1737483953.047 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-01-21T18:25:53.059Z,1737483953.059 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-01-21T18:25:53.069Z,1737483953.069 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-01-21T18:25:53.082Z,1737483953.082 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-01-21T18:25:53.125Z,1737483953.125 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband
2025-01-21T18:25:53.127Z,1737483953.127 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = reader:ballast_and_trim.ApproachSpeed
2025-01-21T18:25:53.137Z,1737483953.137 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = reader:ballast_and_trim.ApproachDepthRate
2025-01-21T18:25:53.139Z,1737483953.139 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = reader:ballast_and_trim.ApproachPitchLimit
2025-01-21T18:25:53.149Z,1737483953.149 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = reader:ballast_and_trim.ApproachSettleTimePreDive
2025-01-21T18:25:53.151Z,1737483953.151 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.ApproachDepthTimeout
2025-01-21T18:25:53.167Z,1737483953.167 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime
2025-01-21T18:25:53.173Z,1737483953.173 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout
2025-01-21T18:25:53.182Z,1737483953.182 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime
2025-01-21T18:25:53.188Z,1737483953.188 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound
2025-01-21T18:25:53.190Z,1737483953.190 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound
2025-01-21T18:25:53.196Z,1737483953.196 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence
2025-01-21T18:25:53.198Z,1737483953.198 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = reader:ballast_and_trim.massDeadband
2025-01-21T18:25:53.305Z,1737483953.305 [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 ballast_and_trim {
  arguments {
    MissionTimeout = 90 minute
      """
      Maximum duration of mission
      """

    SkipComms = false
      """
      Skip communications at start of mission.
      """

    Depth1 = 35 meter

    Depth2 = NaN meter

    DepthDeadband = 0.1 meter
      """
      How much vertical drift from the specified depth is allowed durnig the
      mission.
      """

    ApproachSpeed = 1 meter_per_second
      """
      Enables vehicle thruster at the commanded speed to reach target depth
      (set to 0 m/s to drift).
      """

    ApproachDepthTimeout = 20 minute
      """
      Maximum wait time for the vehicle to reach the targeted depth.
      """

    ApproachDepthRate = 0.4 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

    ApproachPitchLimit = 20 degree
      """
      Max vehicle pitch (+/-) when decending from the surface.
      """

    ApproachSettleTimePreDive = 0 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    SettleTime = 10 minute
      """
      How long to wait after reaching target depth before starting ballast and
      trim.
      """

    EstimationTimeout = 45 minute
      """
      Timeout for ballast and trim estimation.
      """

    MinEstimationTime = 10 minute
      """
      Minimum time to run ballast and trim estimation before determining
      convergence (must be shorter than timeout).
      """

    MassEstimationErrorBound = 0.5 millimeter
      """
      Desired range of the estimated sample mean from the true mean statistic
      (smaller values take longer to converge).
      """

    BuoyEstimationErrorBound = 25 cubic_centimeter
      """
      Desired range of the estimated sample mean from the true mean statistic
      (smaller values take longer to converge).
      """

    EstimationConfidence = 98.0 percent
      """
      Confidence level that the estimator has reached the desired error range
      (larger values take longer to converge).
      """

    massDeadband = 0.25 millimeter
      """
      Degree of rounding in mass-shifter command output values.
      """

    MinAltitude = 5 meter

    MaxDepth = 52 meter

    MinOffshore = 2 kilometer

    CheckDepths = 1 bool
  }

  timeout duration=MissionTimeout

  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 CheckTargetDepths {
    run in sequence

    break if ( not ( CheckDepths ) )

    aggregate CheckDepth1 {
      run in sequence

      break if ( not ( Depth1 > MaxDepth ) )

      syslog important "Aborting ballast and trim mission. Target depth Depth1 exceeds the mission's MaxDepth setting (review mission parameters)."

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    aggregate CheckDepth2 {
      run in sequence

      break if ( not ( Depth2 > MaxDepth ) )

      syslog important "Aborting ballast and trim mission. Target depth Depth2 exceeds the mission's MaxDepth setting (review mission parameters)."

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    assign in sequence CheckDepths = 0 bool
  }

  aggregate StartingMission {
    run in sequence

    break if ( SkipComms )

    # DO NOT REMOVE the syslog entry below. The MissionManager seems to ignore the value of SkipComms, does not evaluate the Break statement properly, and always calls NeedComms. Adding the syslog call somehow fixes it.

    syslog info "Checking for additional instructions before submerging."
    call id="StartingMission" refId="NeedComms"
  }

  aggregate RunBallastAndTrim {
    run in sequence

    insert Insert/BallastAndTrim.tl {
      redefineArg InsertDepthDeadband = DepthDeadband
      redefineArg InsertApproachSpeed = ApproachSpeed
      redefineArg InsertApproachDepthRate = ApproachDepthRate
      redefineArg InsertApproachPitchLimit = ApproachPitchLimit
      redefineArg InsertApproachSettleTimePreDive = ApproachSettleTimePreDive
      redefineArg InsertApproachDepthTimeout = ApproachDepthTimeout
      redefineArg InsertSettleTime = SettleTime
      redefineArg EstTimeout = EstimationTimeout
      redefineArg MinEstTime = MinEstimationTime
      redefineArg MassEstErrorBound = MassEstimationErrorBound
      redefineArg BuoyEstErrorBound = BuoyEstimationErrorBound
      redefineArg EstConfidence = EstimationConfidence
      redefineArg InsertMassDeadband = massDeadband
    }

    aggregate RunDepth1 {
      run in sequence

      break if ( isNaN ( Depth1 ) )

      assign in sequence BallastAndTrim:InsertDepth = Depth1
      call refId="BallastAndTrim"
    }

    aggregate RunDepth2 {
      run in sequence

      break if ( isNaN ( Depth2 ) )

      assign in sequence BallastAndTrim:InsertDepth = Depth2
      call refId="BallastAndTrim"
    }
  }

