2025-02-18T22:12:53.953Z,1739916773.953 [Supervisor](DEBUG): Initializing supervisor.
2025-02-18T22:12:53.957Z,1739916773.957 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-02-18T22:12:53.958Z,1739916773.958 [SyncHandler](INFO): Protected caller Thread ID is 836
2025-02-18T22:12:53.958Z,1739916773.958 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-02-18T22:12:53.959Z,1739916773.959 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-02-18T22:12:53.960Z,1739916773.960 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 837
2025-02-18T22:12:53.964Z,1739916773.964 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-02-18T22:12:53.981Z,1739916773.981 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-02-18T22:12:53.982Z,1739916773.982 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-02-18T22:12:53.982Z,1739916773.982 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 838
2025-02-18T22:12:53.987Z,1739916773.987 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-02-18T22:12:53.988Z,1739916773.988 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-02-18T22:12:53.988Z,1739916773.988 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 839
2025-02-18T22:12:53.990Z,1739916773.990 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-02-18T22:12:53.991Z,1739916773.991 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-02-18T22:12:53.992Z,1739916773.992 [logger ThreadHandler](INFO): Protected caller Thread ID is 840
2025-02-18T22:12:53.996Z,1739916773.996 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-02-18T22:12:53.996Z,1739916773.996 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-02-18T22:12:54.000Z,1739916774.000 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-02-18T22:12:54.234Z,1739916774.234 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-02-18T22:12:54.236Z,1739916774.236 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-02-18T22:12:54.450Z,1739916774.450 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-02-18T22:12:54.452Z,1739916774.452 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-02-18T22:12:54.555Z,1739916774.555 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-02-18T22:12:54.556Z,1739916774.556 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-02-18T22:12:54.753Z,1739916774.753 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-02-18T22:12:54.755Z,1739916774.755 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-02-18T22:12:55.236Z,1739916775.236 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-02-18T22:12:55.238Z,1739916775.238 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-02-18T22:12:55.353Z,1739916775.353 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-02-18T22:12:55.355Z,1739916775.355 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-02-18T22:12:55.628Z,1739916775.628 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-02-18T22:12:55.630Z,1739916775.630 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-02-18T22:12:55.843Z,1739916775.843 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-02-18T22:12:55.844Z,1739916775.844 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-02-18T22:12:56.373Z,1739916776.373 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-02-18T22:12:56.374Z,1739916776.374 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-02-18T22:12:56.784Z,1739916776.784 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-02-18T22:12:56.785Z,1739916776.785 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-02-18T22:12:56.872Z,1739916776.872 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-02-18T22:12:57.239Z,1739916777.239 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-02-18T22:12:57.239Z,1739916777.239 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-02-18T22:12:57.476Z,1739916777.476 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-02-18T22:12:57.477Z,1739916777.477 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-02-18T22:13:07.576Z,1739916787.576 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-02-18T22:13:07.577Z,1739916787.577 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-02-18T22:13:07.927Z,1739916787.927 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-02-18T22:13:07.929Z,1739916787.929 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-02-18T22:13:08.021Z,1739916788.021 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-aku/
2025-02-18T22:13:08.023Z,1739916788.023 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/secure.cfg
2025-02-18T22:13:08.115Z,1739916788.115 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/logger.cfg
2025-02-18T22:13:08.228Z,1739916788.228 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/vehicle.cfg
2025-02-18T22:13:08.340Z,1739916788.340 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/BIT.cfg
2025-02-18T22:13:08.437Z,1739916788.437 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Simulator.cfg
2025-02-18T22:13:08.530Z,1739916788.530 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Servo.cfg
2025-02-18T22:13:08.641Z,1739916788.641 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Science.cfg
2025-02-18T22:13:08.789Z,1739916788.789 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Sensor.cfg
2025-02-18T22:13:08.959Z,1739916788.959 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Control.cfg
2025-02-18T22:13:09.061Z,1739916789.061 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Battery.cfg
2025-02-18T22:13:09.474Z,1739916789.474 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-02-18T22:13:09.475Z,1739916789.475 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-02-18T22:13:14.630Z,1739916794.630 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-02-18T22:13:16.268Z,1739916796.268 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-02-18T22:13:16.270Z,1739916796.270 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-02-18T22:13:17.120Z,1739916797.120 [AHRS_M2] Loaded
2025-02-18T22:13:17.120Z,1739916797.120 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-02-18T22:13:17.373Z,1739916797.373 [BackseatComponent] Loaded
2025-02-18T22:13:17.373Z,1739916797.373 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-02-18T22:13:17.374Z,1739916797.374 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408AB4E0
2025-02-18T22:13:17.375Z,1739916797.375 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 920
2025-02-18T22:13:17.378Z,1739916797.378 [LcmUniversalReporter] Loaded
2025-02-18T22:13:17.378Z,1739916797.378 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-02-18T22:13:17.384Z,1739916797.384 [BioacousticsDataBridge] Loaded
2025-02-18T22:13:17.384Z,1739916797.384 [ComponentRegistry](DEBUG): SyncComponent "BioacousticsDataBridge" handled in the control thread.
2025-02-18T22:13:18.185Z,1739916798.185 [BPC1] Loaded
2025-02-18T22:13:18.186Z,1739916798.186 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-02-18T22:13:18.331Z,1739916798.331 [DataOverHttps] Loaded
2025-02-18T22:13:18.331Z,1739916798.331 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-02-18T22:13:18.332Z,1739916798.332 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408DB4E0
2025-02-18T22:13:18.333Z,1739916798.333 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 921
2025-02-18T22:13:18.355Z,1739916798.355 [Depth_Keller] Loaded
2025-02-18T22:13:18.355Z,1739916798.355 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-02-18T22:13:18.360Z,1739916798.360 [DropWeight] Loaded
2025-02-18T22:13:18.361Z,1739916798.361 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-02-18T22:13:18.424Z,1739916798.424 [NAL9602] Loaded
2025-02-18T22:13:18.424Z,1739916798.424 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-02-18T22:13:18.454Z,1739916798.454 [Onboard] Loaded
2025-02-18T22:13:18.454Z,1739916798.454 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-02-18T22:13:18.455Z,1739916798.455 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4090B4E0
2025-02-18T22:13:18.456Z,1739916798.456 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 922
2025-02-18T22:13:18.469Z,1739916798.469 [Power24vConverter] Loaded
2025-02-18T22:13:18.470Z,1739916798.470 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-02-18T22:13:18.486Z,1739916798.486 [Radio_Surface] Loaded
2025-02-18T22:13:18.487Z,1739916798.487 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-02-18T22:13:18.488Z,1739916798.488 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4093B4E0
2025-02-18T22:13:18.488Z,1739916798.488 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 923
2025-02-18T22:13:18.503Z,1739916798.503 [Sonardyne_Nano] Loaded
2025-02-18T22:13:18.504Z,1739916798.504 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-02-18T22:13:18.504Z,1739916798.504 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-02-18T22:13:18.505Z,1739916798.505 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-02-18T22:13:18.677Z,1739916798.677 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-02-18T22:13:18.678Z,1739916798.678 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-02-18T22:13:18.752Z,1739916798.752 [VerticalControl](DEBUG): Construct VerticalControl.
2025-02-18T22:13:18.814Z,1739916798.814 [VerticalControl] Loaded
2025-02-18T22:13:18.814Z,1739916798.814 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-02-18T22:13:18.817Z,1739916798.817 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-02-18T22:13:18.865Z,1739916798.865 [HorizontalControl] Loaded
2025-02-18T22:13:18.865Z,1739916798.865 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-02-18T22:13:18.867Z,1739916798.867 [SpeedControl](DEBUG): Construct SpeedControl.
2025-02-18T22:13:18.871Z,1739916798.871 [SpeedControl] Loaded
2025-02-18T22:13:18.871Z,1739916798.871 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-02-18T22:13:18.874Z,1739916798.874 [LoopControl](DEBUG): Construct LoopControl.
2025-02-18T22:13:18.874Z,1739916798.874 [LoopControl] Loaded
2025-02-18T22:13:18.875Z,1739916798.875 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-02-18T22:13:18.875Z,1739916798.875 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-02-18T22:13:18.876Z,1739916798.876 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-02-18T22:13:18.892Z,1739916798.892 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-02-18T22:13:18.894Z,1739916798.894 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-02-18T22:13:18.943Z,1739916798.943 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-02-18T22:13:18.944Z,1739916798.944 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-02-18T22:13:19.085Z,1739916799.085 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-02-18T22:13:19.085Z,1739916799.085 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-02-18T22:13:19.099Z,1739916799.099 [NavChart] Loaded
2025-02-18T22:13:19.099Z,1739916799.099 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-02-18T22:13:19.105Z,1739916799.105 [UniversalFixResidualReporter] Loaded
2025-02-18T22:13:19.105Z,1739916799.105 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-02-18T22:13:19.106Z,1739916799.106 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-02-18T22:13:19.106Z,1739916799.106 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-02-18T22:13:19.283Z,1739916799.283 [SBIT](DEBUG): Construct Startup Built In Test.
2025-02-18T22:13:19.292Z,1739916799.292 [SBIT] Loaded
2025-02-18T22:13:19.293Z,1739916799.293 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-02-18T22:13:19.295Z,1739916799.295 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-02-18T22:13:19.308Z,1739916799.308 [IBIT] Loaded
2025-02-18T22:13:19.309Z,1739916799.309 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-02-18T22:13:19.315Z,1739916799.315 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-02-18T22:13:19.421Z,1739916799.421 [CBIT] Loaded
2025-02-18T22:13:19.421Z,1739916799.421 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-02-18T22:13:19.421Z,1739916799.421 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-02-18T22:13:19.422Z,1739916799.422 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-02-18T22:13:19.644Z,1739916799.644 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-02-18T22:13:19.645Z,1739916799.645 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-02-18T22:13:19.815Z,1739916799.815 [BuoyancyServo] Loaded
2025-02-18T22:13:19.815Z,1739916799.815 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-02-18T22:13:19.835Z,1739916799.835 [ElevatorServo] Loaded
2025-02-18T22:13:19.836Z,1739916799.836 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-02-18T22:13:19.857Z,1739916799.857 [MassServo] Loaded
2025-02-18T22:13:19.858Z,1739916799.858 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-02-18T22:13:19.879Z,1739916799.879 [RudderServo] Loaded
2025-02-18T22:13:19.879Z,1739916799.879 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-02-18T22:13:19.896Z,1739916799.896 [ThrusterHE] Loaded
2025-02-18T22:13:19.896Z,1739916799.896 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-02-18T22:13:19.897Z,1739916799.897 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-02-18T22:13:19.897Z,1739916799.897 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-02-18T22:13:20.127Z,1739916800.127 [CTD_Seabird] Loaded
2025-02-18T22:13:20.127Z,1739916800.127 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-02-18T22:13:20.129Z,1739916800.129 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40B714E0
2025-02-18T22:13:20.129Z,1739916800.129 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 924
2025-02-18T22:13:20.152Z,1739916800.152 [PAR_Licor] Loaded
2025-02-18T22:13:20.152Z,1739916800.152 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-02-18T22:13:20.197Z,1739916800.197 [WetLabsBB2FL] Loaded
2025-02-18T22:13:20.197Z,1739916800.197 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-02-18T22:13:20.198Z,1739916800.198 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BA14E0
2025-02-18T22:13:20.199Z,1739916800.199 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 925
2025-02-18T22:13:20.200Z,1739916800.200 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-02-18T22:13:20.200Z,1739916800.200 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-02-18T22:13:20.273Z,1739916800.273 [DepthRateCalculator] Loaded
2025-02-18T22:13:20.273Z,1739916800.273 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-02-18T22:13:20.278Z,1739916800.278 [PitchRateCalculator] Loaded
2025-02-18T22:13:20.279Z,1739916800.279 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-02-18T22:13:20.288Z,1739916800.288 [SpeedCalculator] Loaded
2025-02-18T22:13:20.288Z,1739916800.288 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-02-18T22:13:20.293Z,1739916800.293 [YawRateCalculator] Loaded
2025-02-18T22:13:20.293Z,1739916800.293 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-02-18T22:13:20.313Z,1739916800.313 [ElevatorOffsetCalculator] Loaded
2025-02-18T22:13:20.313Z,1739916800.313 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-02-18T22:13:20.314Z,1739916800.314 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-02-18T22:13:20.314Z,1739916800.314 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-02-18T22:13:20.403Z,1739916800.403 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-02-18T22:13:20.409Z,1739916800.409 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-02-18T22:13:20.412Z,1739916800.412 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-02-18T22:13:20.424Z,1739916800.424 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-02-18T22:13:20.425Z,1739916800.425 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C2E4E0
2025-02-18T22:13:20.425Z,1739916800.425 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 926
2025-02-18T22:13:20.430Z,1739916800.430 [Supervisor](INFO): Main Thread ID is 827
2025-02-18T22:13:20.430Z,1739916800.430 [Supervisor](DEBUG): Running supervisor.
2025-02-18T22:13:20.430Z,1739916800.430 [CommandExec ThreadHandler](INFO): Handler Thread ID is 927
2025-02-18T22:13:20.431Z,1739916800.431 [CommandExec](INFO): Initializing the command executive.
2025-02-18T22:13:20.432Z,1739916800.432 [CommandLine ThreadHandler](INFO): Handler Thread ID is 928
2025-02-18T22:13:20.434Z,1739916800.434 [controlThread ThreadHandler](INFO): Handler Thread ID is 929
2025-02-18T22:13:20.435Z,1739916800.435 [controlThread](DEBUG): Initializing ControlThread
2025-02-18T22:13:20.442Z,1739916800.442 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-02-18T22:13:20.444Z,1739916800.444 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-02-18T22:13:20.445Z,1739916800.445 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-02-18T22:13:20.445Z,1739916800.445 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-02-18T22:13:20.446Z,1739916800.446 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-02-18T22:13:20.446Z,1739916800.446 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-02-18T22:13:20.446Z,1739916800.446 [SBIT](INFO): Initialize SBIT Component.
2025-02-18T22:13:20.447Z,1739916800.447 [SBIT](IMPORTANT): git: 2025-02-18
2025-02-18T22:13:20.447Z,1739916800.447 [SBIT](INFO): git hash: 618ec5a8c5f60c900e5bed23ee92085c43718f8d
2025-02-18T22:13:20.447Z,1739916800.447 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-02-18T22:13:20.449Z,1739916800.449 [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
2025-02-18T22:13:20.450Z,1739916800.450 [SBIT](INFO): Beginning SBIT in 60.000000 seconds.
2025-02-18T22:13:20.450Z,1739916800.450 [IBIT](INFO): Initialize IBIT Component.
2025-02-18T22:13:20.451Z,1739916800.451 [CBIT](DEBUG): Initialize CBIT Component.
2025-02-18T22:13:20.452Z,1739916800.452 [logger ThreadHandler](INFO): Handler Thread ID is 930
2025-02-18T22:13:20.464Z,1739916800.464 [CBIT](DEBUG): Initialized mux pins.
2025-02-18T22:13:20.464Z,1739916800.464 [CBIT](DEBUG): Initializing the watchdog timer.
2025-02-18T22:13:20.472Z,1739916800.472 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 931
2025-02-18T22:13:20.484Z,1739916800.484 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 932
2025-02-18T22:13:20.486Z,1739916800.486 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-02-18T22:13:20.488Z,1739916800.488 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-02-18T22:13:20.488Z,1739916800.488 [CBIT](DEBUG): Initializing heartbeat.
2025-02-18T22:13:20.504Z,1739916800.504 [Onboard ThreadHandler](INFO): Handler Thread ID is 933
2025-02-18T22:13:20.521Z,1739916800.521 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 934
2025-02-18T22:13:20.548Z,1739916800.548 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 935
2025-02-18T22:13:20.549Z,1739916800.549 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-02-18T22:13:20.553Z,1739916800.553 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 937
2025-02-18T22:13:20.556Z,1739916800.556 [WetLabsBB2FL](INFO): Powering up
2025-02-18T22:13:20.558Z,1739916800.558 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 939
2025-02-18T22:13:20.560Z,1739916800.560 [CBIT](DEBUG): Deactivating GF circuits.
2025-02-18T22:13:20.560Z,1739916800.560 [CBIT](DEBUG): Deactivating emergency mode.
2025-02-18T22:13:20.568Z,1739916800.568 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-02-18T22:13:20.568Z,1739916800.568 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-02-18T22:13:20.569Z,1739916800.569 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-02-18T22:13:20.569Z,1739916800.569 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-02-18T22:13:20.569Z,1739916800.569 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-02-18T22:13:20.569Z,1739916800.569 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-02-18T22:13:20.569Z,1739916800.569 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-02-18T22:13:20.569Z,1739916800.569 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-02-18T22:13:20.600Z,1739916800.600 [CBIT](DEBUG): Backplane powered.
2025-02-18T22:13:20.604Z,1739916800.604 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-02-18T22:13:20.605Z,1739916800.605 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-02-18T22:13:20.605Z,1739916800.605 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-02-18T22:13:20.605Z,1739916800.605 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-02-18T22:13:20.606Z,1739916800.606 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-02-18T22:13:20.607Z,1739916800.607 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-02-18T22:13:20.608Z,1739916800.608 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-02-18T22:13:20.608Z,1739916800.608 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-02-18T22:13:20.612Z,1739916800.612 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-02-18T22:13:20.659Z,1739916800.659 [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>

2025-02-18T22:13:20.663Z,1739916800.663 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-18T22:13:20.704Z,1739916800.704 [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
    }
  }
}


2025-02-18T22:13:20.705Z,1739916800.705 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-02-18T22:13:20.705Z,1739916800.705 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-02-18T22:13:20.720Z,1739916800.720 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-02-18T22:13:20.928Z,1739916800.928 [Radio_Surface](INFO): Powering up
2025-02-18T22:13:20.976Z,1739916800.976 [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>

2025-02-18T22:13:20.998Z,1739916800.998 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-02-18T22:13:20.999Z,1739916800.999 [Default:A.Wait](DEBUG): Construct Wait.
2025-02-18T22:13:21.001Z,1739916801.001 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-18T22:13:21.046Z,1739916801.046 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-02-18T22:13:21.048Z,1739916801.048 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-02-18T22:13:21.070Z,1739916801.070 [Default:E.Execute](DEBUG): Construct Execute.
2025-02-18T22:13:21.073Z,1739916801.073 [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"
  }
}


2025-02-18T22:13:21.084Z,1739916801.084 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BioacousticsDataBridge,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,
2025-02-18T22:13:21.092Z,1739916801.092 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-02-18T22:13:21.263Z,1739916801.263 [Power24vConverter](INFO): Powering up.
2025-02-18T22:13:21.263Z,1739916801.263 [Sonardyne_Nano](INFO): Initializing.
2025-02-18T22:13:21.318Z,1739916801.318 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-02-18T22:13:21.328Z,1739916801.328 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-02-18T22:13:21.329Z,1739916801.329 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-02-18T22:13:21.336Z,1739916801.336 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-02-18T22:13:21.337Z,1739916801.337 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-18T22:13:21.344Z,1739916801.344 [MassServo](DEBUG): Initializing MassServo.
2025-02-18T22:13:21.345Z,1739916801.345 [RudderServo](DEBUG): Initializing EZServoServo.
2025-02-18T22:13:21.352Z,1739916801.352 [RudderServo](DEBUG): Initializing RudderServo.
2025-02-18T22:13:21.353Z,1739916801.353 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-18T22:13:21.360Z,1739916801.360 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-18T22:13:22.664Z,1739916802.664 [WetLabsBB2FL](INFO): Powering down
2025-02-18T22:13:23.518Z,1739916803.518 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-02-18T22:13:24.757Z,1739916804.757 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2409
2025-02-18T22:13:27.580Z,1739916807.580 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-02-18T22:13:48.665Z,1739916828.665 [NAL9602](INFO): Powering up NAL9602
2025-02-18T22:13:59.578Z,1739916839.578 [NAL9602](INFO): NAL9602 initialized
2025-02-18T22:14:16.951Z,1739916856.951 [NAL9602](INFO): SBD MO Status=0, MOMSN=12679, MT Status=0, MTMSN=0
2025-02-18T22:14:16.951Z,1739916856.951 [NAL9602](INFO): No messages in MT queue
2025-02-18T22:14:21.017Z,1739916861.017 [SBIT](IMPORTANT): Beginning Startup BIT
2025-02-18T22:14:21.021Z,1739916861.021 [CBIT](IMPORTANT): Beginning ground fault scan
2025-02-18T22:14:31.944Z,1739916871.944 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.001501
CHAN A1 (24V): -0.000765
CHAN A2 (12V): 0.000295
CHAN A3 (5V): -0.001657
CHAN B0 (3.3V): -0.000995
CHAN B1 (3.15aV): -0.001332
CHAN B2 (3.15bV): -0.001173
CHAN B3 (GND): -0.001704
OPEN: 0.003861
Full Scale: +/- 1 mA
2025-02-18T22:15:14.927Z,1739916914.927 [SBIT](IMPORTANT): SBIT PASSED
2025-02-18T22:15:14.927Z,1739916914.927 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-02-18T22:15:14.928Z,1739916914.928 [SBIT](IMPORTANT): DAT.loadAtStartup=0 bool;

2025-02-18T22:15:14.928Z,1739916914.928 [SBIT](IMPORTANT): DATMMP.loadAtStartup=0 bool;

2025-02-18T22:15:14.928Z,1739916914.928 [SBIT](IMPORTANT): DATMMP.simulateHardware=0 bool;

2025-02-18T22:15:14.928Z,1739916914.928 [SBIT](IMPORTANT): SpeedControl.rollOptimum=0.925 meter_per_second;

2025-02-18T22:15:14.928Z,1739916914.928 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=345.701638 cubic_centimeter;

2025-02-18T22:15:14.929Z,1739916914.929 [SBIT](IMPORTANT): VerticalControl.massDefault=10.247203 millimeter;

2025-02-18T22:15:15.314Z,1739916915.314 [MissionManager](IMPORTANT): Started mission Startup
2025-02-18T22:15:15.314Z,1739916915.314 [Startup] Running Loop=1
2025-02-18T22:15:15.315Z,1739916915.315 [Startup](DEBUG): Aggregate::initialize Startup
2025-02-18T22:15:15.315Z,1739916915.315 [Startup:A.GoToSurface] Running Loop=1
2025-02-18T22:15:15.315Z,1739916915.315 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-18T22:15:15.315Z,1739916915.315 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-18T22:15:15.316Z,1739916915.316 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-18T22:15:15.316Z,1739916915.316 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-18T22:15:15.317Z,1739916915.317 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-18T22:15:15.317Z,1739916915.317 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-18T22:15:15.317Z,1739916915.317 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-18T22:15:15.319Z,1739916915.319 [Startup:StartupSatComms] Running Loop=1
2025-02-18T22:15:15.319Z,1739916915.319 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-02-18T22:15:15.319Z,1739916915.319 [Startup:StartupSatComms:A] Running Loop=1
2025-02-18T22:15:15.709Z,1739916915.709 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-02-18T22:15:32.059Z,1739916932.059 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004168
2025-02-18T22:15:50.925Z,1739916950.925 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221547.00,A,3647.77424,N,12149.57562,W,0.408,155.86,180225,,,A*7C
2025-02-18T22:15:50.929Z,1739916950.929 [NAL9602](INFO): GPS fix at 20250218T221547: (36.796237, -121.826260)
2025-02-18T22:15:50.964Z,1739916950.964 [Startup:StartupSatComms:A] Stopped
2025-02-18T22:15:50.964Z,1739916950.964 [Startup:StartupSatComms:B] Running Loop=1
2025-02-18T22:15:51.375Z,1739916951.375 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-18T22:15:56.480Z,1739916956.480 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250218T213149/Courier0016.lzma
2025-02-18T22:15:57.487Z,1739916957.487 [DataOverHttps](INFO): Moved sent file to Logs/20250218T213149/Courier0016.lzma.bak
2025-02-18T22:15:57.487Z,1739916957.487 [DataOverHttps](INFO): SBD MOMSN=23966454
2025-02-18T22:16:14.413Z,1739916974.413 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20250218T221253/Courier0000.lzma
2025-02-18T22:16:15.415Z,1739916975.415 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Courier0000.lzma.bak
2025-02-18T22:16:15.415Z,1739916975.415 [DataOverHttps](INFO): SBD MOMSN=23966456
2025-02-18T22:16:23.394Z,1739916983.394 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-18T22:16:34.016Z,1739916994.016 [DataOverHttps](INFO): Sending 1127 bytes from file Logs/20250218T213149/Express0008.lzma
2025-02-18T22:16:36.324Z,1739916996.324 [DataOverHttps](INFO): Moved sent file to Logs/20250218T213149/Express0008.lzma.bak
2025-02-18T22:16:36.325Z,1739916996.325 [DataOverHttps](INFO): SBD MOMSN=23966460
2025-02-18T22:16:51.299Z,1739917011.299 [Startup:StartupSatComms:B](INFO): Timed out from 2025-02-18T22:15:50.0Z
2025-02-18T22:16:51.299Z,1739917011.299 [Startup:StartupSatComms:B] Stopped
2025-02-18T22:16:51.299Z,1739917011.299 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-02-18T22:16:51.299Z,1739917011.299 [Startup:StartupSatComms] Stopped
2025-02-18T22:16:51.299Z,1739917011.299 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-02-18T22:16:51.300Z,1739917011.300 [Startup](INFO): Completed Startup
2025-02-18T22:16:51.300Z,1739917011.300 [MissionManager](INFO): Startup is completed.
2025-02-18T22:16:51.301Z,1739917011.301 [MissionManager](INFO): Uninitializing Mission Startup
2025-02-18T22:16:51.301Z,1739917011.301 [Startup] Stopped
2025-02-18T22:16:51.301Z,1739917011.301 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-02-18T22:16:51.301Z,1739917011.301 [Startup:A.GoToSurface] Stopped
2025-02-18T22:16:51.301Z,1739917011.301 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-18T22:16:51.696Z,1739917011.696 [MissionManager](IMPORTANT): Started mission Default
2025-02-18T22:16:51.696Z,1739917011.696 [Default] Running Loop=1
2025-02-18T22:16:51.696Z,1739917011.696 [Default](DEBUG): Aggregate::initialize Default
2025-02-18T22:16:51.696Z,1739917011.696 [Default:B.GoToSurface] Running Loop=1
2025-02-18T22:16:51.696Z,1739917011.696 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-18T22:16:51.696Z,1739917011.696 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-18T22:16:51.697Z,1739917011.697 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-18T22:16:51.697Z,1739917011.697 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-18T22:16:51.697Z,1739917011.697 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-18T22:16:51.698Z,1739917011.698 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-18T22:16:51.698Z,1739917011.698 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-18T22:16:51.698Z,1739917011.698 [Default:A.Wait] Running Loop=1
2025-02-18T22:16:51.698Z,1739917011.698 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-18T22:16:52.394Z,1739917012.394 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20250218T213149/Express0011.lzma
2025-02-18T22:16:53.395Z,1739917013.395 [DataOverHttps](INFO): Moved sent file to Logs/20250218T213149/Express0011.lzma.bak
2025-02-18T22:16:53.395Z,1739917013.395 [DataOverHttps](INFO): SBD MOMSN=23966509
2025-02-18T22:17:04.723Z,1739917024.723 [Default:A.Wait](INFO): Done Waiting.
2025-02-18T22:17:04.723Z,1739917024.723 [Default:A.Wait] Stopped
2025-02-18T22:17:04.723Z,1739917024.723 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T22:17:05.096Z,1739917025.096 [Default:CheckIn] Running Loop=1
2025-02-18T22:17:05.097Z,1739917025.097 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-18T22:17:05.097Z,1739917025.097 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-18T22:17:05.435Z,1739917025.435 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-18T22:17:07.038Z,1739917027.038 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221703.00,A,3647.76680,N,12149.56620,W,1.283,140.74,180225,,,A*7A
2025-02-18T22:17:07.040Z,1739917027.040 [NAL9602](INFO): GPS fix at 20250218T221703: (36.796113, -121.826103)
2025-02-18T22:17:07.060Z,1739917027.060 [Default:CheckIn:Read_GPS] Stopped
2025-02-18T22:17:07.060Z,1739917027.060 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-18T22:17:07.536Z,1739917027.536 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-18T22:17:18.985Z,1739917038.985 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250218T221253/Courier0004.lzma
2025-02-18T22:17:19.995Z,1739917039.995 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Courier0004.lzma.bak
2025-02-18T22:17:19.995Z,1739917039.995 [DataOverHttps](INFO): SBD MOMSN=23966511
2025-02-18T22:17:31.708Z,1739917051.708 [NAL9602](INFO): SBD MO Status=2, MOMSN=12680, MT Status=2, MTMSN=0
2025-02-18T22:17:31.708Z,1739917051.708 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T22:17:36.219Z,1739917056.219 [DataOverHttps](INFO): Sending 375 bytes from file Logs/20250218T213149/Express0014.lzma
2025-02-18T22:17:37.216Z,1739917057.216 [DataOverHttps](INFO): Moved sent file to Logs/20250218T213149/Express0014.lzma.bak
2025-02-18T22:17:37.217Z,1739917057.217 [DataOverHttps](IMPORTANT): SBD MOMSN=23966515, MTMSN=20250218T221736
2025-02-18T22:17:44.738Z,1739917064.738 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 10 m;set transit.Speed 1 m/s" 1y8lb 1 2
2025-02-18T22:17:44.846Z,1739917064.846 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 10 m;set transit.Speed 1 m/s" 1y8lb 1 2.000000
2025-02-18T22:17:44.847Z,1739917064.847 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1y8lb
2025-02-18T22:17:44.848Z,1739917064.848 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='1y8lb'): "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 10 m;set transit.Speed 1 m/s", ASAP
2025-02-18T22:17:46.038Z,1739917066.038 [DataOverHttps](IMPORTANT): SBD MTMSN=20250218T221744
2025-02-18T22:17:52.716Z,1739917072.716 [NAL9602](INFO): SBD MO Status=0, MOMSN=12680, MT Status=0, MTMSN=0
2025-02-18T22:17:52.716Z,1739917072.716 [NAL9602](INFO): No messages in MT queue
2025-02-18T22:17:53.651Z,1739917073.651 [DataOverHttps](INFO): Sending 139 bytes from file Logs/20250218T213149/Express0017.lzma
2025-02-18T22:17:53.654Z,1739917073.654 [DataOverHttps](INFO): Received command: sched asap "set transit.MaxDepth 20 m;set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run" 1y8lb 2 2
2025-02-18T22:17:53.705Z,1739917073.705 [CommandExec](IMPORTANT): got command schedule asap "set transit.MaxDepth 20 m;set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run" 1y8lb 2 2.000000
2025-02-18T22:17:53.706Z,1739917073.706 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1y8lb
2025-02-18T22:17:53.707Z,1739917073.707 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='1y8lb'): "set transit.MaxDepth 20 m;set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run", ASAP
2025-02-18T22:17:53.829Z,1739917073.829 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-02-18T22:17:53.830Z,1739917073.830 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-02-18T22:17:53.830Z,1739917073.830 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-02-18T22:17:53.841Z,1739917073.841 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-02-18T22:17:55.089Z,1739917075.089 [DataOverHttps](INFO): Moved sent file to Logs/20250218T213149/Express0017.lzma.bak
2025-02-18T22:17:55.089Z,1739917075.089 [DataOverHttps](INFO): SBD MOMSN=23966533
2025-02-18T22:17:56.159Z,1739917076.159 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </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" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </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>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-02-18T22:17:56.168Z,1739917076.168 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-02-18T22:17:56.171Z,1739917076.171 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-02-18T22:17:56.174Z,1739917076.174 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-02-18T22:17:56.177Z,1739917076.177 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-02-18T22:17:56.180Z,1739917076.180 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-02-18T22:17:56.184Z,1739917076.184 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-02-18T22:17:56.187Z,1739917076.187 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-02-18T22:17:56.190Z,1739917076.190 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-02-18T22:17:56.192Z,1739917076.193 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-02-18T22:17:56.198Z,1739917076.198 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-02-18T22:17:56.201Z,1739917076.201 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-02-18T22:17:56.209Z,1739917076.209 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-02-18T22:17:56.212Z,1739917076.212 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-02-18T22:17:56.212Z,1739917076.212 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-18T22:17:56.212Z,1739917076.212 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-18T22:17:56.234Z,1739917076.234 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-18T22:17:56.863Z,1739917076.863 [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>

2025-02-18T22:17:56.869Z,1739917076.869 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-02-18T22:17:56.871Z,1739917076.871 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-18T22:17:56.874Z,1739917076.874 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-18T22:17:56.877Z,1739917076.877 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-02-18T22:17:56.880Z,1739917076.880 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-18T22:17:56.883Z,1739917076.883 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-18T22:17:56.886Z,1739917076.886 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-02-18T22:17:56.889Z,1739917076.889 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-02-18T22:17:56.950Z,1739917076.950 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-18T22:17:57.031Z,1739917077.031 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-18T22:17:57.031Z,1739917077.031 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-18T22:17:57.032Z,1739917077.032 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-18T22:17:57.240Z,1739917077.240 [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>

2025-02-18T22:17:57.249Z,1739917077.249 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-18T22:17:57.256Z,1739917077.256 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-18T22:17:57.260Z,1739917077.260 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-18T22:17:57.277Z,1739917077.277 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-18T22:17:57.279Z,1739917077.279 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-18T22:17:57.304Z,1739917077.304 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-18T22:17:57.343Z,1739917077.343 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-18T22:17:57.361Z,1739917077.361 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-18T22:17:57.373Z,1739917077.373 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-18T22:17:57.374Z,1739917077.374 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-18T22:17:57.414Z,1739917077.414 [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>

2025-02-18T22:17:57.423Z,1739917077.423 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-02-18T22:17:57.430Z,1739917077.430 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-18T22:17:57.437Z,1739917077.437 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-18T22:17:57.438Z,1739917077.438 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-18T22:17:57.439Z,1739917077.439 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-18T22:17:57.786Z,1739917077.786 [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>

2025-02-18T22:17:57.791Z,1739917077.791 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-02-18T22:17:57.809Z,1739917077.809 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-02-18T22:17:57.811Z,1739917077.811 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-02-18T22:17:57.826Z,1739917077.826 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-02-18T22:17:57.831Z,1739917077.831 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-18T22:17:57.854Z,1739917077.854 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-18T22:17:57.856Z,1739917077.856 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-18T22:17:57.881Z,1739917077.881 [transit:MassHold.Pitch](DEBUG): Construct.
2025-02-18T22:17:57.909Z,1739917077.909 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-02-18T22:17:57.938Z,1739917077.938 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-02-18T22:17:57.942Z,1739917077.942 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-18T22:17:58.029Z,1739917078.029 [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 transit {
  """
  Vehicle transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

  arguments {
    MissionTimeout = 60 minute
      """
      Maximum duration of mission
      """

    NeedCommsTime = 30 minute
      """
      How often to surface for commumications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to seek. If set to NaN, uses latitude at mission
      initialization.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to seek. If set to NaN, uses longitude at mission
      initialization.
      """

    Northings = 0 meter
      """
      Northward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Eastings = 0 meter
      """
      Eastward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Depth = 10 meter
      """
      Depth of flat and level flight during the mission.
      """

    Speed = 1 meter_per_second
      """
      Speed of vehicle (relative to water) during the mission.
      """

    MaxDepth = 20 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance offshore for the entire mission.
      """

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

    MassHold = true
      """
      Set to True in order to hold mass at default position, False to allow
      mass to run on its own.
      """

    BuoyancyHold = true
      """
      Set to True in order to hold buoyancy at neutral position, False to
      allow buoyancy to run on its own.
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  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

  behavior Guidance:Buoyancy id="BuoyancyHold" {
    run while ( BuoyancyHold )

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch id="MassHold" {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

      set latitude = Latitude
      set longitude = Longitude
      set northingsDelta = Northings
      set eastingsDelta = Eastings
    }