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


2025-01-21T18:25:53.313Z,1737483953.313 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/ballast_and_trim.tl
2025-01-21T18:25:53.391Z,1737483953.391 [Default] Stopped
2025-01-21T18:25:53.391Z,1737483953.391 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-21T18:25:53.391Z,1737483953.391 [Default:B.GoToSurface] Stopped
2025-01-21T18:25:53.396Z,1737483953.396 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-21T18:25:53.396Z,1737483953.396 [Default:CheckIn] Stopped
2025-01-21T18:25:53.397Z,1737483953.397 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-21T18:25:53.397Z,1737483953.397 [Default:CheckIn:Read_Iridium] Stopped
2025-01-21T18:25:53.398Z,1737483953.398 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2025-01-21T18:25:53.398Z,1737483953.398 [ballast_and_trim] Running Loop=1
2025-01-21T18:25:53.398Z,1737483953.398 [ballast_and_trim](DEBUG): Aggregate::initialize ballast_and_trim
2025-01-21T18:25:53.398Z,1737483953.398 [ballast_and_trim:Science] Running Loop=1
2025-01-21T18:25:53.398Z,1737483953.398 [ballast_and_trim:Science](DEBUG): Aggregate::initialize ballast_and_trim:Science
2025-01-21T18:25:53.398Z,1737483953.398 [ballast_and_trim:Science:A] Running Loop=1
2025-01-21T18:25:53.398Z,1737483953.398 [ballast_and_trim:Science:B] Running Loop=1
2025-01-21T18:25:53.398Z,1737483953.398 [ballast_and_trim:Science:C] Running Loop=1
2025-01-21T18:25:53.398Z,1737483953.398 [ballast_and_trim:Science:D] Running Loop=1
2025-01-21T18:25:53.399Z,1737483953.399 [ballast_and_trim:Science:E] Running Loop=1
2025-01-21T18:25:53.399Z,1737483953.399 [ballast_and_trim:Science:F] Running Loop=1
2025-01-21T18:25:53.399Z,1737483953.399 [ballast_and_trim:Science:Read_Oil] Running Loop=1
2025-01-21T18:25:53.399Z,1737483953.399 [ballast_and_trim:Science:PeakDetectChl] Running Loop=1
2025-01-21T18:25:53.399Z,1737483953.399 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectChl
2025-01-21T18:25:53.399Z,1737483953.399 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2025-01-21T18:25:53.399Z,1737483953.399 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-21T18:25:53.402Z,1737483953.402 [ballast_and_trim:Science:HighestChlPeakReport] Running Loop=1
2025-01-21T18:25:53.402Z,1737483953.402 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestChlPeakReport
2025-01-21T18:25:53.402Z,1737483953.402 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-21T18:25:53.402Z,1737483953.402 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-21T18:25:53.402Z,1737483953.402 [ballast_and_trim:Science:PeakDetectNO3] Running Loop=1
2025-01-21T18:25:53.402Z,1737483953.402 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectNO3
2025-01-21T18:25:53.403Z,1737483953.403 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2025-01-21T18:25:53.403Z,1737483953.403 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-21T18:25:53.414Z,1737483953.414 [ballast_and_trim:Science:PeakDetectOil] Running Loop=1
2025-01-21T18:25:53.414Z,1737483953.414 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectOil
2025-01-21T18:25:53.414Z,1737483953.414 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2025-01-21T18:25:53.414Z,1737483953.414 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-21T18:25:53.421Z,1737483953.421 [ballast_and_trim:Science:HighestOilPeakReport] Running Loop=1
2025-01-21T18:25:53.421Z,1737483953.421 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestOilPeakReport
2025-01-21T18:25:53.422Z,1737483953.422 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-21T18:25:53.422Z,1737483953.422 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-21T18:25:53.423Z,1737483953.423 [ballast_and_trim:Science:PeakDetectFDOM] Running Loop=1
2025-01-21T18:25:53.423Z,1737483953.423 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectFDOM
2025-01-21T18:25:53.423Z,1737483953.423 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2025-01-21T18:25:53.423Z,1737483953.423 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-21T18:25:53.429Z,1737483953.429 [ballast_and_trim:Science:PeakDetectSalinity] Running Loop=1
2025-01-21T18:25:53.429Z,1737483953.429 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectSalinity
2025-01-21T18:25:53.429Z,1737483953.429 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2025-01-21T18:25:53.429Z,1737483953.429 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-21T18:25:53.431Z,1737483953.431 [ballast_and_trim:Science:HighestSaltPeakReport] Running Loop=1
2025-01-21T18:25:53.431Z,1737483953.431 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestSaltPeakReport
2025-01-21T18:25:53.431Z,1737483953.431 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-21T18:25:53.431Z,1737483953.431 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-21T18:25:53.436Z,1737483953.436 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-01-21T18:25:53.436Z,1737483953.436 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-01-21T18:25:53.436Z,1737483953.436 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-21T18:25:53.436Z,1737483953.436 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-21T18:25:53.437Z,1737483953.437 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-21T18:25:53.438Z,1737483953.438 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-01-21T18:25:53.438Z,1737483953.438 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-01-21T18:25:53.438Z,1737483953.438 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-21T18:25:53.438Z,1737483953.438 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-21T18:25:53.438Z,1737483953.438 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-21T18:25:53.439Z,1737483953.439 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-01-21T18:25:53.444Z,1737483953.444 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-01-21T18:25:53.444Z,1737483953.444 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Running Loop=1
2025-01-21T18:25:53.444Z,1737483953.444 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-21T18:25:53.444Z,1737483953.444 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_diatoms , but backseat URI detected. Waiting for presence.
2025-01-21T18:25:53.445Z,1737483953.445 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-01-21T18:25:53.446Z,1737483953.446 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-21T18:25:53.446Z,1737483953.446 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Running Loop=1
2025-01-21T18:25:53.446Z,1737483953.446 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-21T18:25:53.446Z,1737483953.446 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_dinoflagellates , but backseat URI detected. Waiting for presence.
2025-01-21T18:25:53.447Z,1737483953.447 [ballast_and_trim:Science:ChlThreshTrigger] Running Loop=1
2025-01-21T18:25:53.447Z,1737483953.447 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize ballast_and_trim:Science:ChlThreshTrigger
2025-01-21T18:25:53.447Z,1737483953.447 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-01-21T18:25:53.447Z,1737483953.447 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-01-21T18:25:53.452Z,1737483953.452 [ballast_and_trim:Science:OceanCurrent] Running Loop=1
2025-01-21T18:25:53.452Z,1737483953.452 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::initialize ballast_and_trim:Science:OceanCurrent
2025-01-21T18:25:53.452Z,1737483953.452 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-01-21T18:25:53.452Z,1737483953.452 [ballast_and_trim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-01-21T18:25:53.452Z,1737483953.452 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-01-21T18:25:53.453Z,1737483953.453 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::initialize ballast_and_trim:StandardEnvelopes
2025-01-21T18:25:53.453Z,1737483953.453 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-21T18:25:53.453Z,1737483953.453 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-21T18:25:53.453Z,1737483953.453 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-21T18:25:53.453Z,1737483953.453 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-21T18:25:53.453Z,1737483953.453 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-21T18:25:53.453Z,1737483953.453 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-21T18:25:53.453Z,1737483953.453 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-01-21T18:25:53.453Z,1737483953.453 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::initialize ballast_and_trim:BackseatDriver
2025-01-21T18:25:53.453Z,1737483953.453 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-21T18:25:53.454Z,1737483953.454 [ballast_and_trim:PowerOnly] Running Loop=1
2025-01-21T18:25:53.454Z,1737483953.454 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::initialize ballast_and_trim:PowerOnly
2025-01-21T18:25:53.454Z,1737483953.454 [ballast_and_trim:PowerOnly:A] Running Loop=1
2025-01-21T18:25:53.454Z,1737483953.454 [ballast_and_trim:PowerOnly:B] Running Loop=1
2025-01-21T18:25:53.454Z,1737483953.454 [ballast_and_trim:PowerOnly:C] Running Loop=1
2025-01-21T18:25:53.454Z,1737483953.454 [ballast_and_trim:PowerOnly:D] Running Loop=1
2025-01-21T18:25:53.454Z,1737483953.454 [ballast_and_trim:PowerOnly:E.Wait] Running Loop=1
2025-01-21T18:25:53.454Z,1737483953.454 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-21T18:25:53.454Z,1737483953.454 [ballast_and_trim:C] Running Loop=1
2025-01-21T18:25:53.455Z,1737483953.455 [ballast_and_trim:PowerOnly] Running Loop=1
2025-01-21T18:25:53.455Z,1737483953.455 [ballast_and_trim:PowerOnly:D] Stopped
2025-01-21T18:25:53.455Z,1737483953.455 [ballast_and_trim:PowerOnly:C] Stopped
2025-01-21T18:25:53.455Z,1737483953.455 [ballast_and_trim:PowerOnly:B] Stopped
2025-01-21T18:25:53.455Z,1737483953.455 [ballast_and_trim:PowerOnly:A] Stopped