    call id="PhoneHome" refId="NeedComms"
  }
}


2025-02-18T22:17:58.029Z,1739917078.029 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-02-18T22:18:18.309Z,1739917098.309 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250218T221253/Courier0007.lzma
2025-02-18T22:18:18.798Z,1739917098.798 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 60 minute
2025-02-18T22:18:18.799Z,1739917098.799 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 30 minute
2025-02-18T22:18:18.800Z,1739917098.800 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-02-18T22:18:18.801Z,1739917098.801 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-02-18T22:18:18.801Z,1739917098.801 [CommandExec](IMPORTANT): got command set transit.Depth 10 meter
2025-02-18T22:18:18.802Z,1739917098.802 [CommandExec](IMPORTANT): got command set transit.Speed 1 meter_per_second
2025-02-18T22:18:19.311Z,1739917099.311 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Courier0007.lzma.bak
2025-02-18T22:18:19.312Z,1739917099.312 [DataOverHttps](INFO): SBD MOMSN=23966538
2025-02-18T22:18:23.426Z,1739917103.426 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-18T22:18:29.709Z,1739917109.709 [CommandExec](IMPORTANT): got command set transit.MaxDepth 20 meter
2025-02-18T22:18:29.710Z,1739917109.710 [CommandExec](IMPORTANT): got command set transit.MinOffshore 1 kilometer
2025-02-18T22:18:29.710Z,1739917109.710 [CommandExec](IMPORTANT): got command set transit.MinAltitude 7 meter
2025-02-18T22:18:29.711Z,1739917109.711 [CommandExec](IMPORTANT): got command run
2025-02-18T22:18:29.732Z,1739917109.732 [CommandExec](IMPORTANT): Running 
2025-02-18T22:18:29.905Z,1739917109.905 [Default] Stopped
2025-02-18T22:18:29.921Z,1739917109.921 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-18T22:18:29.921Z,1739917109.921 [Default:B.GoToSurface] Stopped
2025-02-18T22:18:29.921Z,1739917109.921 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-18T22:18:29.922Z,1739917109.922 [Default:CheckIn] Stopped
2025-02-18T22:18:29.922Z,1739917109.922 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-18T22:18:29.922Z,1739917109.922 [Default:CheckIn:Read_Iridium] Stopped
2025-02-18T22:18:29.922Z,1739917109.922 [MissionManager](IMPORTANT): Started mission transit
2025-02-18T22:18:29.922Z,1739917109.922 [transit] Running Loop=1
2025-02-18T22:18:29.922Z,1739917109.922 [transit](DEBUG): Aggregate::initialize transit
2025-02-18T22:18:29.922Z,1739917109.922 [transit:StandardEnvelopes] Running Loop=1
2025-02-18T22:18:29.922Z,1739917109.922 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-02-18T22:18:29.923Z,1739917109.923 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-18T22:18:29.923Z,1739917109.923 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-18T22:18:29.923Z,1739917109.923 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-18T22:18:29.923Z,1739917109.923 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-18T22:18:29.923Z,1739917109.923 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-18T22:18:29.923Z,1739917109.923 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-18T22:18:29.923Z,1739917109.923 [transit:BackseatDriver] Running Loop=1
2025-02-18T22:18:29.923Z,1739917109.923 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-02-18T22:18:29.924Z,1739917109.924 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-18T22:18:29.924Z,1739917109.924 [transit:PowerOnly] Running Loop=1
2025-02-18T22:18:29.924Z,1739917109.924 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-02-18T22:18:29.924Z,1739917109.924 [transit:PowerOnly:A] Running Loop=1
2025-02-18T22:18:29.924Z,1739917109.924 [transit:PowerOnly:B] Running Loop=1
2025-02-18T22:18:29.924Z,1739917109.924 [transit:PowerOnly:C] Running Loop=1
2025-02-18T22:18:29.924Z,1739917109.924 [transit:PowerOnly:D] Running Loop=1
2025-02-18T22:18:29.924Z,1739917109.924 [transit:PowerOnly:E.Wait] Running Loop=1
2025-02-18T22:18:29.924Z,1739917109.924 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-18T22:18:29.924Z,1739917109.924 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-18T22:18:29.924Z,1739917109.924 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-18T22:18:29.924Z,1739917109.924 [transit:MassHold.Pitch] Running Loop=1
2025-02-18T22:18:29.925Z,1739917109.925 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-02-18T22:18:29.925Z,1739917109.925 [transit:B] Running Loop=1
2025-02-18T22:18:29.926Z,1739917109.926 [transit:MassHold.Pitch] Running Loop=1
2025-02-18T22:18:29.926Z,1739917109.926 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-18T22:18:29.926Z,1739917109.926 [transit:PowerOnly] Running Loop=1
2025-02-18T22:18:29.927Z,1739917109.927 [transit:PowerOnly:D] Stopped
2025-02-18T22:18:29.927Z,1739917109.927 [transit:PowerOnly:C] Stopped
2025-02-18T22:18:29.927Z,1739917109.927 [transit:PowerOnly:B] Stopped
2025-02-18T22:18:29.927Z,1739917109.927 [transit:PowerOnly:A] Stopped
2025-02-18T22:18:29.927Z,1739917109.927 [transit:BackseatDriver] Running Loop=1
2025-02-18T22:18:29.927Z,1739917109.927 [transit:StandardEnvelopes] Running Loop=1
2025-02-18T22:18:29.927Z,1739917109.927 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-18T22:18:29.928Z,1739917109.928 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-18T22:18:29.929Z,1739917109.929 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-18T22:18:29.934Z,1739917109.934 [transit:B] Stopped
2025-02-18T22:18:29.934Z,1739917109.934 [transit:C] Running Loop=1
2025-02-18T22:18:30.311Z,1739917110.311 [transit:C] Stopped
2025-02-18T22:18:30.311Z,1739917110.311 [transit:E] Running Loop=1
2025-02-18T22:18:30.718Z,1739917110.718 [transit:E] Stopped
2025-02-18T22:18:30.718Z,1739917110.718 [transit:F] Running Loop=1
2025-02-18T22:18:31.176Z,1739917111.176 [transit:F] Stopped
2025-02-18T22:18:31.176Z,1739917111.176 [transit:G] Running Loop=1
2025-02-18T22:18:31.522Z,1739917111.522 [transit:G] Stopped
2025-02-18T22:18:31.523Z,1739917111.523 [transit:Transit] Running Loop=1
2025-02-18T22:18:31.523Z,1739917111.523 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-02-18T22:18:31.523Z,1739917111.523 [transit:Transit:A.Pitch] Running Loop=1
2025-02-18T22:18:31.523Z,1739917111.523 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-02-18T22:18:31.523Z,1739917111.523 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-18T22:18:31.523Z,1739917111.523 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-02-18T22:18:31.523Z,1739917111.523 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-02-18T22:18:31.523Z,1739917111.523 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-18T22:18:31.525Z,1739917111.525 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-18T22:18:31.542Z,1739917111.542 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-18T22:18:32.009Z,1739917112.009 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-18T22:18:32.010Z,1739917112.010 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-18T22:18:32.010Z,1739917112.010 [transit:Transit:A.Pitch] Running Loop=1
2025-02-18T22:18:32.019Z,1739917112.019 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-02-18T22:18:32.020Z,1739917112.020 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-02-18T22:18:32.020Z,1739917112.020 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-02-18T22:18:39.742Z,1739917119.742 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250218T221253/Courier0010.lzma
2025-02-18T22:18:40.743Z,1739917120.743 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Courier0010.lzma.bak
2025-02-18T22:18:40.743Z,1739917120.743 [DataOverHttps](INFO): SBD MOMSN=23966541
2025-02-18T22:19:18.360Z,1739917158.360 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T22:19:31.316Z,1739917171.316 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T22:19:44.261Z,1739917184.261 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T22:19:57.592Z,1739917197.592 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T22:20:03.890Z,1739917203.890 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:20:09.736Z,1739917209.736 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T22:20:19.625Z,1739917219.625 [Radio_Surface](INFO): Powering down
2025-02-18T22:20:21.856Z,1739917221.856 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T22:20:34.416Z,1739917234.416 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T22:20:35.014Z,1739917235.014 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:20:36.018Z,1739917236.018 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-18T22:20:46.940Z,1739917246.940 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T22:20:59.465Z,1739917259.465 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T22:21:12.400Z,1739917272.400 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T22:21:25.328Z,1739917285.328 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T22:21:38.260Z,1739917298.260 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T22:21:45.546Z,1739917305.546 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-18T22:21:45.553Z,1739917305.553 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-18T22:21:45.553Z,1739917305.553 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-18T22:21:45.556Z,1739917305.556 [BPC1](INFO): Received data from all battery sticks.
2025-02-18T22:22:15.418Z,1739917335.418 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.737823
2025-02-18T22:23:22.091Z,1739917402.091 [Power24vConverter](INFO): Powering down.
2025-02-18T22:47:08.379Z,1739918828.379 [transit:NeedComms] Running Loop=1
2025-02-18T22:47:08.379Z,1739918828.379 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-02-18T22:47:08.379Z,1739918828.379 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-02-18T22:47:08.379Z,1739918828.379 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-18T22:47:08.380Z,1739918828.380 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-18T22:47:08.380Z,1739918828.380 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-18T22:47:08.380Z,1739918828.380 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-18T22:47:08.381Z,1739918828.381 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-18T22:47:08.381Z,1739918828.381 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-18T22:47:08.381Z,1739918828.381 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-18T22:47:08.382Z,1739918828.382 [transit:NeedComms:A] Running Loop=1
2025-02-18T22:47:08.384Z,1739918828.384 [transit:NeedComms:A](INFO): last time_fix was:  1739917023.000000 second since 1970/01/01T00:00:00Z 
2025-02-18T22:47:08.384Z,1739918828.384 [transit:NeedComms:A] Stopped
2025-02-18T22:47:40.712Z,1739918860.712 [transit:NeedComms:C] Running Loop=1
2025-02-18T22:47:41.108Z,1739918861.108 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-18T22:47:41.173Z,1739918861.173 [Radio_Surface](INFO): Powering up
2025-02-18T22:47:46.778Z,1739918866.778 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-18T22:48:00.887Z,1739918880.887 [NAL9602](INFO): SBD MO Status=0, MOMSN=12681, MT Status=0, MTMSN=0
2025-02-18T22:48:00.887Z,1739918880.887 [NAL9602](INFO): No messages in MT queue
2025-02-18T22:48:02.104Z,1739918882.104 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224758.00,A,3647.66170,N,12150.62426,W,0.603,266.44,180225,,,A*7A
2025-02-18T22:48:02.107Z,1739918882.107 [NAL9602](INFO): GPS fix at 20250218T224758: (36.794362, -121.843738)
2025-02-18T22:48:02.120Z,1739918882.120 [UniversalFixResidualReporter](INFO): Fix residual: 18.8 %DT, over the last 1715.4 m. Residual distance 322.0 m at bearing -25.5 degrees. Fix at (36.7944, -121.8437) with 1582.2 m made good.
2025-02-18T22:48:02.144Z,1739918882.144 [transit:NeedComms:C] Stopped
2025-02-18T22:48:02.144Z,1739918882.144 [transit:NeedComms:D] Running Loop=1
2025-02-18T22:48:02.536Z,1739918882.536 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-18T22:48:15.940Z,1739918895.940 [NAL9602](INFO): SBD MO Status=1, MOMSN=12682, MT Status=0, MTMSN=0
2025-02-18T22:48:15.990Z,1739918895.990 [NAL9602](INFO): Sent 265 bytes from file Logs/20250218T221253/Courier0013.lzma
2025-02-18T22:48:15.990Z,1739918895.990 [NAL9602](INFO): Packets left to send: 0
2025-02-18T22:48:16.906Z,1739918896.906 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:48:30.156Z,1739918910.156 [NAL9602](INFO): SBD MO Status=1, MOMSN=12683, MT Status=0, MTMSN=0
2025-02-18T22:48:30.206Z,1739918910.206 [NAL9602](INFO): Sent 61 bytes from file Logs/20250218T213149/Express0020.lzma
2025-02-18T22:48:30.206Z,1739918910.206 [NAL9602](INFO): Packets left to send: 0
2025-02-18T22:48:43.548Z,1739918923.548 [NAL9602](INFO): SBD MO Status=1, MOMSN=12684, MT Status=0, MTMSN=0
2025-02-18T22:48:43.598Z,1739918923.598 [NAL9602](INFO): Sent 332 bytes from file Logs/20250218T221253/Express0001.lzma
2025-02-18T22:48:43.598Z,1739918923.598 [NAL9602](INFO): Packets left to send: 2
2025-02-18T22:48:48.030Z,1739918928.030 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:48:55.744Z,1739918935.744 [NAL9602](INFO): SBD MO Status=1, MOMSN=12685, MT Status=0, MTMSN=0
2025-02-18T22:48:55.794Z,1739918935.794 [NAL9602](INFO): Sent 332 bytes from file Logs/20250218T221253/Express0001.lzma
2025-02-18T22:48:55.794Z,1739918935.794 [NAL9602](INFO): Packets left to send: 1
2025-02-18T22:49:06.349Z,1739918946.349 [NAL9602](INFO): SBD MO Status=1, MOMSN=12686, MT Status=0, MTMSN=0
2025-02-18T22:49:06.403Z,1739918946.403 [NAL9602](INFO): Sent 218 bytes from file Logs/20250218T221253/Express0001.lzma
2025-02-18T22:49:06.403Z,1739918946.403 [NAL9602](INFO): Packets left to send: 0
2025-02-18T22:49:16.588Z,1739918956.588 [NAL9602](INFO): SBD MO Status=1, MOMSN=12687, MT Status=0, MTMSN=0
2025-02-18T22:49:16.642Z,1739918956.642 [NAL9602](INFO): Sent 105 bytes from file Logs/20250218T221253/Express0005.lzma
2025-02-18T22:49:16.642Z,1739918956.642 [NAL9602](INFO): Packets left to send: 0
2025-02-18T22:49:19.154Z,1739918959.154 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:49:27.960Z,1739918967.960 [NAL9602](INFO): SBD MO Status=1, MOMSN=12688, MT Status=0, MTMSN=0
2025-02-18T22:49:28.010Z,1739918968.010 [NAL9602](INFO): Sent 332 bytes from file Logs/20250218T221253/Express0008.lzma
2025-02-18T22:49:28.010Z,1739918968.010 [NAL9602](INFO): Packets left to send: 1
2025-02-18T22:49:37.444Z,1739918977.444 [NAL9602](INFO): SBD MO Status=1, MOMSN=12689, MT Status=0, MTMSN=0
2025-02-18T22:49:37.506Z,1739918977.506 [NAL9602](INFO): Sent 44 bytes from file Logs/20250218T221253/Express0008.lzma
2025-02-18T22:49:37.506Z,1739918977.506 [NAL9602](INFO): Packets left to send: 0
2025-02-18T22:49:46.960Z,1739918986.960 [NAL9602](INFO): SBD MO Status=1, MOMSN=12690, MT Status=0, MTMSN=0
2025-02-18T22:49:47.014Z,1739918987.014 [NAL9602](INFO): Sent 289 bytes from file Logs/20250218T221253/Express0011.lzma
2025-02-18T22:49:47.014Z,1739918987.014 [NAL9602](INFO): Packets left to send: 0
2025-02-18T22:49:50.363Z,1739918990.363 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:49:59.251Z,1739918999.251 [NAL9602](INFO): SBD MO Status=1, MOMSN=12691, MT Status=0, MTMSN=0
2025-02-18T22:49:59.302Z,1739918999.302 [NAL9602](INFO): Sent 332 bytes from file Logs/20250218T221253/Express0014.lzma
2025-02-18T22:49:59.302Z,1739918999.302 [NAL9602](INFO): Packets left to send: 1
2025-02-18T22:50:00.371Z,1739919000.371 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003250
2025-02-18T22:50:09.721Z,1739919009.721 [NAL9602](INFO): SBD MO Status=1, MOMSN=12692, MT Status=0, MTMSN=0
2025-02-18T22:50:09.802Z,1739919009.802 [NAL9602](INFO): Sent 108 bytes from file Logs/20250218T221253/Express0014.lzma
2025-02-18T22:50:09.802Z,1739919009.802 [NAL9602](INFO): Packets left to send: 0
2025-02-18T22:50:09.948Z,1739919009.948 [transit:NeedComms:D] Stopped
2025-02-18T22:50:09.949Z,1739919009.949 [transit:NeedComms:E] Running Loop=1
2025-02-18T22:50:10.282Z,1739919010.282 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-18T22:50:12.224Z,1739919012.224 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225008.00,A,3647.64544,N,12150.62419,W,0.408,134.81,180225,,,A*70
2025-02-18T22:50:12.246Z,1739919012.246 [NAL9602](INFO): GPS fix at 20250218T225008: (36.794091, -121.843737)
2025-02-18T22:50:12.345Z,1739919012.345 [transit:NeedComms:E] Stopped
2025-02-18T22:50:12.378Z,1739919012.378 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-02-18T22:50:12.378Z,1739919012.378 [transit:NeedComms] Stopped
2025-02-18T22:50:12.378Z,1739919012.378 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-02-18T22:50:12.378Z,1739919012.378 [transit:NeedComms:B.GoToSurface] Stopped
2025-02-18T22:50:12.378Z,1739919012.378 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-18T22:50:16.568Z,1739919016.568 [DataOverHttps](IMPORTANT): Could not stat file Logs/20250218T221253/Express0014.lzma
2025-02-18T22:50:16.569Z,1739919016.569 [DataOverHttps](FAULT): Could not open file Logs/20250218T221253/Express0014.lzma
2025-02-18T22:50:32.004Z,1739919032.004 [DataOverHttps](IMPORTANT): Could not stat file Logs/20250218T221253/Express0014.lzma
2025-02-18T22:50:32.004Z,1739919032.004 [DataOverHttps](FAULT): Could not open file Logs/20250218T221253/Express0014.lzma
2025-02-18T22:50:44.500Z,1739919044.500 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-18T22:50:56.284Z,1739919056.284 [DataOverHttps](IMPORTANT): Could not stat file Logs/20250218T221253/Express0014.lzma
2025-02-18T22:50:56.284Z,1739919056.284 [DataOverHttps](FAULT): Could not open file Logs/20250218T221253/Express0014.lzma
2025-02-18T22:51:07.516Z,1739919067.516 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 10.25 mm (1 active estimators).
2025-02-18T22:51:49.502Z,1739919109.502 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:52:07.969Z,1739919127.969 [Radio_Surface](INFO): Powering down
2025-02-18T22:52:20.626Z,1739919140.626 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:52:21.630Z,1739919141.630 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-18T22:53:58.014Z,1739919238.014 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.727142
2025-02-18T22:57:41.434Z,1739919461.434 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-02-18T22:57:41.434Z,1739919461.434 [transit:Transit:Wpt1.Waypoint] Stopped
2025-02-18T22:57:41.434Z,1739919461.434 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-18T22:57:41.435Z,1739919461.435 [transit:Transit:PhoneHome] Running Loop=1
2025-02-18T22:57:41.435Z,1739919461.435 [transit:Transit:PhoneHome](DEBUG): Aggregate::initialize transit:Transit:PhoneHome
2025-02-18T22:57:41.840Z,1739919461.840 [transit:NeedComms] Running Loop=1
2025-02-18T22:57:41.840Z,1739919461.840 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-02-18T22:57:41.840Z,1739919461.840 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-02-18T22:57:41.840Z,1739919461.840 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-18T22:57:41.841Z,1739919461.841 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-18T22:57:41.841Z,1739919461.841 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-18T22:57:41.842Z,1739919461.842 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-18T22:57:41.842Z,1739919461.842 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-18T22:57:41.842Z,1739919461.842 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-18T22:57:41.843Z,1739919461.843 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-18T22:57:41.843Z,1739919461.843 [transit:NeedComms:A] Running Loop=1
2025-02-18T22:57:41.844Z,1739919461.844 [transit:NeedComms:A](INFO): last time_fix was:  1739919008.000000 second since 1970/01/01T00:00:00Z 
2025-02-18T22:57:41.844Z,1739919461.844 [transit:NeedComms:A] Stopped
2025-02-18T22:58:12.161Z,1739919492.161 [transit:NeedComms:C] Running Loop=1
2025-02-18T22:58:12.785Z,1739919492.785 [Radio_Surface](INFO): Powering up
2025-02-18T22:58:18.074Z,1739919498.074 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-18T22:58:48.194Z,1739919528.194 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:59:06.704Z,1739919546.704 [NAL9602](INFO): SBD MO Status=2, MOMSN=12693, MT Status=2, MTMSN=0
2025-02-18T22:59:06.704Z,1739919546.704 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T22:59:19.338Z,1739919559.338 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:59:22.868Z,1739919562.868 [NAL9602](INFO): SBD MO Status=2, MOMSN=12693, MT Status=2, MTMSN=0
2025-02-18T22:59:22.868Z,1739919562.868 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T22:59:40.236Z,1739919580.236 [NAL9602](INFO): SBD MO Status=0, MOMSN=12693, MT Status=0, MTMSN=0
2025-02-18T22:59:40.236Z,1739919580.236 [NAL9602](INFO): No messages in MT queue
2025-02-18T22:59:41.445Z,1739919581.445 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225937.00,A,3647.77635,N,12150.83190,W,0.156,181.76,180225,,,A*71
2025-02-18T22:59:41.447Z,1739919581.447 [NAL9602](INFO): GPS fix at 20250218T225937: (36.796273, -121.847198)
2025-02-18T22:59:41.475Z,1739919581.475 [transit:NeedComms:C] Stopped
2025-02-18T22:59:41.475Z,1739919581.475 [transit:NeedComms:D] Running Loop=1
2025-02-18T22:59:50.478Z,1739919590.478 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T22:59:56.436Z,1739919596.436 [NAL9602](INFO): SBD MO Status=1, MOMSN=12694, MT Status=0, MTMSN=0
2025-02-18T22:59:56.486Z,1739919596.486 [NAL9602](INFO): Sent 75 bytes from file Logs/20250218T221253/Courier0016.lzma
2025-02-18T22:59:56.486Z,1739919596.486 [NAL9602](INFO): Packets left to send: 0
2025-02-18T23:00:04.971Z,1739919604.971 [NAL9602](INFO): SBD MO Status=1, MOMSN=12695, MT Status=0, MTMSN=0
2025-02-18T23:00:05.022Z,1739919605.022 [NAL9602](INFO): Sent 249 bytes from file Logs/20250218T221253/Express0017.lzma
2025-02-18T23:00:05.022Z,1739919605.022 [NAL9602](INFO): Packets left to send: 0
2025-02-18T23:00:13.464Z,1739919613.464 [NAL9602](INFO): SBD MO Status=0, MOMSN=12696, MT Status=0, MTMSN=0
2025-02-18T23:00:13.595Z,1739919613.595 [transit:NeedComms:D] Stopped
2025-02-18T23:00:13.595Z,1739919613.595 [transit:NeedComms:E] Running Loop=1
2025-02-18T23:00:15.892Z,1739919615.892 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230012.00,A,3647.77148,N,12150.83123,W,1.050,155.11,180225,,,A*70
2025-02-18T23:00:15.895Z,1739919615.895 [NAL9602](INFO): GPS fix at 20250218T230012: (36.796191, -121.847187)
2025-02-18T23:00:15.908Z,1739919615.908 [transit:NeedComms:E] Stopped
2025-02-18T23:00:15.910Z,1739919615.910 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-02-18T23:00:15.910Z,1739919615.910 [transit:NeedComms] Stopped
2025-02-18T23:00:15.910Z,1739919615.910 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-02-18T23:00:15.910Z,1739919615.910 [transit:NeedComms:B.GoToSurface] Stopped
2025-02-18T23:00:15.910Z,1739919615.910 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-18T23:00:16.327Z,1739919616.327 [transit:Transit:PhoneHome](INFO): Completed transit:Transit:PhoneHome
2025-02-18T23:00:16.327Z,1739919616.327 [transit:Transit:PhoneHome] Stopped
2025-02-18T23:00:16.327Z,1739919616.327 [transit:Transit:PhoneHome](DEBUG): Aggregate::uninitialize transit:Transit:PhoneHome
2025-02-18T23:00:16.328Z,1739919616.328 [transit:Transit](INFO): Completed transit:Transit
2025-02-18T23:00:16.328Z,1739919616.328 [transit:Transit] Stopped
2025-02-18T23:00:16.328Z,1739919616.328 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-02-18T23:00:16.328Z,1739919616.328 [transit:Transit:A.Pitch] Stopped
2025-02-18T23:00:16.328Z,1739919616.328 [transit:Transit:B.SetSpeed] Stopped
2025-02-18T23:00:16.328Z,1739919616.328 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-02-18T23:00:16.330Z,1739919616.330 [transit](INFO): Completed transit
2025-02-18T23:00:16.330Z,1739919616.330 [MissionManager](INFO): transit is completed.
2025-02-18T23:00:16.330Z,1739919616.330 [MissionManager](INFO): Uninitializing Mission transit
2025-02-18T23:00:16.330Z,1739919616.330 [transit] Stopped
2025-02-18T23:00:16.330Z,1739919616.330 [transit](DEBUG): Aggregate::uninitialize transit
2025-02-18T23:00:16.330Z,1739919616.330 [transit:StandardEnvelopes] Stopped
2025-02-18T23:00:16.331Z,1739919616.331 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-02-18T23:00:16.331Z,1739919616.331 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-18T23:00:16.331Z,1739919616.331 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-18T23:00:16.331Z,1739919616.331 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-18T23:00:16.331Z,1739919616.331 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-18T23:00:16.331Z,1739919616.331 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-18T23:00:16.331Z,1739919616.331 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-18T23:00:16.331Z,1739919616.331 [transit:BackseatDriver] Stopped
2025-02-18T23:00:16.331Z,1739919616.331 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-02-18T23:00:16.331Z,1739919616.331 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-02-18T23:00:16.331Z,1739919616.331 [transit:PowerOnly] Stopped
2025-02-18T23:00:16.331Z,1739919616.331 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-02-18T23:00:16.332Z,1739919616.332 [transit:PowerOnly:E.Wait] Stopped
2025-02-18T23:00:16.332Z,1739919616.332 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T23:00:16.332Z,1739919616.332 [transit:BuoyancyHold.Buoyancy] Stopped
2025-02-18T23:00:16.332Z,1739919616.332 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-18T23:00:16.332Z,1739919616.332 [transit:MassHold.Pitch] Stopped
2025-02-18T23:00:16.721Z,1739919616.721 [MissionManager](IMPORTANT): Started mission Default
2025-02-18T23:00:16.721Z,1739919616.721 [Default] Running Loop=1
2025-02-18T23:00:16.721Z,1739919616.721 [Default](DEBUG): Aggregate::initialize Default
2025-02-18T23:00:16.721Z,1739919616.721 [Default:B.GoToSurface] Running Loop=1
2025-02-18T23:00:16.721Z,1739919616.721 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-18T23:00:16.722Z,1739919616.722 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-18T23:00:16.722Z,1739919616.722 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-18T23:00:16.722Z,1739919616.722 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-18T23:00:16.723Z,1739919616.723 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-18T23:00:16.723Z,1739919616.723 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-18T23:00:16.723Z,1739919616.723 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-18T23:00:16.724Z,1739919616.724 [Default:A.Wait] Running Loop=1
2025-02-18T23:00:16.724Z,1739919616.724 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-18T23:00:21.602Z,1739919621.602 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T23:00:29.788Z,1739919629.788 [Default:A.Wait](INFO): Done Waiting.
2025-02-18T23:00:29.788Z,1739919629.788 [Default:A.Wait] Stopped
2025-02-18T23:00:29.788Z,1739919629.788 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T23:00:30.146Z,1739919630.146 [Default:CheckIn] Running Loop=1
2025-02-18T23:00:30.146Z,1739919630.146 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-18T23:00:30.146Z,1739919630.146 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-18T23:00:32.094Z,1739919632.094 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230028.00,A,3647.76921,N,12150.83176,W,0.700,165.24,180225,,,A*79
2025-02-18T23:00:32.096Z,1739919632.096 [NAL9602](INFO): GPS fix at 20250218T230028: (36.796154, -121.847196)
2025-02-18T23:00:32.208Z,1739919632.208 [Default:CheckIn:Read_GPS] Stopped
2025-02-18T23:00:32.208Z,1739919632.208 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-18T23:00:36.466Z,1739919636.466 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003241
2025-02-18T23:00:46.241Z,1739919646.241 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250218T221253/Courier0019.lzma
2025-02-18T23:00:47.118Z,1739919647.118 [NAL9602](INFO): SBD MO Status=1, MOMSN=12697, MT Status=0, MTMSN=0
2025-02-18T23:00:47.162Z,1739919647.162 [NAL9602](INFO): Sent 73 bytes from file Logs/20250218T221253/Courier0019.lzma
2025-02-18T23:00:47.162Z,1739919647.162 [NAL9602](INFO): Packets left to send: 0
2025-02-18T23:00:47.238Z,1739919647.238 [Default:CheckIn:Read_Iridium] Stopped
2025-02-18T23:00:47.238Z,1739919647.238 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-18T23:00:47.238Z,1739919647.238 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-18T23:00:47.244Z,1739919647.244 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Courier0019.lzma.bak
2025-02-18T23:00:47.244Z,1739919647.244 [DataOverHttps](INFO): SBD MOMSN=23966615
2025-02-18T23:01:17.553Z,1739919677.553 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-18T23:01:56.511Z,1739919716.511 [DataOverHttps](IMPORTANT): SBD MTMSN=20250218T230155
2025-02-18T23:02:04.009Z,1739919724.009 [DataOverHttps](INFO): Received command: schedule clear;schedule resume
2025-02-18T23:02:04.093Z,1739919724.093 [CommandExec](IMPORTANT): got command schedule clear
2025-02-18T23:02:04.093Z,1739919724.093 [CommandExec](IMPORTANT): Cleared 0 scheduled commands.
2025-02-18T23:02:04.093Z,1739919724.093 [CommandExec](IMPORTANT): got command schedule resume
2025-02-18T23:02:35.463Z,1739919755.463 [DataOverHttps](IMPORTANT): SBD MTMSN=20250218T230234
2025-02-18T23:02:42.858Z,1739919762.858 [DataOverHttps](INFO): Received command: run Maintenance/ballast_and_trim.tl
2025-02-18T23:02:42.986Z,1739919762.986 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/ballast_and_trim.tl
2025-02-18T23:02:42.986Z,1739919762.986 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/ballast_and_trim.tl
2025-02-18T23:02:42.986Z,1739919762.986 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/ballast_and_trim.tl
2025-02-18T23:02:42.990Z,1739919762.990 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/ballast_and_trim.tl
2025-02-18T23:02:46.873Z,1739919766.873 [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>

2025-02-18T23:02:46.918Z,1739919766.918 [MissionManager](INFO): DefineArg ballast_and_trim.MissionTimeout = 90.000000 min
2025-02-18T23:02:46.921Z,1739919766.921 [MissionManager](INFO): DefineArg ballast_and_trim.SkipComms = 0 bool
2025-02-18T23:02:46.924Z,1739919766.924 [MissionManager](INFO): DefineArg ballast_and_trim.Depth1 = 35.000000 m
2025-02-18T23:02:46.928Z,1739919766.928 [MissionManager](INFO): DefineArg ballast_and_trim.Depth2 = nan m
2025-02-18T23:02:46.931Z,1739919766.931 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 0.100000 m
2025-02-18T23:02:46.961Z,1739919766.961 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSpeed = 1.000000 m/s
2025-02-18T23:02:46.964Z,1739919766.964 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthTimeout = 20.000000 min
2025-02-18T23:02:46.968Z,1739919766.968 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthRate = 0.400000 m/s
2025-02-18T23:02:46.986Z,1739919766.986 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachPitchLimit = 20.000000 arcdeg
2025-02-18T23:02:46.989Z,1739919766.989 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSettleTimePreDive = 0.000000 min
2025-02-18T23:02:46.992Z,1739919766.992 [MissionManager](INFO): DefineArg ballast_and_trim.SettleTime = 10.000000 min
2025-02-18T23:02:47.013Z,1739919767.013 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationTimeout = 45.000000 min
2025-02-18T23:02:47.016Z,1739919767.016 [MissionManager](INFO): DefineArg ballast_and_trim.MinEstimationTime = 10.000000 min
2025-02-18T23:02:47.019Z,1739919767.019 [MissionManager](INFO): DefineArg ballast_and_trim.MassEstimationErrorBound = 0.500000 mm
2025-02-18T23:02:47.040Z,1739919767.040 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyEstimationErrorBound = 25.000000 cc
2025-02-18T23:02:47.044Z,1739919767.044 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationConfidence = 98.000000 %
2025-02-18T23:02:47.047Z,1739919767.047 [MissionManager](INFO): DefineArg ballast_and_trim.massDeadband = 0.250000 mm
2025-02-18T23:02:47.067Z,1739919767.067 [MissionManager](INFO): DefineArg ballast_and_trim.MinAltitude = 5.000000 m
2025-02-18T23:02:47.070Z,1739919767.070 [MissionManager](INFO): DefineArg ballast_and_trim.MaxDepth = 52.000000 m
2025-02-18T23:02:47.073Z,1739919767.073 [MissionManager](INFO): DefineArg ballast_and_trim.MinOffshore = 2.000000 km
2025-02-18T23:02:47.076Z,1739919767.076 [MissionManager](INFO): DefineArg ballast_and_trim.CheckDepths = 1.000000 bool
2025-02-18T23:02:47.077Z,1739919767.077 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-18T23:02:47.086Z,1739919767.086 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-18T23:02:47.090Z,1739919767.090 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-18T23:02:49.652Z,1739919769.652 [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="EdgeDetectChlActive">
        <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="EdgeDetectPlanktivoreLMavgROIActive">
        <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="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>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>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <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="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <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="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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>

2025-02-18T23:02:49.746Z,1739919769.746 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool
2025-02-18T23:02:49.749Z,1739919769.749 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectChlActive = 0 bool
2025-02-18T23:02:49.756Z,1739919769.756 [MissionManager](INFO): DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min
2025-02-18T23:02:49.759Z,1739919769.759 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool
2025-02-18T23:02:49.774Z,1739919769.774 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool
2025-02-18T23:02:49.777Z,1739919769.777 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool
2025-02-18T23:02:49.785Z,1739919769.785 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PatchTracking = 0 bool
2025-02-18T23:02:49.792Z,1739919769.792 [MissionManager](INFO): DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count
2025-02-18T23:02:49.795Z,1739919769.795 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-18T23:02:49.811Z,1739919769.811 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-18T23:02:49.818Z,1739919769.818 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool
2025-02-18T23:02:49.820Z,1739919769.820 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool
2025-02-18T23:02:49.828Z,1739919769.828 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool
2025-02-18T23:02:49.832Z,1739919769.832 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool
2025-02-18T23:02:49.847Z,1739919769.847 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-18T23:02:49.858Z,1739919769.858 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-18T23:02:49.861Z,1739919769.861 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-18T23:02:49.874Z,1739919769.874 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-18T23:02:49.877Z,1739919769.877 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-18T23:02:49.879Z,1739919769.879 [MissionManager](INFO): DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-18T23:02:49.893Z,1739919769.893 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0 bool
2025-02-18T23:02:49.896Z,1739919769.896 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledNeilBrown = 0 bool
2025-02-18T23:02:49.900Z,1739919769.900 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledSeabird = 1 bool
2025-02-18T23:02:49.921Z,1739919769.921 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-18T23:02:49.924Z,1739919769.924 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-18T23:02:49.928Z,1739919769.928 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 0 bool
2025-02-18T23:02:49.940Z,1739919769.940 [MissionManager](INFO): DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count
2025-02-18T23:02:49.943Z,1739919769.943 [MissionManager](INFO): DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count
2025-02-18T23:02:49.946Z,1739919769.946 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ShallowBound = nan m
2025-02-18T23:02:49.968Z,1739919769.968 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DeepBound = nan m
2025-02-18T23:02:49.971Z,1739919769.971 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-18T23:02:49.982Z,1739919769.982 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionVertical = nan %
2025-02-18T23:02:49.985Z,1739919769.985 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-18T23:02:49.988Z,1739919769.988 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlThreshTriggerActive = 0 bool
2025-02-18T23:02:49.991Z,1739919769.991 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlLowerThresh = nan ug/l
2025-02-18T23:02:50.013Z,1739919770.013 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlUpperThresh = nan ug/l
2025-02-18T23:02:50.016Z,1739919770.016 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesThresh = 5.000000 count
2025-02-18T23:02:50.019Z,1739919770.019 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-18T23:02:50.032Z,1739919770.032 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.GoDown = 1 bool
2025-02-18T23:02:50.036Z,1739919770.036 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChl = nan ug/l
2025-02-18T23:02:50.050Z,1739919770.050 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlDepth = nan m
2025-02-18T23:02:50.053Z,1739919770.053 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlTemperature = nan degC
2025-02-18T23:02:50.056Z,1739919770.056 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg
2025-02-18T23:02:50.099Z,1739919770.099 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg
2025-02-18T23:02:50.116Z,1739919770.116 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChl = nan ug/l
2025-02-18T23:02:50.132Z,1739919770.132 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlDepth = nan m
2025-02-18T23:02:50.141Z,1739919770.141 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlTemperature = nan degC
2025-02-18T23:02:50.152Z,1739919770.152 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLatitude = nan arcdeg
2025-02-18T23:02:50.156Z,1739919770.156 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLongitude = nan arcdeg
2025-02-18T23:02:50.167Z,1739919770.167 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3 = nan umol/l
2025-02-18T23:02:50.171Z,1739919770.171 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Depth = nan m
2025-02-18T23:02:50.183Z,1739919770.183 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg
2025-02-18T23:02:50.197Z,1739919770.197 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg
2025-02-18T23:02:50.200Z,1739919770.200 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOil = nan kg/m3
2025-02-18T23:02:50.223Z,1739919770.223 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilDepth = nan m
2025-02-18T23:02:50.226Z,1739919770.226 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg
2025-02-18T23:02:50.234Z,1739919770.234 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg
2025-02-18T23:02:50.237Z,1739919770.237 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOM = nan ppb
2025-02-18T23:02:50.240Z,1739919770.240 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMDepth = nan m
2025-02-18T23:02:50.248Z,1739919770.248 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC
2025-02-18T23:02:50.252Z,1739919770.252 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg
2025-02-18T23:02:50.268Z,1739919770.268 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg
2025-02-18T23:02:50.272Z,1739919770.272 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSalt = nan psu
2025-02-18T23:02:50.284Z,1739919770.284 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltDepth = nan m
2025-02-18T23:02:50.288Z,1739919770.288 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltTemperature = nan degC
2025-02-18T23:02:50.299Z,1739919770.299 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg
2025-02-18T23:02:50.303Z,1739919770.303 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg
2025-02-18T23:02:50.318Z,1739919770.318 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-18T23:02:50.325Z,1739919770.325 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-18T23:02:50.329Z,1739919770.329 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-18T23:02:50.336Z,1739919770.336 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-18T23:02:50.343Z,1739919770.343 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-18T23:02:50.355Z,1739919770.355 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-18T23:02:50.358Z,1739919770.358 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-18T23:02:50.370Z,1739919770.370 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-18T23:02:50.377Z,1739919770.377 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-18T23:02:50.380Z,1739919770.380 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-18T23:02:50.388Z,1739919770.388 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-18T23:02:50.406Z,1739919770.406 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-18T23:02:50.409Z,1739919770.409 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-18T23:02:50.416Z,1739919770.416 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-18T23:02:50.427Z,1739919770.427 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-18T23:02:50.430Z,1739919770.430 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-18T23:02:50.438Z,1739919770.438 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-18T23:02:50.441Z,1739919770.441 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-18T23:02:50.449Z,1739919770.449 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-18T23:02:50.452Z,1739919770.452 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-18T23:02:50.455Z,1739919770.455 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-18T23:02:50.503Z,1739919770.503 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-18T23:02:50.535Z,1739919770.535 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-18T23:02:50.539Z,1739919770.539 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-18T23:02:50.562Z,1739919770.562 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-18T23:02:50.565Z,1739919770.565 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChl = nan ug/l
2025-02-18T23:02:50.568Z,1739919770.568 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDepth = nan m
2025-02-18T23:02:50.604Z,1739919770.604 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg
2025-02-18T23:02:50.607Z,1739919770.607 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg
2025-02-18T23:02:50.610Z,1739919770.610 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m
2025-02-18T23:02:50.613Z,1739919770.613 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSalt = nan psu
2025-02-18T23:02:50.624Z,1739919770.624 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDepth = nan m
2025-02-18T23:02:50.627Z,1739919770.627 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg
2025-02-18T23:02:50.645Z,1739919770.645 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg
2025-02-18T23:02:50.648Z,1739919770.648 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m
2025-02-18T23:02:50.651Z,1739919770.651 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOil = nan psu
2025-02-18T23:02:50.667Z,1739919770.667 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDepth = nan m
2025-02-18T23:02:50.670Z,1739919770.670 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg
2025-02-18T23:02:50.673Z,1739919770.673 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg
2025-02-18T23:02:50.676Z,1739919770.676 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m
2025-02-18T23:02:50.692Z,1739919770.692 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.TriggeredOnChl = 0 bool
2025-02-18T23:02:50.695Z,1739919770.695 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.ChlTriggering = nan ug/l
2025-02-18T23:02:50.774Z,1739919770.774 [ballast_and_trim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:02:50.806Z,1739919770.806 [ballast_and_trim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-18T23:02:50.843Z,1739919770.843 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-18T23:02:50.916Z,1739919770.916 [ballast_and_trim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:02:50.953Z,1739919770.953 [ballast_and_trim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:02:50.981Z,1739919770.981 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-18T23:02:51.013Z,1739919771.013 [ballast_and_trim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:02:51.038Z,1739919771.038 [ballast_and_trim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:02:51.063Z,1739919771.063 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-18T23:02:51.093Z,1739919771.093 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:02:51.120Z,1739919771.120 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-18T23:02:51.167Z,1739919771.167 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:02:51.206Z,1739919771.206 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:02:51.237Z,1739919771.237 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:02:51.261Z,1739919771.261 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-18T23:02:51.318Z,1739919771.318 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-18T23:02:51.318Z,1739919771.318 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-18T23:02:51.319Z,1739919771.319 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-18T23:02:51.820Z,1739919771.820 [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>

2025-02-18T23:02:51.857Z,1739919771.857 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.DiveInterval = 1.000000 h
2025-02-18T23:02:51.860Z,1739919771.860 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-18T23:02:51.863Z,1739919771.863 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-18T23:02:51.881Z,1739919771.881 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceDepthRate = nan m/s
2025-02-18T23:02:51.884Z,1739919771.884 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-18T23:02:51.887Z,1739919771.887 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-18T23:02:51.907Z,1739919771.907 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.GPSTimeout = 7.000000 min
2025-02-18T23:02:51.910Z,1739919771.910 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.CommsTimeout = 30.000000 min
2025-02-18T23:02:51.917Z,1739919771.917 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-18T23:02:51.971Z,1739919771.971 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-18T23:02:51.971Z,1739919771.971 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-18T23:02:52.770Z,1739919772.770 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-18T23:02:52.841Z,1739919772.841 [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>

2025-02-18T23:02:52.855Z,1739919772.855 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-18T23:02:52.858Z,1739919772.858 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-18T23:02:52.861Z,1739919772.861 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-18T23:02:52.864Z,1739919772.864 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-18T23:02:52.869Z,1739919772.869 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-18T23:02:52.877Z,1739919772.877 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-18T23:02:52.886Z,1739919772.886 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-18T23:02:52.950Z,1739919772.950 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-18T23:02:52.951Z,1739919772.951 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-18T23:02:52.952Z,1739919772.952 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-18T23:02:53.028Z,1739919773.028 [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>

2025-02-18T23:02:53.032Z,1739919773.032 [MissionManager](INFO): DefineArg ballast_and_trim:BackseatDriver.EnableBackseat = 0 bool
2025-02-18T23:02:53.035Z,1739919773.035 [ballast_and_trim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-18T23:02:53.038Z,1739919773.038 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-18T23:02:53.038Z,1739919773.038 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-18T23:02:53.039Z,1739919773.039 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-18T23:02:53.263Z,1739919773.263 [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>

2025-02-18T23:02:53.278Z,1739919773.278 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleAll = 0 bool
2025-02-18T23:02:53.281Z,1739919773.281 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad1 = 0 bool
2025-02-18T23:02:53.283Z,1739919773.283 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad2 = 0 bool
2025-02-18T23:02:53.335Z,1739919773.335 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad3 = 0 bool
2025-02-18T23:02:53.343Z,1739919773.343 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-18T23:02:53.379Z,1739919773.379 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-18T23:02:53.389Z,1739919773.389 [ballast_and_trim:CheckTargetDepths:CheckDepth1:B.Execute](DEBUG): Construct Execute.
2025-02-18T23:02:53.409Z,1739919773.409 [ballast_and_trim:CheckTargetDepths:CheckDepth2:B.Execute](DEBUG): Construct Execute.
2025-02-18T23:02:53.424Z,1739919773.424 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-02-18T23:02:53.424Z,1739919773.424 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-02-18T23:02:53.430Z,1739919773.430 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-02-18T23:02:53.896Z,1739919773.896 [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>

2025-02-18T23:02:53.904Z,1739919773.904 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m
2025-02-18T23:02:53.907Z,1739919773.907 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-02-18T23:02:53.911Z,1739919773.911 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-02-18T23:02:53.914Z,1739919773.914 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-02-18T23:02:53.947Z,1739919773.947 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-02-18T23:02:53.954Z,1739919773.954 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-02-18T23:02:53.962Z,1739919773.962 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-02-18T23:02:53.965Z,1739919773.965 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min
2025-02-18T23:02:53.976Z,1739919773.976 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min
2025-02-18T23:02:53.980Z,1739919773.980 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-02-18T23:02:53.991Z,1739919773.991 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-02-18T23:02:53.995Z,1739919773.995 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900002 %
2025-02-18T23:02:54.007Z,1739919774.007 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-02-18T23:02:54.014Z,1739919774.014 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-02-18T23:02:54.046Z,1739919774.046 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-02-18T23:02:54.070Z,1739919774.070 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-18T23:02:54.079Z,1739919774.079 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-02-18T23:02:54.103Z,1739919774.103 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-02-18T23:02:54.135Z,1739919774.135 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-02-18T23:02:54.147Z,1739919774.147 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-02-18T23:02:54.161Z,1739919774.161 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-18T23:02:54.183Z,1739919774.183 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-02-18T23:02:54.204Z,1739919774.204 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-02-18T23:02:54.221Z,1739919774.221 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-02-18T23:02:54.223Z,1739919774.223 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-02-18T23:02:54.245Z,1739919774.245 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-02-18T23:02:54.281Z,1739919774.281 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband
2025-02-18T23:02:54.283Z,1739919774.283 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = reader:ballast_and_trim.ApproachSpeed
2025-02-18T23:02:54.305Z,1739919774.305 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = reader:ballast_and_trim.ApproachDepthRate
2025-02-18T23:02:54.307Z,1739919774.307 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = reader:ballast_and_trim.ApproachPitchLimit
2025-02-18T23:02:54.309Z,1739919774.309 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = reader:ballast_and_trim.ApproachSettleTimePreDive
2025-02-18T23:02:54.311Z,1739919774.311 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.ApproachDepthTimeout
2025-02-18T23:02:54.313Z,1739919774.313 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime
2025-02-18T23:02:54.315Z,1739919774.315 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout
2025-02-18T23:02:54.317Z,1739919774.317 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime
2025-02-18T23:02:54.325Z,1739919774.325 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound
2025-02-18T23:02:54.327Z,1739919774.327 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound
2025-02-18T23:02:54.329Z,1739919774.329 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence
2025-02-18T23:02:54.331Z,1739919774.331 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = reader:ballast_and_trim.massDeadband
2025-02-18T23:02:54.448Z,1739919774.448 [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"
}