2025-01-21T18:25:53.455Z,1737483953.455 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-01-21T18:25:53.460Z,1737483953.460 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-01-21T18:25:53.460Z,1737483953.460 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-21T18:25:53.460Z,1737483953.460 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-21T18:25:53.461Z,1737483953.461 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-21T18:25:53.461Z,1737483953.461 [ballast_and_trim:C] Stopped
2025-01-21T18:25:53.461Z,1737483953.461 [ballast_and_trim:E] Running Loop=1
2025-01-21T18:25:53.461Z,1737483953.461 [ballast_and_trim:Science] Running Loop=1
2025-01-21T18:25:53.462Z,1737483953.462 [ballast_and_trim:Science:ChlThreshTrigger] Stopped
2025-01-21T18:25:53.462Z,1737483953.462 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:ChlThreshTrigger
2025-01-21T18:25:53.463Z,1737483953.463 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-01-21T18:25:53.463Z,1737483953.463 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-01-21T18:25:53.463Z,1737483953.463 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-01-21T18:25:53.463Z,1737483953.463 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-21T18:25:53.463Z,1737483953.463 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Stopped
2025-01-21T18:25:53.463Z,1737483953.463 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-21T18:25:53.463Z,1737483953.463 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-01-21T18:25:53.463Z,1737483953.463 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-01-21T18:25:53.463Z,1737483953.463 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Stopped
2025-01-21T18:25:53.463Z,1737483953.463 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-21T18:25:53.463Z,1737483953.463 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-01-21T18:25:53.463Z,1737483953.463 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-01-21T18:25:53.463Z,1737483953.463 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-21T18:25:53.468Z,1737483953.468 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-21T18:25:53.468Z,1737483953.468 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-01-21T18:25:53.468Z,1737483953.468 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-01-21T18:25:53.468Z,1737483953.468 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-21T18:25:53.468Z,1737483953.468 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-21T18:25:53.468Z,1737483953.468 [ballast_and_trim:Science:HighestSaltPeakReport] Stopped
2025-01-21T18:25:53.468Z,1737483953.468 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestSaltPeakReport
2025-01-21T18:25:53.468Z,1737483953.468 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-21T18:25:53.468Z,1737483953.468 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-21T18:25:53.468Z,1737483953.468 [ballast_and_trim:Science:PeakDetectSalinity] Stopped
2025-01-21T18:25:53.469Z,1737483953.469 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectSalinity
2025-01-21T18:25:53.469Z,1737483953.469 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2025-01-21T18:25:53.469Z,1737483953.469 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-21T18:25:53.469Z,1737483953.469 [ballast_and_trim:Science:PeakDetectFDOM] Stopped
2025-01-21T18:25:53.469Z,1737483953.469 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectFDOM
2025-01-21T18:25:53.469Z,1737483953.469 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2025-01-21T18:25:53.469Z,1737483953.469 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-21T18:25:53.469Z,1737483953.469 [ballast_and_trim:Science:HighestOilPeakReport] Stopped
2025-01-21T18:25:53.469Z,1737483953.469 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestOilPeakReport
2025-01-21T18:25:53.469Z,1737483953.469 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-21T18:25:53.469Z,1737483953.469 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-21T18:25:53.469Z,1737483953.469 [ballast_and_trim:Science:PeakDetectOil] Stopped
2025-01-21T18:25:53.469Z,1737483953.469 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectOil
2025-01-21T18:25:53.470Z,1737483953.470 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2025-01-21T18:25:53.470Z,1737483953.470 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-21T18:25:53.470Z,1737483953.470 [ballast_and_trim:Science:PeakDetectNO3] Stopped
2025-01-21T18:25:53.470Z,1737483953.470 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectNO3
2025-01-21T18:25:53.470Z,1737483953.470 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2025-01-21T18:25:53.470Z,1737483953.470 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-21T18:25:53.470Z,1737483953.470 [ballast_and_trim:Science:HighestChlPeakReport] Stopped
2025-01-21T18:25:53.470Z,1737483953.470 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestChlPeakReport
2025-01-21T18:25:53.470Z,1737483953.470 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-21T18:25:53.470Z,1737483953.470 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-21T18:25:53.470Z,1737483953.470 [ballast_and_trim:Science:PeakDetectChl] Stopped
2025-01-21T18:25:53.470Z,1737483953.470 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectChl
2025-01-21T18:25:53.470Z,1737483953.470 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2025-01-21T18:25:53.470Z,1737483953.470 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-21T18:25:53.471Z,1737483953.471 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-01-21T18:25:53.471Z,1737483953.471 [ballast_and_trim:Science:Read_Oil] Stopped
2025-01-21T18:25:53.471Z,1737483953.471 [ballast_and_trim:Science:F] Stopped
2025-01-21T18:25:53.471Z,1737483953.471 [ballast_and_trim:Science:E] Running Loop=1
2025-01-21T18:25:53.472Z,1737483953.472 [ballast_and_trim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-01-21T18:25:53.472Z,1737483953.472 [ballast_and_trim:Science:D] Stopped
2025-01-21T18:25:53.472Z,1737483953.472 [ballast_and_trim:Science:C] Running Loop=1
2025-01-21T18:25:53.473Z,1737483953.473 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-01-21T18:25:53.474Z,1737483953.474 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-01-21T18:25:53.474Z,1737483953.474 [ballast_and_trim:Science:B] Running Loop=1
2025-01-21T18:25:53.475Z,1737483953.475 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-01-21T18:25:53.475Z,1737483953.475 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-01-21T18:25:53.475Z,1737483953.475 [ballast_and_trim:Science:A] Stopped
2025-01-21T18:25:53.658Z,1737483953.658 [WetLabsBB2FL](INFO): Powering up
2025-01-21T18:25:53.771Z,1737483953.771 [ballast_and_trim:E] Stopped
2025-01-21T18:25:53.771Z,1737483953.771 [ballast_and_trim:F] Running Loop=1
2025-01-21T18:25:53.914Z,1737483953.914 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Express0014.lzma.bak
2025-01-21T18:25:53.914Z,1737483953.914 [DataOverHttps](INFO): SBD MOMSN=23921796
2025-01-21T18:25:54.190Z,1737483954.190 [ballast_and_trim:F] Stopped
2025-01-21T18:25:54.191Z,1737483954.191 [ballast_and_trim:G] Running Loop=1
2025-01-21T18:25:54.579Z,1737483954.579 [ballast_and_trim:G] Stopped
2025-01-21T18:25:54.579Z,1737483954.579 [ballast_and_trim:CheckTargetDepths] Running Loop=1
2025-01-21T18:25:54.579Z,1737483954.579 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths
2025-01-21T18:25:54.579Z,1737483954.579 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Running Loop=1
2025-01-21T18:25:54.579Z,1737483954.579 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-01-21T18:25:54.579Z,1737483954.579 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Running Loop=1
2025-01-21T18:25:55.006Z,1737483955.006 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Stopped
2025-01-21T18:25:55.006Z,1737483955.006 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-01-21T18:25:55.006Z,1737483955.006 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Stopped
2025-01-21T18:25:55.006Z,1737483955.006 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Running Loop=1
2025-01-21T18:25:55.007Z,1737483955.007 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-01-21T18:25:55.007Z,1737483955.007 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Running Loop=1
2025-01-21T18:25:55.016Z,1737483955.016 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-01-21T18:25:55.387Z,1737483955.387 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Stopped
2025-01-21T18:25:55.388Z,1737483955.388 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-01-21T18:25:55.388Z,1737483955.388 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Stopped
2025-01-21T18:25:55.388Z,1737483955.388 [ballast_and_trim:CheckTargetDepths:C] Running Loop=1
2025-01-21T18:25:55.814Z,1737483955.814 [ballast_and_trim:CheckTargetDepths:C] Stopped
2025-01-21T18:25:55.814Z,1737483955.814 [ballast_and_trim:CheckTargetDepths](INFO): Completed ballast_and_trim:CheckTargetDepths
2025-01-21T18:25:55.814Z,1737483955.814 [ballast_and_trim:CheckTargetDepths] Stopped
2025-01-21T18:25:55.814Z,1737483955.814 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths
2025-01-21T18:25:55.814Z,1737483955.814 [ballast_and_trim:StartingMission] Running Loop=1
2025-01-21T18:25:55.815Z,1737483955.815 [ballast_and_trim:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission
2025-01-21T18:25:55.815Z,1737483955.815 [ballast_and_trim:StartingMission:A] Running Loop=1
2025-01-21T18:25:56.230Z,1737483956.230 [ballast_and_trim:StartingMission:A](INFO): Checking for additional instructions before submerging.
2025-01-21T18:25:56.230Z,1737483956.230 [ballast_and_trim:StartingMission:A] Stopped
2025-01-21T18:25:56.230Z,1737483956.230 [ballast_and_trim:StartingMission:StartingMission] Running Loop=1
2025-01-21T18:25:56.230Z,1737483956.230 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission:StartingMission
2025-01-21T18:25:56.605Z,1737483956.605 [ballast_and_trim:NeedComms] Running Loop=1
2025-01-21T18:25:56.605Z,1737483956.605 [ballast_and_trim:NeedComms](DEBUG): Aggregate::initialize ballast_and_trim:NeedComms