2025-02-18T23:02:54.453Z,1739919774.453 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/ballast_and_trim.tl
2025-02-18T23:02:54.550Z,1739919774.550 [Default] Stopped
2025-02-18T23:02:54.550Z,1739919774.550 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-18T23:02:54.550Z,1739919774.550 [Default:B.GoToSurface] Stopped
2025-02-18T23:02:54.550Z,1739919774.550 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-18T23:02:54.550Z,1739919774.550 [Default:CheckIn] Stopped
2025-02-18T23:02:54.550Z,1739919774.550 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-18T23:02:54.550Z,1739919774.550 [Default:CheckIn:C.Wait] Stopped
2025-02-18T23:02:54.550Z,1739919774.550 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T23:02:54.550Z,1739919774.550 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2025-02-18T23:02:54.551Z,1739919774.551 [ballast_and_trim] Running Loop=1
2025-02-18T23:02:54.551Z,1739919774.551 [ballast_and_trim](DEBUG): Aggregate::initialize ballast_and_trim
2025-02-18T23:02:54.551Z,1739919774.551 [ballast_and_trim:Science] Running Loop=1
2025-02-18T23:02:54.551Z,1739919774.551 [ballast_and_trim:Science](DEBUG): Aggregate::initialize ballast_and_trim:Science
2025-02-18T23:02:54.551Z,1739919774.551 [ballast_and_trim:Science:A] Running Loop=1
2025-02-18T23:02:54.551Z,1739919774.551 [ballast_and_trim:Science:B] Running Loop=1
2025-02-18T23:02:54.551Z,1739919774.551 [ballast_and_trim:Science:C] Running Loop=1
2025-02-18T23:02:54.551Z,1739919774.551 [ballast_and_trim:Science:D] Running Loop=1
2025-02-18T23:02:54.551Z,1739919774.551 [ballast_and_trim:Science:E] Running Loop=1
2025-02-18T23:02:54.551Z,1739919774.551 [ballast_and_trim:Science:F] Running Loop=1
2025-02-18T23:02:54.551Z,1739919774.551 [ballast_and_trim:Science:Read_Oil] Running Loop=1
2025-02-18T23:02:54.551Z,1739919774.551 [ballast_and_trim:Science:PeakDetectChl] Running Loop=1
2025-02-18T23:02:54.552Z,1739919774.552 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectChl
2025-02-18T23:02:54.552Z,1739919774.552 [ballast_and_trim:Science:PeakDetectChl:A] Running Loop=1
2025-02-18T23:02:54.552Z,1739919774.552 [ballast_and_trim:Science:EdgeDetectChl] Running Loop=1
2025-02-18T23:02:54.552Z,1739919774.552 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectChl
2025-02-18T23:02:54.552Z,1739919774.552 [ballast_and_trim:Science:EdgeDetectChl:A] Running Loop=1
2025-02-18T23:02:54.552Z,1739919774.552 [ballast_and_trim:Science:HighestChlPeakReport] Running Loop=1
2025-02-18T23:02:54.552Z,1739919774.552 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestChlPeakReport
2025-02-18T23:02:54.552Z,1739919774.552 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-18T23:02:54.552Z,1739919774.552 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-18T23:02:54.553Z,1739919774.553 [ballast_and_trim:Science:PeakDetectNO3] Running Loop=1
2025-02-18T23:02:54.558Z,1739919774.558 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectNO3
2025-02-18T23:02:54.558Z,1739919774.558 [ballast_and_trim:Science:PeakDetectNO3:A] Running Loop=1
2025-02-18T23:02:54.558Z,1739919774.558 [ballast_and_trim:Science:PeakDetectOil] Running Loop=1
2025-02-18T23:02:54.558Z,1739919774.558 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectOil
2025-02-18T23:02:54.558Z,1739919774.558 [ballast_and_trim:Science:PeakDetectOil:A] Running Loop=1
2025-02-18T23:02:54.558Z,1739919774.558 [ballast_and_trim:Science:HighestOilPeakReport] Running Loop=1
2025-02-18T23:02:54.558Z,1739919774.558 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestOilPeakReport
2025-02-18T23:02:54.559Z,1739919774.559 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-18T23:02:54.559Z,1739919774.559 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-18T23:02:54.559Z,1739919774.559 [ballast_and_trim:Science:PeakDetectFDOM] Running Loop=1
2025-02-18T23:02:54.559Z,1739919774.559 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectFDOM
2025-02-18T23:02:54.559Z,1739919774.559 [ballast_and_trim:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-18T23:02:54.560Z,1739919774.560 [ballast_and_trim:Science:PeakDetectSalinity] Running Loop=1
2025-02-18T23:02:54.561Z,1739919774.561 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectSalinity
2025-02-18T23:02:54.561Z,1739919774.561 [ballast_and_trim:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-18T23:02:54.561Z,1739919774.561 [ballast_and_trim:Science:HighestSaltPeakReport] Running Loop=1
2025-02-18T23:02:54.561Z,1739919774.561 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestSaltPeakReport
2025-02-18T23:02:54.566Z,1739919774.566 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-18T23:02:54.566Z,1739919774.566 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-18T23:02:54.566Z,1739919774.566 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-18T23:02:54.566Z,1739919774.566 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-02-18T23:02:54.566Z,1739919774.566 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-18T23:02:54.566Z,1739919774.566 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-18T23:02:54.566Z,1739919774.566 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-18T23:02:54.567Z,1739919774.567 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-18T23:02:54.567Z,1739919774.567 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-18T23:02:54.567Z,1739919774.567 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-02-18T23:02:54.567Z,1739919774.567 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-18T23:02:54.567Z,1739919774.567 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-18T23:02:54.567Z,1739919774.567 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-02-18T23:02:54.567Z,1739919774.567 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-18T23:02:54.567Z,1739919774.567 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-18T23:02:54.567Z,1739919774.567 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-18T23:02:54.567Z,1739919774.567 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-18T23:02:54.568Z,1739919774.568 [ballast_and_trim:Science:ChlThreshTrigger] Running Loop=1
2025-02-18T23:02:54.568Z,1739919774.568 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize ballast_and_trim:Science:ChlThreshTrigger
2025-02-18T23:02:54.568Z,1739919774.568 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-18T23:02:54.568Z,1739919774.568 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-18T23:02:54.569Z,1739919774.569 [ballast_and_trim:Science:OceanCurrent] Running Loop=1
2025-02-18T23:02:54.569Z,1739919774.569 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::initialize ballast_and_trim:Science:OceanCurrent
2025-02-18T23:02:54.569Z,1739919774.569 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-02-18T23:02:54.573Z,1739919774.573 [ballast_and_trim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-18T23:02:54.573Z,1739919774.573 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-02-18T23:02:54.574Z,1739919774.574 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::initialize ballast_and_trim:StandardEnvelopes
2025-02-18T23:02:54.574Z,1739919774.574 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-18T23:02:54.574Z,1739919774.574 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-18T23:02:54.574Z,1739919774.574 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-18T23:02:54.574Z,1739919774.574 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-18T23:02:54.574Z,1739919774.574 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-18T23:02:54.574Z,1739919774.574 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-18T23:02:54.574Z,1739919774.574 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-02-18T23:02:54.574Z,1739919774.574 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::initialize ballast_and_trim:BackseatDriver
2025-02-18T23:02:54.575Z,1739919774.575 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-18T23:02:54.575Z,1739919774.575 [ballast_and_trim:PowerOnly] Running Loop=1
2025-02-18T23:02:54.575Z,1739919774.575 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::initialize ballast_and_trim:PowerOnly
2025-02-18T23:02:54.575Z,1739919774.575 [ballast_and_trim:PowerOnly:A] Running Loop=1
2025-02-18T23:02:54.575Z,1739919774.575 [ballast_and_trim:PowerOnly:B] Running Loop=1
2025-02-18T23:02:54.575Z,1739919774.575 [ballast_and_trim:PowerOnly:C] Running Loop=1
2025-02-18T23:02:54.575Z,1739919774.575 [ballast_and_trim:PowerOnly:D] Running Loop=1
2025-02-18T23:02:54.575Z,1739919774.575 [ballast_and_trim:PowerOnly:E.Wait] Running Loop=1
2025-02-18T23:02:54.575Z,1739919774.575 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-18T23:02:54.575Z,1739919774.575 [ballast_and_trim:C] Running Loop=1
2025-02-18T23:02:54.576Z,1739919774.576 [ballast_and_trim:PowerOnly] Running Loop=1
2025-02-18T23:02:54.576Z,1739919774.576 [ballast_and_trim:PowerOnly:D] Stopped
2025-02-18T23:02:54.576Z,1739919774.576 [ballast_and_trim:PowerOnly:C] Stopped
2025-02-18T23:02:54.576Z,1739919774.576 [ballast_and_trim:PowerOnly:B] Stopped
2025-02-18T23:02:54.577Z,1739919774.577 [ballast_and_trim:PowerOnly:A] Stopped
2025-02-18T23:02:54.577Z,1739919774.577 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-02-18T23:02:54.577Z,1739919774.577 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-02-18T23:02:54.577Z,1739919774.577 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-18T23:02:54.581Z,1739919774.581 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-18T23:02:54.582Z,1739919774.582 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-18T23:02:54.582Z,1739919774.582 [ballast_and_trim:C] Stopped
2025-02-18T23:02:54.582Z,1739919774.582 [ballast_and_trim:E] Running Loop=1
2025-02-18T23:02:54.582Z,1739919774.582 [ballast_and_trim:Science] Running Loop=1
2025-02-18T23:02:54.584Z,1739919774.584 [ballast_and_trim:Science:ChlThreshTrigger] Stopped
2025-02-18T23:02:54.584Z,1739919774.584 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:ChlThreshTrigger
2025-02-18T23:02:54.584Z,1739919774.584 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-18T23:02:54.584Z,1739919774.584 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-18T23:02:54.584Z,1739919774.584 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-18T23:02:54.584Z,1739919774.584 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-18T23:02:54.584Z,1739919774.584 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-18T23:02:54.584Z,1739919774.584 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-18T23:02:54.584Z,1739919774.584 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-02-18T23:02:54.584Z,1739919774.584 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-18T23:02:54.584Z,1739919774.584 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-18T23:02:54.585Z,1739919774.585 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-02-18T23:02:54.585Z,1739919774.585 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-18T23:02:54.585Z,1739919774.585 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-18T23:02:54.585Z,1739919774.585 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-18T23:02:54.585Z,1739919774.585 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-18T23:02:54.585Z,1739919774.585 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-18T23:02:54.588Z,1739919774.588 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-02-18T23:02:54.588Z,1739919774.588 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-18T23:02:54.588Z,1739919774.588 [ballast_and_trim:Science:HighestSaltPeakReport] Stopped
2025-02-18T23:02:54.588Z,1739919774.588 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestSaltPeakReport
2025-02-18T23:02:54.588Z,1739919774.588 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-18T23:02:54.588Z,1739919774.588 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-18T23:02:54.588Z,1739919774.588 [ballast_and_trim:Science:PeakDetectSalinity] Stopped
2025-02-18T23:02:54.588Z,1739919774.588 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectSalinity
2025-02-18T23:02:54.588Z,1739919774.588 [ballast_and_trim:Science:PeakDetectSalinity:A] Stopped
2025-02-18T23:02:54.588Z,1739919774.588 [ballast_and_trim:Science:PeakDetectFDOM] Stopped
2025-02-18T23:02:54.588Z,1739919774.588 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectFDOM
2025-02-18T23:02:54.588Z,1739919774.588 [ballast_and_trim:Science:PeakDetectFDOM:A] Stopped
2025-02-18T23:02:54.588Z,1739919774.588 [ballast_and_trim:Science:HighestOilPeakReport] Stopped
2025-02-18T23:02:54.589Z,1739919774.589 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestOilPeakReport
2025-02-18T23:02:54.589Z,1739919774.589 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-18T23:02:54.589Z,1739919774.589 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-18T23:02:54.589Z,1739919774.589 [ballast_and_trim:Science:PeakDetectOil] Stopped
2025-02-18T23:02:54.589Z,1739919774.589 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectOil
2025-02-18T23:02:54.589Z,1739919774.589 [ballast_and_trim:Science:PeakDetectOil:A] Stopped
2025-02-18T23:02:54.589Z,1739919774.589 [ballast_and_trim:Science:PeakDetectNO3] Stopped
2025-02-18T23:02:54.597Z,1739919774.597 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectNO3
2025-02-18T23:02:54.597Z,1739919774.597 [ballast_and_trim:Science:PeakDetectNO3:A] Stopped
2025-02-18T23:02:54.598Z,1739919774.598 [ballast_and_trim:Science:HighestChlPeakReport] Stopped
2025-02-18T23:02:54.598Z,1739919774.598 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestChlPeakReport
2025-02-18T23:02:54.598Z,1739919774.598 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-18T23:02:54.598Z,1739919774.598 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-18T23:02:54.598Z,1739919774.598 [ballast_and_trim:Science:EdgeDetectChl] Stopped
2025-02-18T23:02:54.598Z,1739919774.598 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectChl
2025-02-18T23:02:54.598Z,1739919774.598 [ballast_and_trim:Science:EdgeDetectChl:A] Stopped
2025-02-18T23:02:54.598Z,1739919774.598 [ballast_and_trim:Science:PeakDetectChl] Stopped
2025-02-18T23:02:54.598Z,1739919774.598 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectChl
2025-02-18T23:02:54.598Z,1739919774.598 [ballast_and_trim:Science:PeakDetectChl:A] Stopped
2025-02-18T23:02:54.599Z,1739919774.599 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-02-18T23:02:54.599Z,1739919774.599 [ballast_and_trim:Science:Read_Oil] Stopped
2025-02-18T23:02:54.599Z,1739919774.599 [ballast_and_trim:Science:F] Stopped
2025-02-18T23:02:54.599Z,1739919774.599 [ballast_and_trim:Science:E] Running Loop=1
2025-02-18T23:02:54.600Z,1739919774.600 [ballast_and_trim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-18T23:02:54.600Z,1739919774.600 [ballast_and_trim:Science:D] Stopped
2025-02-18T23:02:54.600Z,1739919774.600 [ballast_and_trim:Science:C] Running Loop=1
2025-02-18T23:02:54.601Z,1739919774.601 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-18T23:02:54.603Z,1739919774.603 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-18T23:02:54.604Z,1739919774.604 [ballast_and_trim:Science:B] Running Loop=1
2025-02-18T23:02:54.604Z,1739919774.604 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-18T23:02:54.605Z,1739919774.605 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-18T23:02:54.609Z,1739919774.609 [ballast_and_trim:Science:A] Stopped
2025-02-18T23:02:54.667Z,1739919774.667 [WetLabsBB2FL](INFO): Powering up
2025-02-18T23:02:54.959Z,1739919774.959 [ballast_and_trim:E] Stopped
2025-02-18T23:02:54.959Z,1739919774.959 [ballast_and_trim:F] Running Loop=1
2025-02-18T23:02:55.379Z,1739919775.379 [ballast_and_trim:F] Stopped
2025-02-18T23:02:55.379Z,1739919775.379 [ballast_and_trim:G] Running Loop=1
2025-02-18T23:02:55.753Z,1739919775.753 [ballast_and_trim:G] Stopped
2025-02-18T23:02:55.753Z,1739919775.753 [ballast_and_trim:CheckTargetDepths] Running Loop=1
2025-02-18T23:02:55.753Z,1739919775.753 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths
2025-02-18T23:02:55.753Z,1739919775.753 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Running Loop=1
2025-02-18T23:02:55.754Z,1739919775.754 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-02-18T23:02:55.754Z,1739919775.754 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Running Loop=1
2025-02-18T23:02:56.174Z,1739919776.174 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Stopped
2025-02-18T23:02:56.175Z,1739919776.175 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-02-18T23:02:56.175Z,1739919776.175 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Stopped
2025-02-18T23:02:56.175Z,1739919776.175 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Running Loop=1
2025-02-18T23:02:56.175Z,1739919776.175 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-02-18T23:02:56.175Z,1739919776.175 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Running Loop=1
2025-02-18T23:02:56.176Z,1739919776.176 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-18T23:02:56.561Z,1739919776.561 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Stopped
2025-02-18T23:02:56.561Z,1739919776.561 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-02-18T23:02:56.561Z,1739919776.561 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Stopped
2025-02-18T23:02:56.561Z,1739919776.561 [ballast_and_trim:CheckTargetDepths:C] Running Loop=1
2025-02-18T23:02:56.970Z,1739919776.970 [ballast_and_trim:CheckTargetDepths:C] Stopped
2025-02-18T23:02:56.971Z,1739919776.971 [ballast_and_trim:CheckTargetDepths](INFO): Completed ballast_and_trim:CheckTargetDepths
2025-02-18T23:02:56.971Z,1739919776.971 [ballast_and_trim:CheckTargetDepths] Stopped
2025-02-18T23:02:56.971Z,1739919776.971 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths
2025-02-18T23:02:56.971Z,1739919776.971 [ballast_and_trim:StartingMission] Running Loop=1
2025-02-18T23:02:56.971Z,1739919776.971 [ballast_and_trim:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission
2025-02-18T23:02:56.971Z,1739919776.971 [ballast_and_trim:StartingMission:A] Running Loop=1
2025-02-18T23:02:57.374Z,1739919777.374 [ballast_and_trim:StartingMission:A](INFO): Checking for additional instructions before submerging.
2025-02-18T23:02:57.374Z,1739919777.374 [ballast_and_trim:StartingMission:A] Stopped
2025-02-18T23:02:57.374Z,1739919777.374 [ballast_and_trim:StartingMission:StartingMission] Running Loop=1
2025-02-18T23:02:57.374Z,1739919777.374 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission:StartingMission
2025-02-18T23:02:57.772Z,1739919777.772 [ballast_and_trim:NeedComms] Running Loop=1
2025-02-18T23:02:57.773Z,1739919777.773 [ballast_and_trim:NeedComms](DEBUG): Aggregate::initialize ballast_and_trim:NeedComms
2025-02-18T23:02:57.773Z,1739919777.773 [ballast_and_trim:NeedComms:B.GoToSurface] Running Loop=1
2025-02-18T23:02:57.773Z,1739919777.773 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-18T23:02:57.773Z,1739919777.773 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-18T23:02:57.774Z,1739919777.774 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-18T23:02:57.774Z,1739919777.774 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-18T23:02:57.774Z,1739919777.774 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-18T23:02:57.775Z,1739919777.775 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-18T23:02:57.775Z,1739919777.775 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-18T23:02:57.775Z,1739919777.775 [ballast_and_trim:NeedComms:A] Running Loop=1
2025-02-18T23:02:57.777Z,1739919777.777 [ballast_and_trim:NeedComms:A](INFO): last time_fix was:  1739919628.000000 second since 1970/01/01T00:00:00Z 
2025-02-18T23:02:57.777Z,1739919777.777 [ballast_and_trim:NeedComms:A] Stopped
2025-02-18T23:02:58.187Z,1739919778.187 [ballast_and_trim:NeedComms:C] Running Loop=1
2025-02-18T23:02:58.535Z,1739919778.535 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-18T23:02:58.584Z,1739919778.584 [ballast_and_trim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-18T23:03:00.188Z,1739919780.188 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230256.00,A,3647.74672,N,12150.82301,W,0.292,170.90,180225,,,A*7F
2025-02-18T23:03:00.191Z,1739919780.191 [NAL9602](INFO): GPS fix at 20250218T230256: (36.795779, -121.847050)
2025-02-18T23:03:00.285Z,1739919780.285 [ballast_and_trim:NeedComms:C] Stopped
2025-02-18T23:03:00.293Z,1739919780.293 [ballast_and_trim:NeedComms:D] Running Loop=1
2025-02-18T23:03:00.664Z,1739919780.664 [ballast_and_trim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-18T23:03:12.053Z,1739919792.053 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250218T221253/Courier0022.lzma
2025-02-18T23:03:13.044Z,1739919793.044 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Courier0022.lzma.bak
2025-02-18T23:03:13.044Z,1739919793.044 [DataOverHttps](IMPORTANT): SBD MOMSN=23966626, MTMSN=20250218T230312
2025-02-18T23:03:16.462Z,1739919796.462 [NAL9602](INFO): SBD MO Status=0, MOMSN=12698, MT Status=0, MTMSN=0
2025-02-18T23:03:16.463Z,1739919796.463 [NAL9602](INFO): No messages in MT queue
2025-02-18T23:03:21.557Z,1739919801.557 [DataOverHttps](INFO): Received command: sched "run Maintenance/calibrate_sparton_compass.tl"
2025-02-18T23:03:21.630Z,1739919801.630 [CommandExec](IMPORTANT): got command schedule "run Maintenance/calibrate_sparton_compass.tl"
2025-02-18T23:03:21.631Z,1739919801.631 [CommandExec](IMPORTANT): Scheduled #3: "run Maintenance/calibrate_sparton_compass.tl", AFTER MISSION
2025-02-18T23:03:30.905Z,1739919810.905 [DataOverHttps](INFO): Sending 103 bytes from file Logs/20250218T221253/Express0020.lzma
2025-02-18T23:03:31.910Z,1739919811.910 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Express0020.lzma.bak
2025-02-18T23:03:31.910Z,1739919811.910 [DataOverHttps](INFO): SBD MOMSN=23966631
2025-02-18T23:03:47.158Z,1739919827.158 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-18T23:03:48.345Z,1739919828.345 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250218T221253/Courier0025.lzma
2025-02-18T23:03:49.347Z,1739919829.347 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Courier0025.lzma.bak
2025-02-18T23:03:49.347Z,1739919829.347 [DataOverHttps](INFO): SBD MOMSN=23966634
2025-02-18T23:04:06.295Z,1739919846.295 [DataOverHttps](INFO): Sending 259 bytes from file Logs/20250218T221253/Express0023.lzma
2025-02-18T23:04:07.137Z,1739919847.137 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Express0023.lzma.bak
2025-02-18T23:04:07.137Z,1739919847.137 [DataOverHttps](INFO): SBD MOMSN=23966636
2025-02-18T23:04:23.310Z,1739919863.310 [DataOverHttps](INFO): Sending 490 bytes from file Logs/20250218T221253/Express0027.lzma
2025-02-18T23:04:24.311Z,1739919864.311 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Express0027.lzma.bak
2025-02-18T23:04:24.312Z,1739919864.312 [DataOverHttps](INFO): SBD MOMSN=23966646
2025-02-18T23:04:25.590Z,1739919865.590 [ballast_and_trim:NeedComms:D] Stopped
2025-02-18T23:04:25.590Z,1739919865.590 [ballast_and_trim:NeedComms:E] Running Loop=1
2025-02-18T23:04:25.980Z,1739919865.980 [ballast_and_trim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-18T23:04:27.589Z,1739919867.589 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230424.00,A,3647.73387,N,12150.81766,W,1.244,165.61,180225,,,A*72
2025-02-18T23:04:27.592Z,1739919867.592 [NAL9602](INFO): GPS fix at 20250218T230424: (36.795564, -121.846961)
2025-02-18T23:04:27.668Z,1739919867.668 [ballast_and_trim:NeedComms:E] Stopped
2025-02-18T23:04:27.669Z,1739919867.669 [ballast_and_trim:NeedComms](INFO): Completed ballast_and_trim:NeedComms
2025-02-18T23:04:27.669Z,1739919867.669 [ballast_and_trim:NeedComms] Stopped
2025-02-18T23:04:27.669Z,1739919867.669 [ballast_and_trim:NeedComms](DEBUG): Aggregate::uninitialize ballast_and_trim:NeedComms
2025-02-18T23:04:27.669Z,1739919867.669 [ballast_and_trim:NeedComms:B.GoToSurface] Stopped
2025-02-18T23:04:27.673Z,1739919867.673 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-18T23:04:28.038Z,1739919868.038 [ballast_and_trim:StartingMission:StartingMission](INFO): Completed ballast_and_trim:StartingMission:StartingMission
2025-02-18T23:04:28.038Z,1739919868.038 [ballast_and_trim:StartingMission:StartingMission] Stopped
2025-02-18T23:04:28.038Z,1739919868.038 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission:StartingMission
2025-02-18T23:04:28.038Z,1739919868.038 [ballast_and_trim:StartingMission](INFO): Completed ballast_and_trim:StartingMission
2025-02-18T23:04:28.038Z,1739919868.038 [ballast_and_trim:StartingMission] Stopped
2025-02-18T23:04:28.038Z,1739919868.038 [ballast_and_trim:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission
2025-02-18T23:04:28.038Z,1739919868.038 [ballast_and_trim:RunBallastAndTrim] Running Loop=1
2025-02-18T23:04:28.039Z,1739919868.039 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim
2025-02-18T23:04:28.039Z,1739919868.039 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Running Loop=1
2025-02-18T23:04:28.039Z,1739919868.039 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-02-18T23:04:28.039Z,1739919868.039 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Running Loop=1
2025-02-18T23:04:28.410Z,1739919868.410 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Stopped
2025-02-18T23:04:28.410Z,1739919868.410 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Running Loop=1
2025-02-18T23:04:28.410Z,1739919868.410 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-02-18T23:04:28.822Z,1739919868.822 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Running Loop=1
2025-02-18T23:04:28.822Z,1739919868.822 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-02-18T23:04:28.822Z,1739919868.822 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-02-18T23:04:28.822Z,1739919868.822 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-02-18T23:04:28.822Z,1739919868.822 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-02-18T23:04:28.823Z,1739919868.823 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-02-18T23:04:28.823Z,1739919868.823 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-02-18T23:04:28.823Z,1739919868.823 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Running Loop=1
2025-02-18T23:04:28.830Z,1739919868.830 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F](INFO): Going to target depth. Speed set to  1.000000 m/s 
2025-02-18T23:04:28.830Z,1739919868.830 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Stopped
2025-02-18T23:04:28.830Z,1739919868.830 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-02-18T23:04:28.830Z,1739919868.830 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-02-18T23:04:28.830Z,1739919868.830 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-02-18T23:04:28.830Z,1739919868.830 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-02-18T23:04:28.831Z,1739919868.831 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-02-18T23:04:28.831Z,1739919868.831 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-02-18T23:04:28.831Z,1739919868.831 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-02-18T23:04:28.831Z,1739919868.831 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-02-18T23:04:28.831Z,1739919868.831 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-18T23:04:28.831Z,1739919868.831 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-02-18T23:04:28.831Z,1739919868.831 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-02-18T23:04:28.831Z,1739919868.831 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-02-18T23:04:28.831Z,1739919868.831 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-18T23:04:28.832Z,1739919868.832 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-02-18T23:04:28.832Z,1739919868.832 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-02-18T23:04:28.832Z,1739919868.832 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-02-18T23:04:28.832Z,1739919868.832 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-02-18T23:04:28.832Z,1739919868.832 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-02-18T23:04:28.833Z,1739919868.833 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-02-18T23:04:29.235Z,1739919869.235 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-02-18T23:04:29.235Z,1739919869.235 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-02-18T23:04:29.236Z,1739919869.236 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-02-18T23:04:29.236Z,1739919869.236 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-02-18T23:04:29.236Z,1739919869.236 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-02-18T23:04:29.236Z,1739919869.236 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-02-18T23:04:29.236Z,1739919869.236 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-02-18T23:04:29.236Z,1739919869.236 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-02-18T23:04:29.237Z,1739919869.237 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-02-18T23:04:29.658Z,1739919869.658 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-02-18T23:04:29.658Z,1739919869.658 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-02-18T23:04:29.659Z,1739919869.659 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T23:04:29.659Z,1739919869.659 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-18T23:04:29.659Z,1739919869.659 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-02-18T23:04:29.659Z,1739919869.659 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-18T23:04:29.659Z,1739919869.659 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-02-18T23:04:29.659Z,1739919869.659 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-18T23:04:29.659Z,1739919869.659 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-02-18T23:04:29.659Z,1739919869.659 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-02-18T23:04:29.659Z,1739919869.659 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-02-18T23:04:30.076Z,1739919870.076 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-02-18T23:04:30.082Z,1739919870.082 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  35.000000 m 
2025-02-18T23:04:30.082Z,1739919870.082 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-02-18T23:04:30.083Z,1739919870.083 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-02-18T23:04:30.083Z,1739919870.083 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-02-18T23:04:40.920Z,1739919880.920 [NAL9602](INFO): SBD MO Status=0, MOMSN=12699, MT Status=0, MTMSN=0
2025-02-18T23:04:40.920Z,1739919880.920 [NAL9602](INFO): No messages in MT queue
2025-02-18T23:05:11.642Z,1739919911.642 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-18T23:05:55.902Z,1739919955.902 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T23:06:17.205Z,1739919977.205 [Radio_Surface](INFO): Powering down
2025-02-18T23:06:27.030Z,1739919987.030 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T23:06:28.034Z,1739919988.034 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-18T23:08:05.422Z,1739920085.422 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.723129
2025-02-18T23:10:11.033Z,1739920211.033 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-02-18T23:10:11.038Z,1739920211.038 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-18T23:10:11.038Z,1739920211.038 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-02-18T23:10:11.038Z,1739920211.038 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-18T23:10:11.042Z,1739920211.042 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-02-18T23:10:11.042Z,1739920211.042 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-02-18T23:10:11.058Z,1739920211.058 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-02-18T23:10:11.058Z,1739920211.058 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Stopped
2025-02-18T23:10:11.058Z,1739920211.058 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-02-18T23:10:11.059Z,1739920211.059 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-02-18T23:10:11.059Z,1739920211.059 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-02-18T23:10:11.059Z,1739920211.059 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-02-18T23:10:11.059Z,1739920211.059 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-02-18T23:10:11.059Z,1739920211.059 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-02-18T23:10:11.059Z,1739920211.059 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-18T23:10:11.059Z,1739920211.059 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-02-18T23:10:11.059Z,1739920211.059 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-02-18T23:10:11.059Z,1739920211.059 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-02-18T23:10:11.059Z,1739920211.059 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-02-18T23:10:11.060Z,1739920211.060 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-02-18T23:10:11.060Z,1739920211.060 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-02-18T23:10:11.060Z,1739920211.060 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-02-18T23:10:11.060Z,1739920211.060 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-02-18T23:10:11.423Z,1739920211.423 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  35.068653 m 
2025-02-18T23:10:11.423Z,1739920211.423 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-02-18T23:10:11.423Z,1739920211.423 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-02-18T23:10:11.423Z,1739920211.423 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-02-18T23:10:11.423Z,1739920211.423 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-02-18T23:10:11.424Z,1739920211.424 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-02-18T23:20:12.189Z,1739920812.189 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](INFO): Done Waiting.
2025-02-18T23:20:12.189Z,1739920812.189 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-02-18T23:20:12.190Z,1739920812.190 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T23:20:12.190Z,1739920812.190 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute] Running Loop=1
2025-02-18T23:20:12.612Z,1739920812.612 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](INFO): Executing command gfscan
2025-02-18T23:20:12.612Z,1739920812.612 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute] Stopped
2025-02-18T23:20:12.612Z,1739920812.612 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F] Running Loop=1
2025-02-18T23:20:12.651Z,1739920812.651 [CommandExec](IMPORTANT): got command gfscan
2025-02-18T23:20:12.769Z,1739920812.769 [CBIT](IMPORTANT): Beginning ground fault scan
2025-02-18T23:20:12.843Z,1739920812.843 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-18T23:20:12.845Z,1739920812.845 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-18T23:20:12.989Z,1739920812.989 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F](INFO): Running ballast and trim. Depth =  35.245232 m 
2025-02-18T23:20:12.989Z,1739920812.989 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F] Stopped
2025-02-18T23:20:12.989Z,1739920812.989 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.] Running Loop=1
2025-02-18T23:20:12.989Z,1739920812.989 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](INFO): Initializing BallastAndTrim.
2025-02-18T23:20:13.848Z,1739920813.848 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-18T23:20:13.849Z,1739920813.849 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-18T23:20:14.851Z,1739920814.851 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-18T23:20:14.852Z,1739920814.852 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-18T23:20:15.591Z,1739920815.591 [CBIT](ERROR): Error reading 24V bus power status. Assuming off for scan purposes.
2025-02-18T23:20:15.855Z,1739920815.855 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-18T23:20:15.856Z,1739920815.856 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-18T23:20:16.859Z,1739920816.859 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-18T23:20:16.861Z,1739920816.861 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-18T23:20:17.863Z,1739920817.863 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-18T23:20:17.864Z,1739920817.864 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-18T23:20:18.867Z,1739920818.867 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-18T23:20:18.868Z,1739920818.868 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-18T23:20:19.872Z,1739920819.872 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-18T23:20:19.873Z,1739920819.873 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-18T23:20:20.875Z,1739920820.875 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-18T23:20:20.876Z,1739920820.876 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-18T23:20:21.879Z,1739920821.879 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-18T23:20:21.880Z,1739920821.880 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-18T23:20:22.883Z,1739920822.883 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-18T23:20:22.884Z,1739920822.884 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-18T23:20:23.669Z,1739920823.669 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.000935
CHAN A1 (24V) N/A reporting off
CHAN A2 (12V): 0.000427
CHAN A3 (5V): -0.001863
CHAN B0 (3.3V): -0.000873
CHAN B1 (3.15aV): -0.001067
CHAN B2 (3.15bV): -0.000976
CHAN B3 (GND): -0.002482
OPEN: 0.002883
Full Scale: +/- 1 mA
2025-02-18T23:22:52.161Z,1739920972.161 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-18T23:23:05.495Z,1739920985.495 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-18T23:23:18.421Z,1739920998.421 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-18T23:23:31.764Z,1739921011.764 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-18T23:23:44.680Z,1739921024.680 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-18T23:23:58.017Z,1739921038.017 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-18T23:24:10.541Z,1739921050.541 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-18T23:29:13.954Z,1739921353.954 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-18T23:29:18.404Z,1739921358.404 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-18T23:29:18.404Z,1739921358.404 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-18T23:29:18.407Z,1739921358.407 [BPC1](INFO): Received data from all battery sticks.
2025-02-18T23:30:13.768Z,1739921413.768 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): BallastAndTrim completed. Estimation time: 10.01 minutes.
2025-02-18T23:30:13.769Z,1739921413.769 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Estimated buoyancyNeutral: 305.318315 +/- 7.645439 cc (conf. level 98.00%, sigma: 40.571263 cc).
2025-02-18T23:30:13.770Z,1739921413.770 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Estimated massDefault: 11.647778 +/- 0.140519 mm (conf. level 98.00%, sigma: 0.745676 mm).
2025-02-18T23:30:13.771Z,1739921413.771 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Changing persisted config values to: 305.318315 cc buoyancy neutral and 11.647778 mm mass default
2025-02-18T23:30:13.776Z,1739921413.776 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-02-18T23:30:13.777Z,1739921413.777 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): DAT.loadAtStartup=0 bool;