2025-01-21T18:25:56.605Z,1737483956.605 [ballast_and_trim:NeedComms:B.GoToSurface] Running Loop=1
2025-01-21T18:25:56.605Z,1737483956.605 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-21T18:25:56.605Z,1737483956.605 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-21T18:25:56.606Z,1737483956.606 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-21T18:25:56.606Z,1737483956.606 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-21T18:25:56.606Z,1737483956.606 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-21T18:25:56.607Z,1737483956.607 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-21T18:25:56.607Z,1737483956.607 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-21T18:25:56.609Z,1737483956.609 [ballast_and_trim:NeedComms:A] Running Loop=1
2025-01-21T18:25:56.611Z,1737483956.611 [ballast_and_trim:NeedComms:A](INFO): last time_fix was:  1737483893.000000 second since 1970/01/01T00:00:00Z 
2025-01-21T18:25:56.611Z,1737483956.611 [ballast_and_trim:NeedComms:A] Stopped
2025-01-21T18:25:56.733Z,1737483956.733 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-01-21T18:25:57.021Z,1737483957.021 [ballast_and_trim:NeedComms:C] Running Loop=1
2025-01-21T18:25:57.455Z,1737483957.455 [ballast_and_trim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-21T18:25:59.038Z,1737483959.038 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182558.00,A,3647.80006,N,12150.80052,W,0.350,117.99,210125,,,A*7B
2025-01-21T18:25:59.052Z,1737483959.052 [NAL9602](INFO): GPS fix at 20250121T182558: (36.796668, -121.846675)
2025-01-21T18:25:59.127Z,1737483959.127 [ballast_and_trim:NeedComms:C] Stopped
2025-01-21T18:25:59.128Z,1737483959.128 [ballast_and_trim:NeedComms:D] Running Loop=1
2025-01-21T18:25:59.532Z,1737483959.532 [ballast_and_trim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-21T18:26:11.715Z,1737483971.715 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250121T181402/Courier0022.lzma
2025-01-21T18:26:12.718Z,1737483972.718 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Courier0022.lzma.bak
2025-01-21T18:26:12.718Z,1737483972.718 [DataOverHttps](INFO): SBD MOMSN=23921800
2025-01-21T18:26:20.543Z,1737483980.543 [NAL9602](INFO): SBD MO Status=0, MOMSN=12313, MT Status=0, MTMSN=0
2025-01-21T18:26:20.543Z,1737483980.543 [NAL9602](INFO): No messages in MT queue
2025-01-21T18:26:33.203Z,1737483993.203 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250121T181402/Courier0025.lzma
2025-01-21T18:26:34.206Z,1737483994.206 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Courier0025.lzma.bak
2025-01-21T18:26:34.206Z,1737483994.206 [DataOverHttps](INFO): SBD MOMSN=23921802
2025-01-21T18:26:51.305Z,1737484011.305 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-21T18:26:54.409Z,1737484014.409 [DataOverHttps](INFO): Sending 240 bytes from file Logs/20250121T181402/Express0017.lzma
2025-01-21T18:26:55.188Z,1737484015.188 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Express0017.lzma.bak
2025-01-21T18:26:55.188Z,1737484015.188 [DataOverHttps](INFO): SBD MOMSN=23921806
2025-01-21T18:27:19.811Z,1737484039.811 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250121T181402/Express0020.lzma
2025-01-21T18:27:20.815Z,1737484040.815 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Express0020.lzma.bak
2025-01-21T18:27:20.815Z,1737484040.815 [DataOverHttps](INFO): SBD MOMSN=23921813
2025-01-21T18:27:38.070Z,1737484058.070 [DataOverHttps](INFO): Sending 180 bytes from file Logs/20250121T181402/Express0023.lzma
2025-01-21T18:27:39.070Z,1737484059.070 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Express0023.lzma.bak
2025-01-21T18:27:39.070Z,1737484059.070 [DataOverHttps](INFO): SBD MOMSN=23921815
2025-01-21T18:27:57.656Z,1737484077.656 [DataOverHttps](INFO): Sending 307 bytes from file Logs/20250121T181402/Express0026.lzma
2025-01-21T18:27:58.658Z,1737484078.658 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Express0026.lzma.bak
2025-01-21T18:27:58.658Z,1737484078.658 [DataOverHttps](INFO): SBD MOMSN=23921819
2025-01-21T18:28:00.130Z,1737484080.130 [ballast_and_trim:NeedComms:D] Stopped
2025-01-21T18:28:00.131Z,1737484080.131 [ballast_and_trim:NeedComms:E] Running Loop=1
2025-01-21T18:28:00.535Z,1737484080.535 [ballast_and_trim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-01-21T18:28:02.135Z,1737484082.135 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182801.00,A,3647.79962,N,12150.79560,W,0.428,75.57,210125,,,A*4A
2025-01-21T18:28:02.145Z,1737484082.145 [NAL9602](INFO): GPS fix at 20250121T182801: (36.796660, -121.846593)
2025-01-21T18:28:02.167Z,1737484082.167 [ballast_and_trim:NeedComms:E] Stopped
2025-01-21T18:28:02.167Z,1737484082.167 [ballast_and_trim:NeedComms](INFO): Completed ballast_and_trim:NeedComms
2025-01-21T18:28:02.172Z,1737484082.172 [ballast_and_trim:NeedComms] Stopped
2025-01-21T18:28:02.172Z,1737484082.172 [ballast_and_trim:NeedComms](DEBUG): Aggregate::uninitialize ballast_and_trim:NeedComms
2025-01-21T18:28:02.172Z,1737484082.172 [ballast_and_trim:NeedComms:B.GoToSurface] Stopped
2025-01-21T18:28:02.172Z,1737484082.172 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-21T18:28:02.577Z,1737484082.577 [ballast_and_trim:StartingMission:StartingMission](INFO): Completed ballast_and_trim:StartingMission:StartingMission
2025-01-21T18:28:02.578Z,1737484082.578 [ballast_and_trim:StartingMission:StartingMission] Stopped
2025-01-21T18:28:02.578Z,1737484082.578 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission:StartingMission
2025-01-21T18:28:02.578Z,1737484082.578 [ballast_and_trim:StartingMission](INFO): Completed ballast_and_trim:StartingMission
2025-01-21T18:28:02.578Z,1737484082.578 [ballast_and_trim:StartingMission] Stopped
2025-01-21T18:28:02.578Z,1737484082.578 [ballast_and_trim:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission
2025-01-21T18:28:02.578Z,1737484082.578 [ballast_and_trim:RunBallastAndTrim] Running Loop=1
2025-01-21T18:28:02.578Z,1737484082.578 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim
2025-01-21T18:28:02.578Z,1737484082.578 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Running Loop=1
2025-01-21T18:28:02.579Z,1737484082.579 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-01-21T18:28:02.579Z,1737484082.579 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Running Loop=1
2025-01-21T18:28:03.004Z,1737484083.004 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Stopped
2025-01-21T18:28:03.004Z,1737484083.004 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Running Loop=1
2025-01-21T18:28:03.005Z,1737484083.005 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-01-21T18:28:03.385Z,1737484083.385 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Running Loop=1
2025-01-21T18:28:03.386Z,1737484083.386 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-01-21T18:28:03.386Z,1737484083.386 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-01-21T18:28:03.386Z,1737484083.386 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-01-21T18:28:03.386Z,1737484083.386 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-01-21T18:28:03.386Z,1737484083.386 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-01-21T18:28:03.386Z,1737484083.386 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-01-21T18:28:03.386Z,1737484083.386 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Running Loop=1
2025-01-21T18:28:03.394Z,1737484083.394 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F](INFO): Going to target depth. Speed set to  1.000000 m/s 
2025-01-21T18:28:03.394Z,1737484083.394 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Stopped
2025-01-21T18:28:03.395Z,1737484083.395 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-01-21T18:28:03.395Z,1737484083.395 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-01-21T18:28:03.395Z,1737484083.395 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-01-21T18:28:03.395Z,1737484083.395 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-01-21T18:28:03.395Z,1737484083.395 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-01-21T18:28:03.395Z,1737484083.395 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-01-21T18:28:03.395Z,1737484083.395 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-01-21T18:28:03.395Z,1737484083.395 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-01-21T18:28:03.395Z,1737484083.395 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-21T18:28:03.395Z,1737484083.395 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-01-21T18:28:03.395Z,1737484083.395 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-01-21T18:28:03.404Z,1737484083.404 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-01-21T18:28:03.404Z,1737484083.404 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-01-21T18:28:03.404Z,1737484083.404 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-01-21T18:28:03.404Z,1737484083.404 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-01-21T18:28:03.405Z,1737484083.405 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-01-21T18:28:03.405Z,1737484083.405 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-01-21T18:28:03.405Z,1737484083.405 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-01-21T18:28:03.405Z,1737484083.405 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-01-21T18:28:03.803Z,1737484083.803 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-01-21T18:28:03.803Z,1737484083.803 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-01-21T18:28:03.803Z,1737484083.803 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-01-21T18:28:03.803Z,1737484083.803 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-01-21T18:28:03.803Z,1737484083.803 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-01-21T18:28:03.803Z,1737484083.803 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-01-21T18:28:03.808Z,1737484083.808 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-01-21T18:28:03.808Z,1737484083.808 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-01-21T18:28:03.809Z,1737484083.809 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-01-21T18:28:04.191Z,1737484084.191 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-01-21T18:28:04.191Z,1737484084.191 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-01-21T18:28:04.191Z,1737484084.191 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-01-21T18:28:04.191Z,1737484084.191 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-01-21T18:28:04.191Z,1737484084.191 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-01-21T18:28:04.192Z,1737484084.192 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-01-21T18:28:04.232Z,1737484084.232 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-01-21T18:28:04.232Z,1737484084.232 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-01-21T18:28:04.232Z,1737484084.232 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-01-21T18:28:04.233Z,1737484084.233 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-01-21T18:28:04.233Z,1737484084.233 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-01-21T18:28:04.589Z,1737484084.589 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-01-21T18:28:04.590Z,1737484084.590 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  35.000000 m 