2025-02-18T23:30:13.778Z,1739921413.778 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): DATMMP.loadAtStartup=0 bool;

2025-02-18T23:30:13.778Z,1739921413.778 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): DATMMP.simulateHardware=0 bool;

2025-02-18T23:30:13.779Z,1739921413.779 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): SpeedControl.rollOptimum=0.925 meter_per_second;

2025-02-18T23:30:13.780Z,1739921413.780 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.buoyancyNeutral=305.318315 cubic_centimeter;

2025-02-18T23:30:13.780Z,1739921413.780 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.massDefault=11.647778 millimeter;

2025-02-18T23:30:13.805Z,1739921413.805 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.] Stopped
2025-02-18T23:30:13.806Z,1739921413.806 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](INFO): Uninitializing BallastAndTrim.
2025-02-18T23:30:13.807Z,1739921413.807 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-02-18T23:30:13.807Z,1739921413.807 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-02-18T23:30:13.807Z,1739921413.807 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-02-18T23:30:13.807Z,1739921413.807 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-02-18T23:30:13.807Z,1739921413.807 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-02-18T23:30:13.807Z,1739921413.807 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-02-18T23:30:13.808Z,1739921413.808 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-02-18T23:30:13.808Z,1739921413.808 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Stopped
2025-02-18T23:30:13.808Z,1739921413.808 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-02-18T23:30:13.808Z,1739921413.808 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Stopped
2025-02-18T23:30:13.808Z,1739921413.808 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Stopped
2025-02-18T23:30:13.809Z,1739921413.809 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Stopped
2025-02-18T23:30:13.809Z,1739921413.809 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Stopped
2025-02-18T23:30:13.809Z,1739921413.809 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Stopped
2025-02-18T23:30:14.175Z,1739921414.175 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](INFO): Completed ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-02-18T23:30:14.175Z,1739921414.175 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Stopped
2025-02-18T23:30:14.175Z,1739921414.175 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-02-18T23:30:14.176Z,1739921414.176 [ballast_and_trim:RunBallastAndTrim:RunDepth1](INFO): Completed ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-02-18T23:30:14.176Z,1739921414.176 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Stopped
2025-02-18T23:30:14.176Z,1739921414.176 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-02-18T23:30:14.176Z,1739921414.176 [ballast_and_trim:RunBallastAndTrim:RunDepth2] Running Loop=1
2025-02-18T23:30:14.176Z,1739921414.176 [ballast_and_trim:RunBallastAndTrim:RunDepth2](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth2
2025-02-18T23:30:14.176Z,1739921414.176 [ballast_and_trim:RunBallastAndTrim:RunDepth2:A] Running Loop=1
2025-02-18T23:30:14.594Z,1739921414.594 [ballast_and_trim:RunBallastAndTrim:RunDepth2] Stopped
2025-02-18T23:30:14.594Z,1739921414.594 [ballast_and_trim:RunBallastAndTrim:RunDepth2](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth2
2025-02-18T23:30:14.594Z,1739921414.594 [ballast_and_trim:RunBallastAndTrim:RunDepth2:A] Stopped
2025-02-18T23:30:14.594Z,1739921414.594 [ballast_and_trim:RunBallastAndTrim](INFO): Completed ballast_and_trim:RunBallastAndTrim
2025-02-18T23:30:14.595Z,1739921414.595 [ballast_and_trim:RunBallastAndTrim] Stopped
2025-02-18T23:30:14.595Z,1739921414.595 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim
2025-02-18T23:30:14.595Z,1739921414.595 [ballast_and_trim:EndingMission] Running Loop=1
2025-02-18T23:30:14.595Z,1739921414.595 [ballast_and_trim:EndingMission](DEBUG): Aggregate::initialize ballast_and_trim:EndingMission
2025-02-18T23:30:14.979Z,1739921414.979 [ballast_and_trim:NeedComms] Running Loop=1
2025-02-18T23:30:14.980Z,1739921414.980 [ballast_and_trim:NeedComms](DEBUG): Aggregate::initialize ballast_and_trim:NeedComms
2025-02-18T23:30:14.980Z,1739921414.980 [ballast_and_trim:NeedComms:B.GoToSurface] Running Loop=1
2025-02-18T23:30:14.980Z,1739921414.980 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-18T23:30:14.980Z,1739921414.980 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-18T23:30:14.980Z,1739921414.980 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-18T23:30:14.981Z,1739921414.981 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-18T23:30:14.981Z,1739921414.981 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-18T23:30:14.982Z,1739921414.982 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-18T23:30:14.982Z,1739921414.982 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-18T23:30:14.982Z,1739921414.982 [ballast_and_trim:NeedComms:A] Running Loop=1
2025-02-18T23:30:14.984Z,1739921414.984 [ballast_and_trim:NeedComms:A](INFO): last time_fix was:  1739919864.000000 second since 1970/01/01T00:00:00Z 
2025-02-18T23:30:14.984Z,1739921414.984 [ballast_and_trim:NeedComms:A] Stopped
2025-02-18T23:32:12.424Z,1739921532.424 [ballast_and_trim:NeedComms:C] Running Loop=1
2025-02-18T23:32:13.138Z,1739921533.138 [Radio_Surface](INFO): Powering up
2025-02-18T23:32:18.470Z,1739921538.470 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-18T23:32:41.501Z,1739921561.501 [NAL9602](INFO): SBD MO Status=0, MOMSN=12700, MT Status=0, MTMSN=0
2025-02-18T23:32:41.501Z,1739921561.501 [NAL9602](INFO): No messages in MT queue
2025-02-18T23:32:42.717Z,1739921562.717 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233239.00,A,3647.62580,N,12150.79036,W,1.108,181.55,180225,,,A*79
2025-02-18T23:32:42.720Z,1739921562.720 [NAL9602](INFO): GPS fix at 20250218T233239: (36.793763, -121.846506)
2025-02-18T23:32:42.732Z,1739921562.732 [ballast_and_trim:NeedComms:C] Stopped
2025-02-18T23:32:42.732Z,1739921562.732 [ballast_and_trim:NeedComms:D] Running Loop=1
2025-02-18T23:32:48.590Z,1739921568.590 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T23:33:11.513Z,1739921591.513 [NAL9602](INFO): SBD MO Status=2, MOMSN=12701, MT Status=2, MTMSN=0
2025-02-18T23:33:11.513Z,1739921591.513 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T23:33:19.714Z,1739921599.714 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T23:33:43.464Z,1739921623.464 [NAL9602](INFO): SBD MO Status=2, MOMSN=12701, MT Status=2, MTMSN=0
2025-02-18T23:33:43.464Z,1739921623.464 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T23:33:50.838Z,1739921630.838 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T23:34:15.655Z,1739921655.655 [NAL9602](INFO): SBD MO Status=2, MOMSN=12701, MT Status=2, MTMSN=0
2025-02-18T23:34:15.655Z,1739921655.655 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T23:34:21.982Z,1739921661.982 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T23:34:33.584Z,1739921673.584 [NAL9602](INFO): SBD MO Status=2, MOMSN=12701, MT Status=2, MTMSN=0
2025-02-18T23:34:33.584Z,1739921673.584 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-18T23:34:44.851Z,1739921684.851 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003040
2025-02-18T23:34:52.621Z,1739921692.621 [DataOverHttps](INFO): Sending 86 bytes from file Logs/20250218T221253/Courier0031.lzma
2025-02-18T23:34:53.623Z,1739921693.623 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Courier0031.lzma.bak
2025-02-18T23:34:53.623Z,1739921693.623 [DataOverHttps](INFO): SBD MOMSN=23966653
2025-02-18T23:34:59.800Z,1739921699.800 [NAL9602](INFO): SBD MO Status=1, MOMSN=12701, MT Status=0, MTMSN=0
2025-02-18T23:34:59.854Z,1739921699.854 [NAL9602](INFO): Sent 86 bytes from file Logs/20250218T221253/Courier0031.lzma
2025-02-18T23:34:59.854Z,1739921699.854 [NAL9602](INFO): Packets left to send: 0
2025-02-18T23:35:13.959Z,1739921713.959 [DataOverHttps](INFO): Sending 907 bytes from file Logs/20250218T221253/Express0032.lzma
2025-02-18T23:35:17.233Z,1739921717.233 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Express0032.lzma.bak
2025-02-18T23:35:17.234Z,1739921717.234 [DataOverHttps](INFO): SBD MOMSN=23966658
2025-02-18T23:35:17.691Z,1739921717.691 [ballast_and_trim:NeedComms:D] Stopped
2025-02-18T23:35:17.691Z,1739921717.691 [ballast_and_trim:NeedComms:E] Running Loop=1
2025-02-18T23:35:19.664Z,1739921719.664 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233516.00,A,3647.59529,N,12150.78300,W,0.350,195.75,180225,,,A*76
2025-02-18T23:35:19.678Z,1739921719.678 [NAL9602](INFO): GPS fix at 20250218T233516: (36.793255, -121.846383)
2025-02-18T23:35:19.731Z,1739921719.731 [ballast_and_trim:NeedComms:E] Stopped
2025-02-18T23:35:19.732Z,1739921719.732 [ballast_and_trim:NeedComms](INFO): Completed ballast_and_trim:NeedComms
2025-02-18T23:35:19.732Z,1739921719.732 [ballast_and_trim:NeedComms] Stopped
2025-02-18T23:35:19.732Z,1739921719.732 [ballast_and_trim:NeedComms](DEBUG): Aggregate::uninitialize ballast_and_trim:NeedComms
2025-02-18T23:35:19.732Z,1739921719.732 [ballast_and_trim:NeedComms:B.GoToSurface] Stopped
2025-02-18T23:35:19.732Z,1739921719.732 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-18T23:35:20.094Z,1739921720.094 [ballast_and_trim:EndingMission](INFO): Completed ballast_and_trim:EndingMission
2025-02-18T23:35:20.094Z,1739921720.094 [ballast_and_trim:EndingMission] Stopped
2025-02-18T23:35:20.094Z,1739921720.094 [ballast_and_trim:EndingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:EndingMission
2025-02-18T23:35:20.097Z,1739921720.097 [ballast_and_trim](INFO): Completed ballast_and_trim
2025-02-18T23:35:20.101Z,1739921720.101 [MissionManager](INFO): ballast_and_trim is completed.
2025-02-18T23:35:20.101Z,1739921720.101 [MissionManager](INFO): Uninitializing Mission ballast_and_trim
2025-02-18T23:35:20.101Z,1739921720.101 [ballast_and_trim] Stopped
2025-02-18T23:35:20.102Z,1739921720.102 [ballast_and_trim](DEBUG): Aggregate::uninitialize ballast_and_trim
2025-02-18T23:35:20.102Z,1739921720.102 [ballast_and_trim:Science] Stopped
2025-02-18T23:35:20.102Z,1739921720.102 [ballast_and_trim:Science](DEBUG): Aggregate::uninitialize ballast_and_trim:Science
2025-02-18T23:35:20.102Z,1739921720.102 [ballast_and_trim:Science:B] Stopped
2025-02-18T23:35:20.102Z,1739921720.102 [ballast_and_trim:Science:C] Stopped
2025-02-18T23:35:20.102Z,1739921720.102 [ballast_and_trim:Science:E] Stopped
2025-02-18T23:35:20.102Z,1739921720.102 [ballast_and_trim:Science:OceanCurrent] Stopped
2025-02-18T23:35:20.102Z,1739921720.102 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:OceanCurrent
2025-02-18T23:35:20.102Z,1739921720.102 [ballast_and_trim:Science:OceanCurrent:A.] Stopped
2025-02-18T23:35:20.102Z,1739921720.102 [ballast_and_trim:StandardEnvelopes] Stopped
2025-02-18T23:35:20.102Z,1739921720.102 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::uninitialize ballast_and_trim:StandardEnvelopes
2025-02-18T23:35:20.102Z,1739921720.102 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-18T23:35:20.103Z,1739921720.103 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-18T23:35:20.103Z,1739921720.103 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-18T23:35:20.103Z,1739921720.103 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-18T23:35:20.103Z,1739921720.103 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-18T23:35:20.103Z,1739921720.103 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-18T23:35:20.103Z,1739921720.103 [ballast_and_trim:BackseatDriver] Stopped
2025-02-18T23:35:20.103Z,1739921720.103 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::uninitialize ballast_and_trim:BackseatDriver
2025-02-18T23:35:20.103Z,1739921720.103 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Stopped
2025-02-18T23:35:20.103Z,1739921720.103 [ballast_and_trim:PowerOnly] Stopped
2025-02-18T23:35:20.103Z,1739921720.103 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::uninitialize ballast_and_trim:PowerOnly
2025-02-18T23:35:20.103Z,1739921720.103 [ballast_and_trim:PowerOnly:E.Wait] Stopped
2025-02-18T23:35:20.103Z,1739921720.103 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-18T23:35:20.246Z,1739921720.246 [WetLabsBB2FL](INFO): Powering down
2025-02-18T23:35:20.271Z,1739921720.271 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-02-18T23:35:20.385Z,1739921720.385 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-02-18T23:35:20.385Z,1739921720.385 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-02-18T23:35:20.391Z,1739921720.391 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-02-18T23:35:26.477Z,1739921726.477 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/calibrate_sparton_compass.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="calibrate_sparton_compass">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinDepth">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="YoYoMaxDepth">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="YoYoPitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="RudderAngle">
        <Units:degree />
        <Value>13</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CalibrationInitTimeout">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</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="NeedCommsTime" />
    </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" />
    <Call RefId="NeedComms" Id="StartingMission" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.minDepth />
            <Arg Name="YoYoMinDepth" />
        </Setting>
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="YoYoMaxDepth" />
        </Setting>
        <Setting>
            <Guidance:DepthEnvelope.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="YoYoMinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:YoYo>
        <Parallel />
        <Setting>
            <Guidance:YoYo.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:YoYo>
    <Aggregate Id="AdaptCal">
        <Sequence />
        <ReadDatum Id="WaitForCalibrationInit">
            <Timeout Duration="CalibrationInitTimeout">
                <Syslog Severity="Important">Failed to initialize calibration within timeout. Stopping mission.</Syslog>
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>stop</String>
                    </Setting>
                </Guidance:Execute>
            </Timeout>
            <Sensor:AHRS_M2.number_of_calbration_points />
        </ReadDatum>
        <Aggregate Id="AcquireCalibrationPoints">
            <Sequence />
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Arg Name="RudderAngle" />
                </Setting>
            </Guidance:Point>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:SetSpeed>
        </Aggregate>
        <Sensor:CalibrateAHRS_M2>
            <Parallel />
        </Sensor:CalibrateAHRS_M2>
    </Aggregate>
</Mission>

2025-02-18T23:35:26.483Z,1739921726.483 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MissionTimeout = 60.000000 min
2025-02-18T23:35:26.486Z,1739921726.486 [MissionManager](INFO): DefineArg calibrate_sparton_compass.NeedCommsTime = 60.000000 min
2025-02-18T23:35:26.490Z,1739921726.490 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMinDepth = 5.000000 m
2025-02-18T23:35:26.493Z,1739921726.493 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMaxDepth = 40.000000 m
2025-02-18T23:35:26.552Z,1739921726.552 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMinAltitude = 7.000000 m
2025-02-18T23:35:26.567Z,1739921726.567 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoPitch = 20.000000 arcdeg
2025-02-18T23:35:26.570Z,1739921726.570 [MissionManager](INFO): DefineArg calibrate_sparton_compass.RudderAngle = 13.000000 arcdeg
2025-02-18T23:35:26.573Z,1739921726.573 [MissionManager](INFO): DefineArg calibrate_sparton_compass.Speed = 1.000000 m/s
2025-02-18T23:35:26.596Z,1739921726.596 [MissionManager](INFO): DefineArg calibrate_sparton_compass.CalibrationInitTimeout = 2.000000 min
2025-02-18T23:35:26.599Z,1739921726.599 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MinAltitude = 5.000000 m
2025-02-18T23:35:26.612Z,1739921726.612 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MaxDepth = 50.000000 m
2025-02-18T23:35:26.615Z,1739921726.615 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MinOffshore = 2.000000 km
2025-02-18T23:35:26.616Z,1739921726.616 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-18T23:35:26.616Z,1739921726.616 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-18T23:35:26.620Z,1739921726.620 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-18T23:35:29.101Z,1739921729.101 [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="EdgeDetectChlActive">
        <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="EdgeDetectPlanktivoreLMavgROIActive">
        <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="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVertical">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>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>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <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="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <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="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFraction />
                <Arg Name="OffPeakFractionVertical" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Important">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <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="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </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>