2025-01-21T18:28:04.590Z,1737484084.590 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-01-21T18:28:04.590Z,1737484084.590 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-01-21T18:28:04.590Z,1737484084.590 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-01-21T18:28:22.343Z,1737484102.343 [NAL9602](INFO): SBD MO Status=0, MOMSN=12314, MT Status=0, MTMSN=0
2025-01-21T18:28:22.354Z,1737484102.354 [NAL9602](INFO): No messages in MT queue
2025-01-21T18:28:52.240Z,1737484132.240 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 8.56 mm (1 active estimators).
2025-01-21T18:28:53.050Z,1737484133.050 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-21T18:29:31.248Z,1737484171.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-21T18:29:52.648Z,1737484192.648 [Radio_Surface](INFO): Powering down
2025-01-21T18:30:02.372Z,1737484202.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-21T18:30:03.376Z,1737484203.376 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-21T18:31:39.772Z,1737484299.772 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.739258
2025-01-21T18:33:43.135Z,1737484423.135 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-01-21T18:33:43.135Z,1737484423.135 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-01-21T18:33:43.135Z,1737484423.135 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-01-21T18:33:43.135Z,1737484423.135 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-01-21T18:33:43.135Z,1737484423.135 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-01-21T18:33:43.135Z,1737484423.135 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-01-21T18:33:43.137Z,1737484423.137 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-01-21T18:33:43.137Z,1737484423.137 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Stopped
2025-01-21T18:33:43.137Z,1737484423.137 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-01-21T18:33:43.137Z,1737484423.137 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-01-21T18:33:43.137Z,1737484423.137 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-01-21T18:33:43.137Z,1737484423.137 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-01-21T18:33:43.137Z,1737484423.137 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-01-21T18:33:43.137Z,1737484423.137 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-01-21T18:33:43.137Z,1737484423.137 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-21T18:33:43.137Z,1737484423.137 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-01-21T18:33:43.138Z,1737484423.138 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-01-21T18:33:43.138Z,1737484423.138 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-01-21T18:33:43.138Z,1737484423.138 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-01-21T18:33:43.138Z,1737484423.138 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-01-21T18:33:43.138Z,1737484423.138 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-01-21T18:33:43.138Z,1737484423.138 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-01-21T18:33:43.138Z,1737484423.138 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-01-21T18:33:43.546Z,1737484423.546 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  35.014843 m 
2025-01-21T18:33:43.546Z,1737484423.546 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-01-21T18:33:43.546Z,1737484423.546 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-01-21T18:33:43.546Z,1737484423.546 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-01-21T18:33:43.546Z,1737484423.546 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-01-21T18:33:43.546Z,1737484423.546 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-01-21T18:43:44.361Z,1737485024.361 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](INFO): Done Waiting.
2025-01-21T18:43:44.361Z,1737485024.361 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-01-21T18:43:44.361Z,1737485024.361 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-01-21T18:43:44.361Z,1737485024.361 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute] Running Loop=1
2025-01-21T18:43:44.757Z,1737485024.757 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](INFO): Executing command gfscan
2025-01-21T18:43:44.757Z,1737485024.757 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute] Stopped
2025-01-21T18:43:44.757Z,1737485024.757 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F] Running Loop=1
2025-01-21T18:43:44.793Z,1737485024.793 [CommandExec](IMPORTANT): got command gfscan
2025-01-21T18:43:44.884Z,1737485024.884 [CBIT](IMPORTANT): Beginning ground fault scan
2025-01-21T18:43:45.141Z,1737485025.141 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F](INFO): Running ballast and trim. Depth =  34.917084 m 
2025-01-21T18:43:45.141Z,1737485025.141 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F] Stopped
2025-01-21T18:43:45.142Z,1737485025.142 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.] Running Loop=1
2025-01-21T18:43:45.142Z,1737485025.142 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](INFO): Initializing BallastAndTrim.
2025-01-21T18:43:45.254Z,1737485025.254 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-21T18:43:45.256Z,1737485025.256 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-21T18:43:46.257Z,1737485026.257 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-21T18:43:46.259Z,1737485026.259 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-21T18:43:47.262Z,1737485027.262 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-21T18:43:47.263Z,1737485027.263 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-21T18:43:48.265Z,1737485028.265 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-21T18:43:48.267Z,1737485028.267 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-21T18:43:49.272Z,1737485029.272 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-21T18:43:49.273Z,1737485029.273 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-21T18:43:50.275Z,1737485030.275 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-21T18:43:50.276Z,1737485030.276 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-21T18:43:51.278Z,1737485031.278 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-21T18:43:51.281Z,1737485031.281 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-21T18:43:52.282Z,1737485032.282 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-21T18:43:52.284Z,1737485032.284 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-21T18:43:53.287Z,1737485033.287 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-21T18:43:53.288Z,1737485033.288 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-21T18:43:54.290Z,1737485034.290 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-21T18:43:54.292Z,1737485034.292 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-21T18:43:55.294Z,1737485035.294 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-01-21T18:43:55.296Z,1737485035.296 [CTD_Seabird](INFO): some bad data, not updating bins
2025-01-21T18:43:55.704Z,1737485035.704 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.000497
CHAN A1 (24V): -0.000931
CHAN A2 (12V): 0.000599
CHAN A3 (5V): -0.001736
CHAN B0 (3.3V): -0.000490
CHAN B1 (3.15aV): -0.001570
CHAN B2 (3.15bV): -0.001393
CHAN B3 (GND): -0.002452
OPEN: 0.004656
Full Scale: +/- 1 mA
2025-01-21T18:45:30.237Z,1737485130.237 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-01-21T18:45:31.001Z,1737485131.001 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-01-21T18:45:31.002Z,1737485131.002 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 3.
2025-01-21T18:45:31.013Z,1737485131.013 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-01-21T18:53:45.918Z,1737485625.918 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): BallastAndTrim completed. Estimation time: 10.01 minutes.
2025-01-21T18:53:45.919Z,1737485625.919 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Estimated buoyancyNeutral: 424.293083 +/- 5.014065 cc (conf. level 98.00%, sigma: 26.522450 cc).
2025-01-21T18:53:45.920Z,1737485625.920 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Estimated massDefault: 6.708742 +/- 0.100761 mm (conf. level 98.00%, sigma: 0.532987 mm).
2025-01-21T18:53:45.921Z,1737485625.921 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Changing persisted config values to: 424.293083 cc buoyancy neutral and 6.708742 mm mass default
2025-01-21T18:53:45.927Z,1737485625.927 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-01-21T18:53:45.928Z,1737485625.928 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): AHRS_M2.loadAtStartup=1 bool;

2025-01-21T18:53:45.929Z,1737485625.929 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): BioacousticsDataBridge.loadAtStartup=0 bool;

2025-01-21T18:53:45.929Z,1737485625.929 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): CBIT.runNavErrorCritical=0 bool;

2025-01-21T18:53:45.930Z,1737485625.930 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): CTD_Seabird.loadAtStartup=1 bool;

2025-01-21T18:53:45.931Z,1737485625.931 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): DAT.loadAtStartup=1 bool;

2025-01-21T18:53:45.931Z,1737485625.931 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter;

2025-01-21T18:53:45.948Z,1737485625.948 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Express none platform_roll_angle;

2025-01-21T18:53:45.949Z,1737485625.949 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour;

2025-01-21T18:53:45.952Z,1737485625.952 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt;

2025-01-21T18:53:45.953Z,1737485625.953 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): PAR_Licor.loadAtStartup=1 bool;

2025-01-21T18:53:45.954Z,1737485625.954 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Sonardyne_Nano.loadAtStartup=1 bool;

2025-01-21T18:53:45.955Z,1737485625.955 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): SpeedControl.rollOptimum=0.925 meter_per_second;

2025-01-21T18:53:45.956Z,1737485625.956 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.buoyancyNeutral=424.293083 cubic_centimeter;

2025-01-21T18:53:45.957Z,1737485625.957 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.kdPitchMass=0.1 second;

2025-01-21T18:53:45.958Z,1737485625.958 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.kiPitchMass=0.001 reciprocal_second;

2025-01-21T18:53:45.959Z,1737485625.959 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.kpPitchMass=0.1 none;

2025-01-21T18:53:45.969Z,1737485625.969 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.massDeadband=0 millimeter;

2025-01-21T18:53:45.970Z,1737485625.970 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.massDefault=6.708742 millimeter;

2025-01-21T18:53:45.971Z,1737485625.971 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.massOnlyForceInt=1 bool;

2025-01-21T18:53:45.976Z,1737485625.976 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): WetLabsBB2FL.loadAtStartup=1 bool;