2025-02-18T23:35:29.122Z,1739921729.122 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectChlActive = 0 bool
2025-02-18T23:35:29.126Z,1739921729.126 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectChlActive = 0 bool
2025-02-18T23:35:29.129Z,1739921729.129 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.TimeWindowPeakReport = nan min
2025-02-18T23:35:29.131Z,1739921729.131 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestChlPeakReportActive = 0 bool
2025-02-18T23:35:29.134Z,1739921729.134 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestSaltPeakReportActive = 0 bool
2025-02-18T23:35:29.137Z,1739921729.137 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestOilPeakReportActive = 0 bool
2025-02-18T23:35:29.140Z,1739921729.140 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PatchTracking = 0 bool
2025-02-18T23:35:29.143Z,1739921729.143 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.FilterWidthHorizontal = 3.000000 count
2025-02-18T23:35:29.146Z,1739921729.146 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-18T23:35:29.186Z,1739921729.186 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-18T23:35:29.189Z,1739921729.189 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectNO3Active = 0 bool
2025-02-18T23:35:29.192Z,1739921729.192 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectOilActive = 0 bool
2025-02-18T23:35:29.195Z,1739921729.195 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectFDOMActive = 0 bool
2025-02-18T23:35:29.227Z,1739921729.227 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectSalinityActive = 0 bool
2025-02-18T23:35:29.230Z,1739921729.230 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-18T23:35:29.233Z,1739921729.233 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-18T23:35:29.235Z,1739921729.235 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-18T23:35:29.254Z,1739921729.254 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-18T23:35:29.257Z,1739921729.257 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-18T23:35:29.259Z,1739921729.259 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-18T23:35:29.285Z,1739921729.285 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledAanderaaO2 = 0 bool
2025-02-18T23:35:29.288Z,1739921729.288 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledNeilBrown = 0 bool
2025-02-18T23:35:29.292Z,1739921729.292 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledSeabird = 1 bool
2025-02-18T23:35:29.306Z,1739921729.306 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-18T23:35:29.309Z,1739921729.309 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-18T23:35:29.313Z,1739921729.313 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsUBAT = 0 bool
2025-02-18T23:35:29.356Z,1739921729.356 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.LowPassWindowLength = 20.000000 count
2025-02-18T23:35:29.368Z,1739921729.368 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.MedianFilterLen = 5.000000 count
2025-02-18T23:35:29.380Z,1739921729.380 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ShallowBound = nan m
2025-02-18T23:35:29.395Z,1739921729.395 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.DeepBound = nan m
2025-02-18T23:35:29.403Z,1739921729.403 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-18T23:35:29.414Z,1739921729.414 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.OffPeakFractionVertical = nan %
2025-02-18T23:35:29.421Z,1739921729.421 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-18T23:35:29.424Z,1739921729.424 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlThreshTriggerActive = 0 bool
2025-02-18T23:35:29.433Z,1739921729.433 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlLowerThresh = nan ug/l
2025-02-18T23:35:29.440Z,1739921729.440 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlUpperThresh = nan ug/l
2025-02-18T23:35:29.444Z,1739921729.444 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.NumProfilesThresh = 5.000000 count
2025-02-18T23:35:29.460Z,1739921729.460 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-18T23:35:29.478Z,1739921729.478 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.GoDown = 1 bool
2025-02-18T23:35:29.481Z,1739921729.481 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChl = nan ug/l
2025-02-18T23:35:29.492Z,1739921729.492 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlDepth = nan m
2025-02-18T23:35:29.500Z,1739921729.500 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlTemperature = nan degC
2025-02-18T23:35:29.504Z,1739921729.504 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlLatitude = nan arcdeg
2025-02-18T23:35:29.519Z,1739921729.519 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlLongitude = nan arcdeg
2025-02-18T23:35:29.523Z,1739921729.523 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChl = nan ug/l
2025-02-18T23:35:29.535Z,1739921729.535 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlDepth = nan m
2025-02-18T23:35:29.538Z,1739921729.538 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlTemperature = nan degC
2025-02-18T23:35:29.550Z,1739921729.550 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlLatitude = nan arcdeg
2025-02-18T23:35:29.558Z,1739921729.558 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlLongitude = nan arcdeg
2025-02-18T23:35:29.561Z,1739921729.561 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3 = nan umol/l
2025-02-18T23:35:29.564Z,1739921729.564 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Depth = nan m
2025-02-18T23:35:29.567Z,1739921729.567 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Latitude = nan arcdeg
2025-02-18T23:35:29.583Z,1739921729.583 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Longitude = nan arcdeg
2025-02-18T23:35:29.586Z,1739921729.586 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOil = nan kg/m3
2025-02-18T23:35:29.589Z,1739921729.589 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilDepth = nan m
2025-02-18T23:35:29.592Z,1739921729.592 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilLatitude = nan arcdeg
2025-02-18T23:35:29.615Z,1739921729.615 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilLongitude = nan arcdeg
2025-02-18T23:35:29.618Z,1739921729.618 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOM = nan ppb
2025-02-18T23:35:29.638Z,1739921729.638 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMDepth = nan m
2025-02-18T23:35:29.641Z,1739921729.641 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMTemperature = nan degC
2025-02-18T23:35:29.660Z,1739921729.660 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMLatitude = nan arcdeg
2025-02-18T23:35:29.663Z,1739921729.663 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMLongitude = nan arcdeg
2025-02-18T23:35:29.678Z,1739921729.678 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSalt = nan psu
2025-02-18T23:35:29.682Z,1739921729.682 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltDepth = nan m
2025-02-18T23:35:29.685Z,1739921729.685 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltTemperature = nan degC
2025-02-18T23:35:29.688Z,1739921729.688 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltLatitude = nan arcdeg
2025-02-18T23:35:29.704Z,1739921729.704 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltLongitude = nan arcdeg
2025-02-18T23:35:29.708Z,1739921729.708 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-18T23:35:29.711Z,1739921729.711 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-18T23:35:29.723Z,1739921729.723 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-18T23:35:29.766Z,1739921729.766 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-18T23:35:29.778Z,1739921729.778 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-18T23:35:29.789Z,1739921729.789 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-18T23:35:29.793Z,1739921729.793 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-18T23:35:29.804Z,1739921729.804 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-18T23:35:29.812Z,1739921729.812 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-18T23:35:29.828Z,1739921729.828 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-18T23:35:29.832Z,1739921729.832 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-18T23:35:29.848Z,1739921729.848 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-18T23:35:29.876Z,1739921729.876 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-18T23:35:29.888Z,1739921729.888 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-18T23:35:29.900Z,1739921729.900 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-18T23:35:29.904Z,1739921729.904 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-18T23:35:29.925Z,1739921729.925 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-18T23:35:29.941Z,1739921729.941 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-18T23:35:29.948Z,1739921729.948 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-18T23:35:29.952Z,1739921729.952 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-18T23:35:29.968Z,1739921729.968 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-18T23:35:29.987Z,1739921729.987 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-18T23:35:29.991Z,1739921729.991 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-18T23:35:30.002Z,1739921730.002 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-18T23:35:30.010Z,1739921730.010 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-18T23:35:30.013Z,1739921730.013 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChl = nan ug/l
2025-02-18T23:35:30.032Z,1739921730.032 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlDepth = nan m
2025-02-18T23:35:30.043Z,1739921730.043 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlLatitude = nan arcdeg
2025-02-18T23:35:30.047Z,1739921730.047 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlLongitude = nan arcdeg
2025-02-18T23:35:30.058Z,1739921730.058 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlDistance = nan m
2025-02-18T23:35:30.066Z,1739921730.066 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSalt = nan psu
2025-02-18T23:35:30.072Z,1739921730.072 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltDepth = nan m
2025-02-18T23:35:30.077Z,1739921730.077 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltLatitude = nan arcdeg
2025-02-18T23:35:30.089Z,1739921730.089 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltLongitude = nan arcdeg
2025-02-18T23:35:30.093Z,1739921730.093 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltDistance = nan m
2025-02-18T23:35:30.096Z,1739921730.096 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOil = nan psu
2025-02-18T23:35:30.117Z,1739921730.117 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilDepth = nan m
2025-02-18T23:35:30.120Z,1739921730.120 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilLatitude = nan arcdeg
2025-02-18T23:35:30.124Z,1739921730.124 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilLongitude = nan arcdeg
2025-02-18T23:35:30.164Z,1739921730.164 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilDistance = nan m
2025-02-18T23:35:30.167Z,1739921730.167 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.TriggeredOnChl = 0 bool
2025-02-18T23:35:30.195Z,1739921730.195 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.ChlTriggering = nan ug/l
2025-02-18T23:35:30.239Z,1739921730.239 [calibrate_sparton_compass:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:35:30.279Z,1739921730.279 [calibrate_sparton_compass:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-18T23:35:30.338Z,1739921730.338 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-18T23:35:30.361Z,1739921730.361 [calibrate_sparton_compass:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:35:30.402Z,1739921730.402 [calibrate_sparton_compass:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:35:30.481Z,1739921730.481 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-18T23:35:30.519Z,1739921730.519 [calibrate_sparton_compass:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:35:30.592Z,1739921730.592 [calibrate_sparton_compass:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:35:30.620Z,1739921730.620 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-18T23:35:30.651Z,1739921730.651 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:35:30.686Z,1739921730.686 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-18T23:35:30.739Z,1739921730.739 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:35:30.768Z,1739921730.768 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:35:30.795Z,1739921730.795 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-18T23:35:30.833Z,1739921730.833 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-18T23:35:30.866Z,1739921730.866 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-18T23:35:30.866Z,1739921730.866 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-18T23:35:30.867Z,1739921730.867 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-18T23:35:31.285Z,1739921731.285 [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>

2025-02-18T23:35:31.298Z,1739921731.298 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.DiveInterval = 1.000000 h
2025-02-18T23:35:31.301Z,1739921731.301 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-18T23:35:31.320Z,1739921731.320 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-18T23:35:31.323Z,1739921731.323 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfaceDepthRate = nan m/s
2025-02-18T23:35:31.327Z,1739921731.327 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-18T23:35:31.378Z,1739921731.378 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-18T23:35:31.381Z,1739921731.381 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.GPSTimeout = 7.000000 min
2025-02-18T23:35:31.392Z,1739921731.392 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.CommsTimeout = 30.000000 min
2025-02-18T23:35:31.423Z,1739921731.423 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-18T23:35:31.500Z,1739921731.500 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-18T23:35:31.500Z,1739921731.500 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-18T23:35:31.501Z,1739921731.501 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-18T23:35:31.607Z,1739921731.607 [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>

2025-02-18T23:35:31.626Z,1739921731.626 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-18T23:35:31.629Z,1739921731.629 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-18T23:35:31.632Z,1739921731.632 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-18T23:35:31.655Z,1739921731.655 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-18T23:35:31.656Z,1739921731.656 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-18T23:35:31.663Z,1739921731.663 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-18T23:35:31.673Z,1739921731.673 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-18T23:35:31.704Z,1739921731.704 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-18T23:35:31.704Z,1739921731.704 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-18T23:35:31.705Z,1739921731.705 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-18T23:35:31.780Z,1739921731.780 [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>

2025-02-18T23:35:31.792Z,1739921731.792 [MissionManager](INFO): DefineArg calibrate_sparton_compass:BackseatDriver.EnableBackseat = 0 bool
2025-02-18T23:35:31.803Z,1739921731.803 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-18T23:35:31.818Z,1739921731.818 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-18T23:35:31.818Z,1739921731.818 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-18T23:35:31.819Z,1739921731.819 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-18T23:35:32.041Z,1739921732.041 [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>

2025-02-18T23:35:32.046Z,1739921732.046 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleAll = 0 bool
2025-02-18T23:35:32.049Z,1739921732.049 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad1 = 0 bool
2025-02-18T23:35:32.065Z,1739921732.065 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad2 = 0 bool
2025-02-18T23:35:32.068Z,1739921732.068 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad3 = 0 bool
2025-02-18T23:35:32.072Z,1739921732.072 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-18T23:35:32.106Z,1739921732.106 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-18T23:35:32.108Z,1739921732.108 [calibrate_sparton_compass:K.Pitch](DEBUG): Construct.
2025-02-18T23:35:32.115Z,1739921732.115 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-18T23:35:32.130Z,1739921732.130 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-18T23:35:32.141Z,1739921732.141 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-18T23:35:32.197Z,1739921732.197 [calibrate_sparton_compass:O.YoYo](DEBUG): Construct YoYo.
2025-02-18T23:35:32.238Z,1739921732.238 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-18T23:35:32.240Z,1739921732.240 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point](DEBUG): Construct.
2025-02-18T23:35:32.256Z,1739921732.256 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Construct.
2025-02-18T23:35:32.259Z,1739921732.259 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](DEBUG): Construct CalibrateSparton.
2025-02-18T23:35:32.353Z,1739921732.353 [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 calibrate_sparton_compass {
  """
  This mission yoyos in a spiral while calibrating the Sparton AHRS-M2
  Micro AHRS/IMU with AdaptCal.
  """

  # Mission-wide settings

  arguments {
    MissionTimeout = 60 minute
      """
      Maximum duration of mission
      """

    NeedCommsTime = 60 minute
      """
      Elapsed time after previous surface communications when vehicle will
      begin to ascend for additional surface communications
      """

    # You probably need to change these.

    # You probably do not need to change these.

    YoYoMinDepth = 5 meter
      """
      Minimum depth while performing the YoYo behavior.
      """

    YoYoMaxDepth = 40 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    YoYoMinAltitude = 7 meter
      """
      Minimum altitude while performing the YoYo behavior (for
      bottom-terminated YoYos).
      """

    YoYoPitch = 20 degree
      """
      Pitch (plus and minus) for yo-yo behavior.
      """

    RudderAngle = 13 degree
      """
      Rudder angle to use while performing the spiral cast.
      """

    Speed = 1 meter_per_second
      """
      Vehicle speed.
      """

    CalibrationInitTimeout = 2 minute
      """
      Elapsed time allowed for calibration to initialize
      """

    # You are even less likely to need to change these.

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

    MaxDepth = 50 meter
      """
      Maximum depth for the entire mission.
      """

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

  # Missions should almost always start with a timeout

  timeout duration=MissionTimeout

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

  # Most missions should use the NeedComms aggregate.

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime
  # Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes.

  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

  # Check for additional instructions first.

  call id="StartingMission" refId="NeedComms"

  # Many missions will keep mass position and buoyancy volume fixed at defaults.

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:DepthEnvelope {
    """
    Another depth envelope for the YoYo behavior. This envelope should
    fall within the limits of the standard safety envelopes in
    Insert/StandardEnvelopes.tl in order to avoid commanding high pitch
    angles for depth-terminated YoYos.
    """

    run in parallel

    set minDepth = YoYoMinDepth

    set maxDepth = YoYoMaxDepth

    set pitch = YoYoPitch
  }

  behavior Guidance:AltitudeEnvelope {
    """
    Another altitude envelope for the YoYo behavior. This envelope
    should fall within the limits of the standard safety envelopes in
    Insert/StandardEnvelopes.tl in order to avoid commanding high pitch
    angles for bottom-terminated YoYos.
    """

    run in parallel

    set minAltitude = YoYoMinAltitude

    set pitch = YoYoPitch
  }

  behavior Guidance:YoYo {
    run in parallel

    set pitch = YoYoPitch
  }

  aggregate AdaptCal {
    run in sequence

    readDatum id="WaitForCalibrationInit" {
      timeout duration=CalibrationInitTimeout {
        syslog important "Failed to initialize calibration within timeout. Stopping mission."