2025-01-21T18:53:45.977Z,1737485625.977 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.] Stopped
2025-01-21T18:53:45.977Z,1737485625.977 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](INFO): Uninitializing BallastAndTrim.
2025-01-21T18:53:45.979Z,1737485625.979 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-01-21T18:53:45.979Z,1737485625.979 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-01-21T18:53:45.979Z,1737485625.979 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-01-21T18:53:45.979Z,1737485625.979 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-01-21T18:53:45.979Z,1737485625.979 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-01-21T18:53:45.979Z,1737485625.979 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-01-21T18:53:45.989Z,1737485625.989 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-01-21T18:53:45.989Z,1737485625.989 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Stopped
2025-01-21T18:53:45.989Z,1737485625.989 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-01-21T18:53:45.989Z,1737485625.989 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Stopped
2025-01-21T18:53:45.989Z,1737485625.989 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Stopped
2025-01-21T18:53:45.989Z,1737485625.989 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Stopped
2025-01-21T18:53:45.989Z,1737485625.989 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Stopped
2025-01-21T18:53:45.989Z,1737485625.989 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Stopped
2025-01-21T18:53:46.339Z,1737485626.339 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](INFO): Completed ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-01-21T18:53:46.339Z,1737485626.339 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Stopped
2025-01-21T18:53:46.339Z,1737485626.339 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-01-21T18:53:46.340Z,1737485626.340 [ballast_and_trim:RunBallastAndTrim:RunDepth1](INFO): Completed ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-01-21T18:53:46.340Z,1737485626.340 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Stopped
2025-01-21T18:53:46.340Z,1737485626.340 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-01-21T18:53:46.340Z,1737485626.340 [ballast_and_trim:RunBallastAndTrim:RunDepth2] Running Loop=1
2025-01-21T18:53:46.340Z,1737485626.340 [ballast_and_trim:RunBallastAndTrim:RunDepth2](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth2
2025-01-21T18:53:46.340Z,1737485626.340 [ballast_and_trim:RunBallastAndTrim:RunDepth2:A] Running Loop=1
2025-01-21T18:53:46.730Z,1737485626.730 [ballast_and_trim:RunBallastAndTrim:RunDepth2] Stopped
2025-01-21T18:53:46.731Z,1737485626.731 [ballast_and_trim:RunBallastAndTrim:RunDepth2](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth2
2025-01-21T18:53:46.731Z,1737485626.731 [ballast_and_trim:RunBallastAndTrim:RunDepth2:A] Stopped
2025-01-21T18:53:46.731Z,1737485626.731 [ballast_and_trim:RunBallastAndTrim](INFO): Completed ballast_and_trim:RunBallastAndTrim
2025-01-21T18:53:46.731Z,1737485626.731 [ballast_and_trim:RunBallastAndTrim] Stopped
2025-01-21T18:53:46.731Z,1737485626.731 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim
2025-01-21T18:53:46.731Z,1737485626.731 [ballast_and_trim:EndingMission] Running Loop=1
2025-01-21T18:53:46.731Z,1737485626.731 [ballast_and_trim:EndingMission](DEBUG): Aggregate::initialize ballast_and_trim:EndingMission
2025-01-21T18:53:47.125Z,1737485627.125 [ballast_and_trim:NeedComms] Running Loop=1
2025-01-21T18:53:47.125Z,1737485627.125 [ballast_and_trim:NeedComms](DEBUG): Aggregate::initialize ballast_and_trim:NeedComms
2025-01-21T18:53:47.125Z,1737485627.125 [ballast_and_trim:NeedComms:B.GoToSurface] Running Loop=1
2025-01-21T18:53:47.125Z,1737485627.125 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-21T18:53:47.125Z,1737485627.125 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-01-21T18:53:47.126Z,1737485627.126 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-01-21T18:53:47.126Z,1737485627.126 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-01-21T18:53:47.126Z,1737485627.126 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-01-21T18:53:47.127Z,1737485627.127 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-21T18:53:47.127Z,1737485627.127 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-21T18:53:47.127Z,1737485627.127 [ballast_and_trim:NeedComms:A] Running Loop=1
2025-01-21T18:53:47.129Z,1737485627.129 [ballast_and_trim:NeedComms:A](INFO): last time_fix was:  1737484081.000000 second since 1970/01/01T00:00:00Z 
2025-01-21T18:53:47.129Z,1737485627.129 [ballast_and_trim:NeedComms:A] Stopped
2025-01-21T18:55:47.350Z,1737485747.350 [ballast_and_trim:NeedComms:C] Running Loop=1
2025-01-21T18:55:47.788Z,1737485747.788 [Radio_Surface](INFO): Powering up
2025-01-21T18:55:53.837Z,1737485753.837 [DataOverHttps](INFO): Radio surface powered ON.
2025-01-21T18:56:23.972Z,1737485783.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-21T18:56:55.100Z,1737485815.100 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-21T18:57:26.224Z,1737485846.224 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-21T18:57:44.939Z,1737485864.939 [NAL9602](INFO): SBD MO Status=0, MOMSN=12315, MT Status=0, MTMSN=0
2025-01-21T18:57:44.940Z,1737485864.940 [NAL9602](INFO): No messages in MT queue
2025-01-21T18:57:46.139Z,1737485866.139 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185745.00,A,3647.68556,N,12150.75050,W,0.136,197.11,210125,,,A*76
2025-01-21T18:57:46.141Z,1737485866.141 [NAL9602](INFO): GPS fix at 20250121T185745: (36.794759, -121.845842)
2025-01-21T18:57:46.190Z,1737485866.190 [ballast_and_trim:NeedComms:C] Stopped
2025-01-21T18:57:46.191Z,1737485866.191 [ballast_and_trim:NeedComms:D] Running Loop=1
2025-01-21T18:57:57.376Z,1737485877.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-21T18:58:06.300Z,1737485886.300 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002885
2025-01-21T18:58:10.455Z,1737485890.455 [NAL9602](INFO): SBD MO Status=2, MOMSN=12316, MT Status=2, MTMSN=0
2025-01-21T18:58:10.455Z,1737485890.455 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-01-21T18:58:19.436Z,1737485899.436 [DataOverHttps](INFO): Sending 204 bytes from file Logs/20250121T181402/Courier0028.lzma
2025-01-21T18:58:20.438Z,1737485900.438 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Courier0028.lzma.bak
2025-01-21T18:58:20.438Z,1737485900.438 [DataOverHttps](INFO): SBD MOMSN=23921844
2025-01-21T18:58:39.278Z,1737485919.278 [DataOverHttps](INFO): Sending 1275 bytes from file Logs/20250121T181402/Express0029.lzma
2025-01-21T18:58:40.264Z,1737485920.264 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Express0029.lzma.bak
2025-01-21T18:58:40.264Z,1737485920.264 [DataOverHttps](INFO): SBD MOMSN=23921847
2025-01-21T18:58:40.867Z,1737485920.867 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-21T18:58:41.712Z,1737485921.712 [ballast_and_trim:NeedComms:D] Stopped
2025-01-21T18:58:41.713Z,1737485921.713 [ballast_and_trim:NeedComms:E] Running Loop=1
2025-01-21T18:58:43.683Z,1737485923.683 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185843.00,A,3647.68445,N,12150.75099,W,0.078,335.77,210125,,,A*78
2025-01-21T18:58:43.686Z,1737485923.686 [NAL9602](INFO): GPS fix at 20250121T185843: (36.794741, -121.845850)
2025-01-21T18:58:43.739Z,1737485923.739 [ballast_and_trim:NeedComms:E] Stopped
2025-01-21T18:58:43.752Z,1737485923.752 [ballast_and_trim:NeedComms](INFO): Completed ballast_and_trim:NeedComms
2025-01-21T18:58:43.752Z,1737485923.752 [ballast_and_trim:NeedComms] Stopped
2025-01-21T18:58:43.752Z,1737485923.752 [ballast_and_trim:NeedComms](DEBUG): Aggregate::uninitialize ballast_and_trim:NeedComms
2025-01-21T18:58:43.752Z,1737485923.752 [ballast_and_trim:NeedComms:B.GoToSurface] Stopped
2025-01-21T18:58:43.752Z,1737485923.752 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-21T18:58:44.136Z,1737485924.136 [ballast_and_trim:EndingMission](INFO): Completed ballast_and_trim:EndingMission
2025-01-21T18:58:44.136Z,1737485924.136 [ballast_and_trim:EndingMission] Stopped
2025-01-21T18:58:44.136Z,1737485924.136 [ballast_and_trim:EndingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:EndingMission
2025-01-21T18:58:44.139Z,1737485924.139 [ballast_and_trim](INFO): Completed ballast_and_trim
2025-01-21T18:58:44.139Z,1737485924.139 [MissionManager](INFO): ballast_and_trim is completed.
2025-01-21T18:58:44.139Z,1737485924.139 [MissionManager](INFO): Uninitializing Mission ballast_and_trim
2025-01-21T18:58:44.139Z,1737485924.139 [ballast_and_trim] Stopped
2025-01-21T18:58:44.144Z,1737485924.144 [ballast_and_trim](DEBUG): Aggregate::uninitialize ballast_and_trim
2025-01-21T18:58:44.144Z,1737485924.144 [ballast_and_trim:Science] Stopped
2025-01-21T18:58:44.144Z,1737485924.144 [ballast_and_trim:Science](DEBUG): Aggregate::uninitialize ballast_and_trim:Science
2025-01-21T18:58:44.144Z,1737485924.144 [ballast_and_trim:Science:B] Stopped
2025-01-21T18:58:44.144Z,1737485924.144 [ballast_and_trim:Science:C] Stopped
2025-01-21T18:58:44.145Z,1737485924.145 [ballast_and_trim:Science:E] Stopped
2025-01-21T18:58:44.145Z,1737485924.145 [ballast_and_trim:Science:OceanCurrent] Stopped
2025-01-21T18:58:44.145Z,1737485924.145 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:OceanCurrent
2025-01-21T18:58:44.145Z,1737485924.145 [ballast_and_trim:Science:OceanCurrent:A.] Stopped
2025-01-21T18:58:44.145Z,1737485924.145 [ballast_and_trim:StandardEnvelopes] Stopped
2025-01-21T18:58:44.145Z,1737485924.145 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::uninitialize ballast_and_trim:StandardEnvelopes
2025-01-21T18:58:44.145Z,1737485924.145 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-21T18:58:44.145Z,1737485924.145 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-21T18:58:44.145Z,1737485924.145 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-21T18:58:44.146Z,1737485924.146 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-21T18:58:44.146Z,1737485924.146 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-21T18:58:44.146Z,1737485924.146 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-21T18:58:44.146Z,1737485924.146 [ballast_and_trim:BackseatDriver] Stopped
2025-01-21T18:58:44.146Z,1737485924.146 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::uninitialize ballast_and_trim:BackseatDriver
2025-01-21T18:58:44.146Z,1737485924.146 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Stopped
2025-01-21T18:58:44.146Z,1737485924.146 [ballast_and_trim:PowerOnly] Stopped
2025-01-21T18:58:44.146Z,1737485924.146 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::uninitialize ballast_and_trim:PowerOnly
2025-01-21T18:58:44.147Z,1737485924.147 [ballast_and_trim:PowerOnly:E.Wait] Stopped
2025-01-21T18:58:44.147Z,1737485924.147 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-01-21T18:58:44.324Z,1737485924.324 [WetLabsBB2FL](INFO): Powering down
2025-01-21T18:58:44.568Z,1737485924.568 [MissionManager](IMPORTANT): Started mission Default
2025-01-21T18:58:44.568Z,1737485924.568 [Default] Running Loop=1
2025-01-21T18:58:44.568Z,1737485924.568 [Default](DEBUG): Aggregate::initialize Default
2025-01-21T18:58:44.568Z,1737485924.568 [Default:B.GoToSurface] Running Loop=1
2025-01-21T18:58:44.568Z,1737485924.568 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-01-21T18:58:44.569Z,1737485924.569 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-01-21T18:58:44.569Z,1737485924.569 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-01-21T18:58:44.569Z,1737485924.569 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-01-21T18:58:44.570Z,1737485924.570 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-01-21T18:58:44.570Z,1737485924.570 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-01-21T18:58:44.570Z,1737485924.570 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-01-21T18:58:44.570Z,1737485924.570 [Default:A.Wait] Running Loop=1
2025-01-21T18:58:44.571Z,1737485924.571 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-01-21T18:58:57.913Z,1737485937.913 [Default:A.Wait](INFO): Done Waiting.
2025-01-21T18:58:57.913Z,1737485937.913 [Default:A.Wait] Stopped
2025-01-21T18:58:57.913Z,1737485937.913 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-21T18:58:58.289Z,1737485938.289 [Default:CheckIn] Running Loop=1
2025-01-21T18:58:58.289Z,1737485938.289 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-01-21T18:58:58.289Z,1737485938.289 [Default:CheckIn:Read_GPS] Running Loop=1
2025-01-21T18:58:58.679Z,1737485938.679 [NAL9602](INFO): SBD MO Status=1, MOMSN=12316, MT Status=0, MTMSN=0
2025-01-21T18:58:58.679Z,1737485938.679 [NAL9602](INFO): No messages in MT queue
2025-01-21T18:58:59.886Z,1737485939.886 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185859.00,A,3647.68423,N,12150.75144,W,0.078,335.77,210125,,,A*72
2025-01-21T18:58:59.889Z,1737485939.889 [NAL9602](INFO): GPS fix at 20250121T185859: (36.794737, -121.845857)
2025-01-21T18:58:59.907Z,1737485939.907 [Default:CheckIn:Read_GPS] Stopped
2025-01-21T18:58:59.908Z,1737485939.908 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-01-21T18:59:01.052Z,1737485941.052 [MassServo](ERROR): getPosition uart error serial timeout
2025-01-21T18:59:08.451Z,1737485948.451 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250121T181402/Courier0031.lzma
2025-01-21T18:59:09.454Z,1737485949.454 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Courier0031.lzma.bak
2025-01-21T18:59:09.454Z,1737485949.454 [DataOverHttps](INFO): SBD MOMSN=23921877
2025-01-21T18:59:28.555Z,1737485968.555 [DataOverHttps](INFO): Sending 132 bytes from file Logs/20250121T181402/Express0032.lzma
2025-01-21T18:59:29.558Z,1737485969.558 [DataOverHttps](INFO): Moved sent file to Logs/20250121T181402/Express0032.lzma.bak
2025-01-21T18:59:29.558Z,1737485969.558 [DataOverHttps](INFO): SBD MOMSN=23921882
2025-01-21T18:59:30.857Z,1737485970.857 [Default:CheckIn:Read_Iridium] Stopped
2025-01-21T18:59:30.857Z,1737485970.857 [Default:CheckIn:C.Wait] Running Loop=1
2025-01-21T18:59:30.857Z,1737485970.857 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-01-21T18:59:32.461Z,1737485972.461 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-21T19:03:12.949Z,1737486192.949 [DataOverHttps](IMPORTANT): SBD MTMSN=20250121T190312
2025-01-21T19:03:21.839Z,1737486201.839 [DataOverHttps](INFO): Received command: restart sys
2025-01-21T19:03:21.881Z,1737486201.881 [CommandExec](IMPORTANT): got command restart system
2025-01-21T19:03:23.972Z,1737486203.972 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2025-01-21T19:03:23.972Z,1737486203.972 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-21T19:03:23.973Z,1737486203.973 [CommandExec](INFO): Uninitializing the command executive.
2025-01-21T19:03:23.973Z,1737486203.973 [CommandExec](INFO): Uninitializing the command scheduler.
2025-01-21T19:03:23.973Z,1737486203.973 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:24.140Z,1737486204.140 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-01-21T19:03:24.140Z,1737486204.140 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-01-21T19:03:24.140Z,1737486204.140 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:24.141Z,1737486204.141 [NavChartDb](INFO): Join timeout helper Thread ID is 1571
2025-01-21T19:03:24.342Z,1737486204.342 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-21T19:03:24.342Z,1737486204.342 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:24.343Z,1737486204.343 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-01-21T19:03:24.343Z,1737486204.343 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:24.368Z,1737486204.368 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 1572
2025-01-21T19:03:24.749Z,1737486204.749 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-21T19:03:24.750Z,1737486204.750 [WetLabsBB2FL](INFO): Powering down
2025-01-21T19:03:24.751Z,1737486204.751 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:24.752Z,1737486204.752 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-01-21T19:03:24.752Z,1737486204.752 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:24.753Z,1737486204.753 [CTD_Seabird](INFO): Join timeout helper Thread ID is 1573
2025-01-21T19:03:25.344Z,1737486205.344 [CTD_Seabird](INFO): Powering down
2025-01-21T19:03:25.356Z,1737486205.356 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-21T19:03:25.356Z,1737486205.356 [CTD_Seabird](INFO): Powering down
2025-01-21T19:03:25.368Z,1737486205.368 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:25.372Z,1737486205.372 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-01-21T19:03:25.372Z,1737486205.372 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:25.373Z,1737486205.373 [Radio_Surface](INFO): Join timeout helper Thread ID is 1574
2025-01-21T19:03:25.692Z,1737486205.692 [Radio_Surface](INFO): Powering down
2025-01-21T19:03:25.697Z,1737486205.697 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-21T19:03:25.697Z,1737486205.697 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:25.712Z,1737486205.712 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-01-21T19:03:25.712Z,1737486205.712 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:25.712Z,1737486205.712 [Onboard](INFO): Join timeout helper Thread ID is 1575
2025-01-21T19:03:25.852Z,1737486205.852 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-21T19:03:28.064Z,1737486208.064 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-21T19:03:28.064Z,1737486208.064 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:28.077Z,1737486208.077 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-01-21T19:03:28.077Z,1737486208.077 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:28.077Z,1737486208.077 [DataOverHttps](INFO): Join timeout helper Thread ID is 1576
2025-01-21T19:03:28.880Z,1737486208.880 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-21T19:03:28.880Z,1737486208.880 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:28.885Z,1737486208.885 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-01-21T19:03:28.885Z,1737486208.885 [DAT ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:28.885Z,1737486208.885 [DAT](INFO): Join timeout helper Thread ID is 1577
2025-01-21T19:03:29.076Z,1737486209.076 [DAT](INFO): Powering down
2025-01-21T19:03:29.149Z,1737486209.149 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-21T19:03:29.149Z,1737486209.149 [DAT](INFO): Powering down
2025-01-21T19:03:29.150Z,1737486209.150 [DAT ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.156Z,1737486209.156 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-01-21T19:03:29.157Z,1737486209.157 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.157Z,1737486209.157 [BackseatComponent](INFO): Join timeout helper Thread ID is 1578
2025-01-21T19:03:29.324Z,1737486209.324 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-21T19:03:29.325Z,1737486209.325 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.340Z,1737486209.340 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-01-21T19:03:29.341Z,1737486209.341 [logger ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.341Z,1737486209.341 [logger](INFO): Join timeout helper Thread ID is 1579
2025-01-21T19:03:29.376Z,1737486209.376 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-21T19:03:29.376Z,1737486209.376 [logger ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.381Z,1737486209.381 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-01-21T19:03:29.381Z,1737486209.381 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.381Z,1737486209.381 [CommandLine](INFO): Join timeout helper Thread ID is 1580
2025-01-21T19:03:29.392Z,1737486209.392 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-21T19:03:29.392Z,1737486209.392 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.400Z,1737486209.400 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-01-21T19:03:29.401Z,1737486209.401 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.401Z,1737486209.401 [CommandExec](INFO): Join timeout helper Thread ID is 1581
2025-01-21T19:03:29.402Z,1737486209.402 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-01-21T19:03:29.402Z,1737486209.402 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.403Z,1737486209.403 [controlThread](INFO): Join timeout helper Thread ID is 1582
2025-01-21T19:03:29.404Z,1737486209.404 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-01-21T19:03:29.404Z,1737486209.404 [controlThread](DEBUG): Uninitializing ControlThread
2025-01-21T19:03:29.405Z,1737486209.405 [AHRS_M2](INFO): Powering down
2025-01-21T19:03:29.477Z,1737486209.477 [NAL9602](INFO): Powering down
2025-01-21T19:03:29.478Z,1737486209.478 [Sonardyne_Nano](INFO): Powering down
2025-01-21T19:03:29.597Z,1737486209.597 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-01-21T19:03:29.597Z,1737486209.597 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-01-21T19:03:29.598Z,1737486209.598 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-01-21T19:03:29.598Z,1737486209.598 [MissionManager](INFO): Uninitializing Mission Default
2025-01-21T19:03:29.598Z,1737486209.598 [Default] Stopped
2025-01-21T19:03:29.599Z,1737486209.599 [Default](DEBUG): Aggregate::uninitialize Default
2025-01-21T19:03:29.599Z,1737486209.599 [Default:B.GoToSurface] Stopped
2025-01-21T19:03:29.599Z,1737486209.599 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-01-21T19:03:29.599Z,1737486209.599 [Default:CheckIn] Stopped
2025-01-21T19:03:29.599Z,1737486209.599 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-01-21T19:03:29.599Z,1737486209.599 [Default:CheckIn:C.Wait] Stopped
2025-01-21T19:03:29.599Z,1737486209.599 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-01-21T19:03:29.602Z,1737486209.602 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-01-21T19:03:29.602Z,1737486209.602 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-01-21T19:03:29.603Z,1737486209.603 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-01-21T19:03:29.603Z,1737486209.603 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-01-21T19:03:29.603Z,1737486209.603 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-01-21T19:03:29.603Z,1737486209.603 [BuoyancyServo](INFO): Powering down
2025-01-21T19:03:29.616Z,1737486209.616 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-01-21T19:03:29.616Z,1737486209.616 [ElevatorServo](INFO): Powering down
2025-01-21T19:03:29.617Z,1737486209.617 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-01-21T19:03:29.617Z,1737486209.617 [MassServo](INFO): Powering down
2025-01-21T19:03:29.618Z,1737486209.618 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-01-21T19:03:29.618Z,1737486209.618 [RudderServo](INFO): Powering down
2025-01-21T19:03:29.619Z,1737486209.619 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-01-21T19:03:29.619Z,1737486209.619 [ThrusterHE](INFO): Powering down
2025-01-21T19:03:29.620Z,1737486209.620 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-01-21T19:03:29.620Z,1737486209.620 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-01-21T19:03:29.621Z,1737486209.621 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-01-21T19:03:29.621Z,1737486209.621 [CBIT](DEBUG): Powering off loads.
2025-01-21T19:03:29.632Z,1737486209.632 [CBIT](DEBUG): Disabling WDT.
2025-01-21T19:03:29.644Z,1737486209.644 [CBIT](DEBUG): Opening all GF detection circuits.
2025-01-21T19:03:29.645Z,1737486209.645 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.680Z,1737486209.680 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.683Z,1737486209.683 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.690Z,1737486209.690 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.697Z,1737486209.697 [DAT ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.741Z,1737486209.741 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.961Z,1737486209.961 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.966Z,1737486209.966 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:29.989Z,1737486209.989 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-01-21T19:03:30.067Z,1737486210.067 [logger ThreadHandler](INFO): Thread cancelled.