        behavior Guidance:Execute {
          run in sequence

          set command = "stop"
        }
      }

      Sensor:AHRS_M2.number_of_calbration_points
    }

    aggregate AcquireCalibrationPoints {
      run in sequence

      behavior Guidance:Point {
        run in parallel

        set rudderAngle = RudderAngle
      }

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = Speed
      }
    }

    behavior Sensor:CalibrateAHRS_M2 {
      run in parallel
    }
  }
}


2025-02-18T23:35:32.374Z,1739921732.374 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-02-18T23:35:32.611Z,1739921732.611 [MissionManager](IMPORTANT): Started mission calibrate_sparton_compass
2025-02-18T23:35:32.611Z,1739921732.611 [calibrate_sparton_compass] Running Loop=1
2025-02-18T23:35:32.612Z,1739921732.612 [calibrate_sparton_compass](DEBUG): Aggregate::initialize calibrate_sparton_compass
2025-02-18T23:35:32.612Z,1739921732.612 [calibrate_sparton_compass:Science] Running Loop=1
2025-02-18T23:35:32.612Z,1739921732.612 [calibrate_sparton_compass:Science](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science
2025-02-18T23:35:32.612Z,1739921732.612 [calibrate_sparton_compass:Science:A] Running Loop=1
2025-02-18T23:35:32.612Z,1739921732.612 [calibrate_sparton_compass:Science:B] Running Loop=1
2025-02-18T23:35:32.612Z,1739921732.612 [calibrate_sparton_compass:Science:C] Running Loop=1
2025-02-18T23:35:32.612Z,1739921732.612 [calibrate_sparton_compass:Science:D] Running Loop=1
2025-02-18T23:35:32.612Z,1739921732.612 [calibrate_sparton_compass:Science:E] Running Loop=1
2025-02-18T23:35:32.612Z,1739921732.612 [calibrate_sparton_compass:Science:F] Running Loop=1
2025-02-18T23:35:32.612Z,1739921732.612 [calibrate_sparton_compass:Science:Read_Oil] Running Loop=1
2025-02-18T23:35:32.612Z,1739921732.612 [calibrate_sparton_compass:Science:PeakDetectChl] Running Loop=1
2025-02-18T23:35:32.612Z,1739921732.612 [calibrate_sparton_compass:Science:PeakDetectChl](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectChl
2025-02-18T23:35:32.613Z,1739921732.613 [calibrate_sparton_compass:Science:PeakDetectChl:A] Running Loop=1
2025-02-18T23:35:32.613Z,1739921732.613 [calibrate_sparton_compass:Science:EdgeDetectChl] Running Loop=1
2025-02-18T23:35:32.613Z,1739921732.613 [calibrate_sparton_compass:Science:EdgeDetectChl](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectChl
2025-02-18T23:35:32.613Z,1739921732.613 [calibrate_sparton_compass:Science:EdgeDetectChl:A] Running Loop=1
2025-02-18T23:35:32.613Z,1739921732.613 [calibrate_sparton_compass:Science:HighestChlPeakReport] Running Loop=1
2025-02-18T23:35:32.613Z,1739921732.613 [calibrate_sparton_compass:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestChlPeakReport
2025-02-18T23:35:32.613Z,1739921732.613 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-18T23:35:32.613Z,1739921732.613 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-18T23:35:32.614Z,1739921732.614 [calibrate_sparton_compass:Science:PeakDetectNO3] Running Loop=1
2025-02-18T23:35:32.614Z,1739921732.614 [calibrate_sparton_compass:Science:PeakDetectNO3](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectNO3
2025-02-18T23:35:32.614Z,1739921732.614 [calibrate_sparton_compass:Science:PeakDetectNO3:A] Running Loop=1
2025-02-18T23:35:32.614Z,1739921732.614 [calibrate_sparton_compass:Science:PeakDetectOil] Running Loop=1
2025-02-18T23:35:32.614Z,1739921732.614 [calibrate_sparton_compass:Science:PeakDetectOil](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectOil
2025-02-18T23:35:32.614Z,1739921732.614 [calibrate_sparton_compass:Science:PeakDetectOil:A] Running Loop=1
2025-02-18T23:35:32.614Z,1739921732.614 [calibrate_sparton_compass:Science:HighestOilPeakReport] Running Loop=1
2025-02-18T23:35:32.615Z,1739921732.615 [calibrate_sparton_compass:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestOilPeakReport
2025-02-18T23:35:32.615Z,1739921732.615 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-18T23:35:32.615Z,1739921732.615 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-18T23:35:32.615Z,1739921732.615 [calibrate_sparton_compass:Science:PeakDetectFDOM] Running Loop=1
2025-02-18T23:35:32.615Z,1739921732.615 [calibrate_sparton_compass:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectFDOM
2025-02-18T23:35:32.615Z,1739921732.615 [calibrate_sparton_compass:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-18T23:35:32.615Z,1739921732.615 [calibrate_sparton_compass:Science:PeakDetectSalinity] Running Loop=1
2025-02-18T23:35:32.616Z,1739921732.616 [calibrate_sparton_compass:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectSalinity
2025-02-18T23:35:32.616Z,1739921732.616 [calibrate_sparton_compass:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-18T23:35:32.616Z,1739921732.616 [calibrate_sparton_compass:Science:HighestSaltPeakReport] Running Loop=1
2025-02-18T23:35:32.616Z,1739921732.616 [calibrate_sparton_compass:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestSaltPeakReport
2025-02-18T23:35:32.616Z,1739921732.616 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-18T23:35:32.616Z,1739921732.616 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-18T23:35:32.616Z,1739921732.616 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-18T23:35:32.617Z,1739921732.617 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI
2025-02-18T23:35:32.617Z,1739921732.617 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-18T23:35:32.617Z,1739921732.617 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-18T23:35:32.617Z,1739921732.617 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-18T23:35:32.617Z,1739921732.617 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-18T23:35:32.617Z,1739921732.617 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-18T23:35:32.617Z,1739921732.617 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI
2025-02-18T23:35:32.617Z,1739921732.617 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-18T23:35:32.617Z,1739921732.617 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-18T23:35:32.618Z,1739921732.618 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms
2025-02-18T23:35:32.618Z,1739921732.618 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-18T23:35:32.618Z,1739921732.618 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-18T23:35:32.618Z,1739921732.618 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-18T23:35:32.618Z,1739921732.618 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-18T23:35:32.618Z,1739921732.618 [calibrate_sparton_compass:Science:ChlThreshTrigger] Running Loop=1
2025-02-18T23:35:32.618Z,1739921732.618 [calibrate_sparton_compass:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:ChlThreshTrigger
2025-02-18T23:35:32.619Z,1739921732.619 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-18T23:35:32.619Z,1739921732.619 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-18T23:35:32.619Z,1739921732.619 [calibrate_sparton_compass:Science:OceanCurrent] Running Loop=1
2025-02-18T23:35:32.619Z,1739921732.619 [calibrate_sparton_compass:Science:OceanCurrent](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:OceanCurrent
2025-02-18T23:35:32.619Z,1739921732.619 [calibrate_sparton_compass:Science:OceanCurrent:A.] Running Loop=1
2025-02-18T23:35:32.619Z,1739921732.619 [calibrate_sparton_compass:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-18T23:35:32.619Z,1739921732.619 [calibrate_sparton_compass:StandardEnvelopes] Running Loop=1
2025-02-18T23:35:32.620Z,1739921732.620 [calibrate_sparton_compass:StandardEnvelopes](DEBUG): Aggregate::initialize calibrate_sparton_compass:StandardEnvelopes
2025-02-18T23:35:32.620Z,1739921732.620 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-18T23:35:32.620Z,1739921732.620 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-18T23:35:32.620Z,1739921732.620 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-18T23:35:32.620Z,1739921732.620 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-18T23:35:32.620Z,1739921732.620 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-18T23:35:32.620Z,1739921732.620 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-18T23:35:32.620Z,1739921732.620 [calibrate_sparton_compass:BackseatDriver] Running Loop=1
2025-02-18T23:35:32.620Z,1739921732.620 [calibrate_sparton_compass:BackseatDriver](DEBUG): Aggregate::initialize calibrate_sparton_compass:BackseatDriver
2025-02-18T23:35:32.621Z,1739921732.621 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-18T23:35:32.621Z,1739921732.621 [calibrate_sparton_compass:PowerOnly] Running Loop=1
2025-02-18T23:35:32.621Z,1739921732.621 [calibrate_sparton_compass:PowerOnly](DEBUG): Aggregate::initialize calibrate_sparton_compass:PowerOnly
2025-02-18T23:35:32.621Z,1739921732.621 [calibrate_sparton_compass:PowerOnly:A] Running Loop=1
2025-02-18T23:35:32.621Z,1739921732.621 [calibrate_sparton_compass:PowerOnly:B] Running Loop=1
2025-02-18T23:35:32.621Z,1739921732.621 [calibrate_sparton_compass:PowerOnly:C] Running Loop=1
2025-02-18T23:35:32.621Z,1739921732.621 [calibrate_sparton_compass:PowerOnly:D] Running Loop=1
2025-02-18T23:35:32.637Z,1739921732.637 [calibrate_sparton_compass:PowerOnly:E.Wait] Running Loop=1
2025-02-18T23:35:32.637Z,1739921732.637 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-18T23:35:32.637Z,1739921732.637 [calibrate_sparton_compass:K.Pitch] Running Loop=1
2025-02-18T23:35:32.637Z,1739921732.637 [calibrate_sparton_compass:K.Pitch](DEBUG): Initialize.
2025-02-18T23:35:32.638Z,1739921732.638 [calibrate_sparton_compass:L.Buoyancy] Running Loop=1
2025-02-18T23:35:32.638Z,1739921732.638 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-18T23:35:32.638Z,1739921732.638 [calibrate_sparton_compass:M.DepthEnvelope] Running Loop=1
2025-02-18T23:35:32.638Z,1739921732.638 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-18T23:35:32.638Z,1739921732.638 [calibrate_sparton_compass:N.AltitudeEnvelope] Running Loop=1
2025-02-18T23:35:32.638Z,1739921732.638 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-18T23:35:32.638Z,1739921732.638 [calibrate_sparton_compass:O.YoYo] Running Loop=1
2025-02-18T23:35:32.638Z,1739921732.638 [calibrate_sparton_compass:O.YoYo](DEBUG): Initialize YoYoComponent.
2025-02-18T23:35:32.639Z,1739921732.639 [calibrate_sparton_compass:C] Running Loop=1
2025-02-18T23:35:32.639Z,1739921732.639 [calibrate_sparton_compass:O.YoYo] Running Loop=1
2025-02-18T23:35:32.640Z,1739921732.640 [calibrate_sparton_compass:N.AltitudeEnvelope] Running Loop=1
2025-02-18T23:35:32.640Z,1739921732.640 [calibrate_sparton_compass:M.DepthEnvelope] Running Loop=1
2025-02-18T23:35:32.641Z,1739921732.641 [calibrate_sparton_compass:L.Buoyancy] Running Loop=1
2025-02-18T23:35:32.642Z,1739921732.642 [calibrate_sparton_compass:K.Pitch] Running Loop=1
2025-02-18T23:35:32.642Z,1739921732.642 [calibrate_sparton_compass:PowerOnly] Running Loop=1
2025-02-18T23:35:32.642Z,1739921732.642 [calibrate_sparton_compass:PowerOnly:D] Stopped
2025-02-18T23:35:32.642Z,1739921732.642 [calibrate_sparton_compass:PowerOnly:C] Stopped
2025-02-18T23:35:32.642Z,1739921732.642 [calibrate_sparton_compass:PowerOnly:B] Stopped
2025-02-18T23:35:32.642Z,1739921732.642 [calibrate_sparton_compass:PowerOnly:A] Stopped
2025-02-18T23:35:32.642Z,1739921732.642 [calibrate_sparton_compass:BackseatDriver] Running Loop=1
2025-02-18T23:35:32.643Z,1739921732.643 [calibrate_sparton_compass:StandardEnvelopes] Running Loop=1
2025-02-18T23:35:32.643Z,1739921732.643 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-18T23:35:32.643Z,1739921732.643 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-18T23:35:32.643Z,1739921732.643 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-18T23:35:32.644Z,1739921732.644 [calibrate_sparton_compass:C] Stopped
2025-02-18T23:35:32.644Z,1739921732.644 [calibrate_sparton_compass:E] Running Loop=1
2025-02-18T23:35:32.644Z,1739921732.644 [calibrate_sparton_compass:Science] Running Loop=1
2025-02-18T23:35:32.657Z,1739921732.657 [calibrate_sparton_compass:Science:ChlThreshTrigger] Stopped
2025-02-18T23:35:32.658Z,1739921732.658 [calibrate_sparton_compass:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:ChlThreshTrigger
2025-02-18T23:35:32.658Z,1739921732.658 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-18T23:35:32.658Z,1739921732.658 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-18T23:35:32.658Z,1739921732.658 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-18T23:35:32.658Z,1739921732.658 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-18T23:35:32.658Z,1739921732.658 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-18T23:35:32.658Z,1739921732.658 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-18T23:35:32.658Z,1739921732.658 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms
2025-02-18T23:35:32.658Z,1739921732.658 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-18T23:35:32.658Z,1739921732.658 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-18T23:35:32.658Z,1739921732.658 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI
2025-02-18T23:35:32.658Z,1739921732.658 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-18T23:35:32.658Z,1739921732.658 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-18T23:35:32.660Z,1739921732.660 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-18T23:35:32.660Z,1739921732.660 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-18T23:35:32.660Z,1739921732.660 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-18T23:35:32.660Z,1739921732.660 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI
2025-02-18T23:35:32.660Z,1739921732.660 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-18T23:35:32.660Z,1739921732.660 [calibrate_sparton_compass:Science:HighestSaltPeakReport] Stopped
2025-02-18T23:35:32.662Z,1739921732.662 [calibrate_sparton_compass:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestSaltPeakReport
2025-02-18T23:35:32.662Z,1739921732.662 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-18T23:35:32.662Z,1739921732.662 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-18T23:35:32.662Z,1739921732.662 [calibrate_sparton_compass:Science:PeakDetectSalinity] Stopped
2025-02-18T23:35:32.662Z,1739921732.662 [calibrate_sparton_compass:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectSalinity
2025-02-18T23:35:32.662Z,1739921732.662 [calibrate_sparton_compass:Science:PeakDetectSalinity:A] Stopped
2025-02-18T23:35:32.662Z,1739921732.662 [calibrate_sparton_compass:Science:PeakDetectFDOM] Stopped
2025-02-18T23:35:32.662Z,1739921732.662 [calibrate_sparton_compass:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectFDOM
2025-02-18T23:35:32.663Z,1739921732.663 [calibrate_sparton_compass:Science:PeakDetectFDOM:A] Stopped
2025-02-18T23:35:32.663Z,1739921732.663 [calibrate_sparton_compass:Science:HighestOilPeakReport] Stopped
2025-02-18T23:35:32.663Z,1739921732.663 [calibrate_sparton_compass:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestOilPeakReport
2025-02-18T23:35:32.663Z,1739921732.663 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-18T23:35:32.663Z,1739921732.663 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-18T23:35:32.663Z,1739921732.663 [calibrate_sparton_compass:Science:PeakDetectOil] Stopped
2025-02-18T23:35:32.663Z,1739921732.663 [calibrate_sparton_compass:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectOil
2025-02-18T23:35:32.663Z,1739921732.663 [calibrate_sparton_compass:Science:PeakDetectOil:A] Stopped
2025-02-18T23:35:32.663Z,1739921732.663 [calibrate_sparton_compass:Science:PeakDetectNO3] Stopped
2025-02-18T23:35:32.663Z,1739921732.663 [calibrate_sparton_compass:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectNO3
2025-02-18T23:35:32.663Z,1739921732.663 [calibrate_sparton_compass:Science:PeakDetectNO3:A] Stopped
2025-02-18T23:35:32.663Z,1739921732.663 [calibrate_sparton_compass:Science:HighestChlPeakReport] Stopped
2025-02-18T23:35:32.664Z,1739921732.664 [calibrate_sparton_compass:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestChlPeakReport
2025-02-18T23:35:32.664Z,1739921732.664 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-18T23:35:32.664Z,1739921732.664 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-18T23:35:32.664Z,1739921732.664 [calibrate_sparton_compass:Science:EdgeDetectChl] Stopped
2025-02-18T23:35:32.664Z,1739921732.664 [calibrate_sparton_compass:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectChl
2025-02-18T23:35:32.664Z,1739921732.664 [calibrate_sparton_compass:Science:EdgeDetectChl:A] Stopped
2025-02-18T23:35:32.664Z,1739921732.664 [calibrate_sparton_compass:Science:PeakDetectChl] Stopped
2025-02-18T23:35:32.664Z,1739921732.664 [calibrate_sparton_compass:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectChl
2025-02-18T23:35:32.664Z,1739921732.664 [calibrate_sparton_compass:Science:PeakDetectChl:A] Stopped
2025-02-18T23:35:32.664Z,1739921732.664 [calibrate_sparton_compass:Science:OceanCurrent:A.] Running Loop=1
2025-02-18T23:35:32.664Z,1739921732.664 [calibrate_sparton_compass:Science:Read_Oil] Stopped
2025-02-18T23:35:32.664Z,1739921732.664 [calibrate_sparton_compass:Science:F] Stopped
2025-02-18T23:35:32.664Z,1739921732.664 [calibrate_sparton_compass:Science:E] Running Loop=1
2025-02-18T23:35:32.665Z,1739921732.665 [calibrate_sparton_compass:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-18T23:35:32.665Z,1739921732.665 [calibrate_sparton_compass:Science:D] Stopped
2025-02-18T23:35:32.665Z,1739921732.665 [calibrate_sparton_compass:Science:C] Running Loop=1
2025-02-18T23:35:32.666Z,1739921732.666 [calibrate_sparton_compass:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-18T23:35:32.667Z,1739921732.667 [calibrate_sparton_compass:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-18T23:35:32.667Z,1739921732.667 [calibrate_sparton_compass:Science:B] Running Loop=1
2025-02-18T23:35:32.668Z,1739921732.668 [calibrate_sparton_compass:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-18T23:35:32.668Z,1739921732.668 [calibrate_sparton_compass:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-18T23:35:32.668Z,1739921732.668 [calibrate_sparton_compass:Science:A] Stopped
2025-02-18T23:35:32.751Z,1739921732.751 [WetLabsBB2FL](INFO): Powering up
2025-02-18T23:35:33.005Z,1739921733.005 [calibrate_sparton_compass:E] Stopped
2025-02-18T23:35:33.005Z,1739921733.005 [calibrate_sparton_compass:F] Running Loop=1
2025-02-18T23:35:33.398Z,1739921733.398 [calibrate_sparton_compass:F] Stopped
2025-02-18T23:35:33.398Z,1739921733.398 [calibrate_sparton_compass:G] Running Loop=1
2025-02-18T23:35:33.804Z,1739921733.804 [calibrate_sparton_compass:G] Stopped
2025-02-18T23:35:33.804Z,1739921733.804 [calibrate_sparton_compass:StartingMission] Running Loop=1
2025-02-18T23:35:33.804Z,1739921733.804 [calibrate_sparton_compass:StartingMission](DEBUG): Aggregate::initialize calibrate_sparton_compass:StartingMission
2025-02-18T23:35:34.209Z,1739921734.209 [calibrate_sparton_compass:N.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-18T23:35:34.212Z,1739921734.212 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-18T23:35:34.212Z,1739921734.212 [calibrate_sparton_compass:NeedComms] Running Loop=1
2025-02-18T23:35:34.212Z,1739921734.212 [calibrate_sparton_compass:NeedComms](DEBUG): Aggregate::initialize calibrate_sparton_compass:NeedComms
2025-02-18T23:35:34.212Z,1739921734.212 [calibrate_sparton_compass:NeedComms:B.GoToSurface] Running Loop=1
2025-02-18T23:35:34.212Z,1739921734.212 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-18T23:35:34.213Z,1739921734.213 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-18T23:35:34.213Z,1739921734.213 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-18T23:35:34.214Z,1739921734.214 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-18T23:35:34.214Z,1739921734.214 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-18T23:35:34.215Z,1739921734.215 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-18T23:35:34.215Z,1739921734.215 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-18T23:35:34.216Z,1739921734.216 [calibrate_sparton_compass:NeedComms:A] Running Loop=1
2025-02-18T23:35:34.218Z,1739921734.218 [calibrate_sparton_compass:NeedComms:A](INFO): last time_fix was:  1739921716.000000 second since 1970/01/01T00:00:00Z 
2025-02-18T23:35:34.218Z,1739921734.218 [calibrate_sparton_compass:NeedComms:A] Stopped
2025-02-18T23:35:34.629Z,1739921734.629 [calibrate_sparton_compass:NeedComms:C] Running Loop=1
2025-02-18T23:35:35.012Z,1739921735.012 [calibrate_sparton_compass:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-18T23:35:35.758Z,1739921735.758 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-18T23:35:36.615Z,1739921736.615 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233533.00,A,3647.59279,N,12150.78186,W,1.302,140.96,180225,,,A*7C
2025-02-18T23:35:36.617Z,1739921736.617 [NAL9602](INFO): GPS fix at 20250218T233533: (36.793213, -121.846364)
2025-02-18T23:35:36.631Z,1739921736.631 [calibrate_sparton_compass:NeedComms:C] Stopped
2025-02-18T23:35:36.631Z,1739921736.631 [calibrate_sparton_compass:NeedComms:D] Running Loop=1
2025-02-18T23:35:37.133Z,1739921737.133 [calibrate_sparton_compass:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-18T23:35:44.761Z,1739921744.761 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250218T221253/Courier0034.lzma
2025-02-18T23:35:45.788Z,1739921745.788 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Courier0034.lzma.bak
2025-02-18T23:35:45.788Z,1739921745.788 [DataOverHttps](INFO): SBD MOMSN=23966674
2025-02-18T23:36:04.285Z,1739921764.285 [DataOverHttps](INFO): Sending 214 bytes from file Logs/20250218T221253/Express0035.lzma
2025-02-18T23:36:05.287Z,1739921765.287 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Express0035.lzma.bak
2025-02-18T23:36:05.287Z,1739921765.287 [DataOverHttps](INFO): SBD MOMSN=23966677
2025-02-18T23:36:06.608Z,1739921766.608 [calibrate_sparton_compass:NeedComms:D] Stopped
2025-02-18T23:36:06.609Z,1739921766.609 [calibrate_sparton_compass:NeedComms:E] Running Loop=1
2025-02-18T23:36:07.012Z,1739921767.012 [calibrate_sparton_compass:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-18T23:36:08.604Z,1739921768.604 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233608.00,A,3647.58799,N,12150.78031,W,0.428,168.27,180225,,,A*7E
2025-02-18T23:36:08.619Z,1739921768.619 [NAL9602](INFO): GPS fix at 20250218T233608: (36.793133, -121.846339)
2025-02-18T23:36:08.654Z,1739921768.654 [calibrate_sparton_compass:NeedComms:E] Stopped
2025-02-18T23:36:08.655Z,1739921768.655 [calibrate_sparton_compass:NeedComms](INFO): Completed calibrate_sparton_compass:NeedComms
2025-02-18T23:36:08.655Z,1739921768.655 [calibrate_sparton_compass:NeedComms] Stopped
2025-02-18T23:36:08.655Z,1739921768.655 [calibrate_sparton_compass:NeedComms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:NeedComms
2025-02-18T23:36:08.655Z,1739921768.655 [calibrate_sparton_compass:NeedComms:B.GoToSurface] Stopped
2025-02-18T23:36:08.655Z,1739921768.655 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-18T23:36:09.055Z,1739921769.055 [calibrate_sparton_compass:StartingMission](INFO): Completed calibrate_sparton_compass:StartingMission
2025-02-18T23:36:09.055Z,1739921769.055 [calibrate_sparton_compass:StartingMission] Stopped
2025-02-18T23:36:09.055Z,1739921769.055 [calibrate_sparton_compass:StartingMission](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:StartingMission
2025-02-18T23:36:09.055Z,1739921769.055 [calibrate_sparton_compass:AdaptCal] Running Loop=1
2025-02-18T23:36:09.055Z,1739921769.055 [calibrate_sparton_compass:AdaptCal](DEBUG): Aggregate::initialize calibrate_sparton_compass:AdaptCal
2025-02-18T23:36:09.055Z,1739921769.055 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Running Loop=1
2025-02-18T23:36:09.056Z,1739921769.056 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-02-18T23:36:09.056Z,1739921769.056 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit] Running Loop=1
2025-02-18T23:36:09.459Z,1739921769.459 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Running Loop=1
2025-02-18T23:36:09.459Z,1739921769.459 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-02-18T23:36:09.460Z,1739921769.460 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit](DEBUG): Initialize ReadDataComponent to sense AHRS_M2.number_of_calbration_points
2025-02-18T23:36:09.850Z,1739921769.850 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-02-18T23:36:10.265Z,1739921770.265 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-02-18T23:36:10.735Z,1739921770.735 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-02-18T23:36:11.042Z,1739921771.042 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit] Stopped
2025-02-18T23:36:11.042Z,1739921771.042 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints] Running Loop=1
2025-02-18T23:36:11.043Z,1739921771.043 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints](DEBUG): Aggregate::initialize calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints
2025-02-18T23:36:11.043Z,1739921771.043 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Running Loop=1
2025-02-18T23:36:11.043Z,1739921771.043 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point](DEBUG): Initialize.
2025-02-18T23:36:11.043Z,1739921771.043 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Running Loop=1
2025-02-18T23:36:11.043Z,1739921771.043 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Initialize.
2025-02-18T23:36:11.465Z,1739921771.465 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Running Loop=1
2025-02-18T23:36:11.466Z,1739921771.466 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Running Loop=1
2025-02-18T23:36:41.054Z,1739921801.054 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-18T23:36:50.355Z,1739921810.355 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch -20.00 deg, mass-position 11.65 mm (2 active estimators).
2025-02-18T23:37:37.198Z,1739921857.198 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T23:37:50.709Z,1739921870.709 [Radio_Surface](INFO): Powering down
2025-02-18T23:38:08.322Z,1739921888.322 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-18T23:38:09.326Z,1739921889.326 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-18T23:39:45.726Z,1739921985.726 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.735397
2025-02-18T23:53:27.866Z,1739922807.866 [Sonardyne_Nano](ERROR): Failed to parse response: >VS:2409,HPR45,EXT,TILT,BT1;LI_ION;VLT3.7;IDC8.0;CAP3.4;T40.0;CHG

2025-02-18T23:53:27.866Z,1739922807.866 [Sonardyne_Nano](INFO): Battery at maximum, disabling charging
2025-02-19T00:30:25.048Z,1739925025.048 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-19T00:30:38.397Z,1739925038.397 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-19T00:30:52.118Z,1739925052.118 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-19T00:31:05.044Z,1739925065.044 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-19T00:31:17.973Z,1739925077.973 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-19T00:31:30.496Z,1739925090.496 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-19T00:31:43.828Z,1739925103.828 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-19T00:35:32.941Z,1739925332.941 [calibrate_sparton_compass](INFO): Timed out from 2025-02-18T23:35:32.6Z
2025-02-19T00:35:32.942Z,1739925332.942 [MissionManager](INFO): calibrate_sparton_compass is completed.
2025-02-19T00:35:32.942Z,1739925332.942 [MissionManager](INFO): Uninitializing Mission calibrate_sparton_compass
2025-02-19T00:35:32.942Z,1739925332.942 [calibrate_sparton_compass] Stopped
2025-02-19T00:35:32.942Z,1739925332.942 [calibrate_sparton_compass](DEBUG): Aggregate::uninitialize calibrate_sparton_compass
2025-02-19T00:35:32.942Z,1739925332.942 [calibrate_sparton_compass:Science] Stopped
2025-02-19T00:35:32.942Z,1739925332.942 [calibrate_sparton_compass:Science](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science
2025-02-19T00:35:32.942Z,1739925332.942 [calibrate_sparton_compass:Science:B] Stopped
2025-02-19T00:35:32.942Z,1739925332.942 [calibrate_sparton_compass:Science:C] Stopped
2025-02-19T00:35:32.942Z,1739925332.942 [calibrate_sparton_compass:Science:E] Stopped
2025-02-19T00:35:32.942Z,1739925332.942 [calibrate_sparton_compass:Science:OceanCurrent] Stopped
2025-02-19T00:35:32.942Z,1739925332.942 [calibrate_sparton_compass:Science:OceanCurrent](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:OceanCurrent
2025-02-19T00:35:32.943Z,1739925332.943 [calibrate_sparton_compass:Science:OceanCurrent:A.] Stopped
2025-02-19T00:35:32.943Z,1739925332.943 [calibrate_sparton_compass:StandardEnvelopes] Stopped
2025-02-19T00:35:32.943Z,1739925332.943 [calibrate_sparton_compass:StandardEnvelopes](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:StandardEnvelopes
2025-02-19T00:35:32.943Z,1739925332.943 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-19T00:35:32.943Z,1739925332.943 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-19T00:35:32.943Z,1739925332.943 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-19T00:35:32.943Z,1739925332.943 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-19T00:35:32.943Z,1739925332.943 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-19T00:35:32.943Z,1739925332.943 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-19T00:35:32.943Z,1739925332.943 [calibrate_sparton_compass:BackseatDriver] Stopped
2025-02-19T00:35:32.943Z,1739925332.943 [calibrate_sparton_compass:BackseatDriver](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:BackseatDriver
2025-02-19T00:35:32.943Z,1739925332.943 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver] Stopped
2025-02-19T00:35:32.943Z,1739925332.943 [calibrate_sparton_compass:PowerOnly] Stopped
2025-02-19T00:35:32.944Z,1739925332.944 [calibrate_sparton_compass:PowerOnly](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:PowerOnly
2025-02-19T00:35:32.944Z,1739925332.944 [calibrate_sparton_compass:PowerOnly:E.Wait] Stopped
2025-02-19T00:35:32.944Z,1739925332.944 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-19T00:35:32.944Z,1739925332.944 [calibrate_sparton_compass:K.Pitch] Stopped
2025-02-19T00:35:32.944Z,1739925332.944 [calibrate_sparton_compass:L.Buoyancy] Stopped
2025-02-19T00:35:32.944Z,1739925332.944 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-19T00:35:32.944Z,1739925332.944 [calibrate_sparton_compass:M.DepthEnvelope] Stopped
2025-02-19T00:35:32.944Z,1739925332.944 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Uninitialize.
2025-02-19T00:35:32.944Z,1739925332.944 [calibrate_sparton_compass:N.AltitudeEnvelope] Stopped
2025-02-19T00:35:32.944Z,1739925332.944 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-19T00:35:32.944Z,1739925332.944 [calibrate_sparton_compass:O.YoYo] Stopped
2025-02-19T00:35:32.944Z,1739925332.944 [calibrate_sparton_compass:O.YoYo](DEBUG): Uninitialize YoYoComponent.
2025-02-19T00:35:32.944Z,1739925332.944 [calibrate_sparton_compass:AdaptCal] Stopped
2025-02-19T00:35:32.945Z,1739925332.945 [calibrate_sparton_compass:AdaptCal](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:AdaptCal
2025-02-19T00:35:32.945Z,1739925332.945 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints] Stopped
2025-02-19T00:35:32.945Z,1739925332.945 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints
2025-02-19T00:35:32.945Z,1739925332.945 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Stopped
2025-02-19T00:35:32.945Z,1739925332.945 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Stopped
2025-02-19T00:35:32.945Z,1739925332.945 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Uninitialize.
2025-02-19T00:35:32.945Z,1739925332.945 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Stopped
2025-02-19T00:35:32.945Z,1739925332.945 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Uninitialize CalibrateSpartonComponent.
2025-02-19T00:35:33.269Z,1739925333.269 [WetLabsBB2FL](INFO): Powering down
2025-02-19T00:35:33.351Z,1739925333.351 [AHRS_M2](IMPORTANT): Acquired 12 calibration points.
2025-02-19T00:35:33.368Z,1739925333.368 [MissionManager](IMPORTANT): Started mission Default
2025-02-19T00:35:33.368Z,1739925333.368 [Default] Running Loop=1
2025-02-19T00:35:33.368Z,1739925333.368 [Default](DEBUG): Aggregate::initialize Default
2025-02-19T00:35:33.368Z,1739925333.368 [Default:B.GoToSurface] Running Loop=1
2025-02-19T00:35:33.368Z,1739925333.368 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-19T00:35:33.369Z,1739925333.369 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-19T00:35:33.369Z,1739925333.369 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-19T00:35:33.369Z,1739925333.369 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-19T00:35:33.370Z,1739925333.370 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-19T00:35:33.370Z,1739925333.370 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-19T00:35:33.370Z,1739925333.370 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-19T00:35:33.371Z,1739925333.371 [Default:A.Wait] Running Loop=1
2025-02-19T00:35:33.371Z,1739925333.371 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-19T00:35:33.997Z,1739925333.997 [Radio_Surface](INFO): Powering up
2025-02-19T00:35:34.127Z,1739925334.127 [AHRS_M2](IMPORTANT): Magnetic calibration quality (0[best] to 10000) is 0.014739.
2025-02-19T00:35:34.929Z,1739925334.929 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (3 active estimators).
2025-02-19T00:35:39.658Z,1739925339.658 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-19T00:35:46.678Z,1739925346.678 [Default:A.Wait](INFO): Done Waiting.
2025-02-19T00:35:46.678Z,1739925346.678 [Default:A.Wait] Stopped
2025-02-19T00:35:46.678Z,1739925346.678 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-19T00:36:09.790Z,1739925369.790 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-19T00:36:35.983Z,1739925395.983 [Default:CheckIn] Running Loop=1
2025-02-19T00:36:35.983Z,1739925395.983 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-19T00:36:35.983Z,1739925395.983 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-19T00:36:40.915Z,1739925400.915 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-19T00:36:46.452Z,1739925406.452 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-02-19T00:36:52.110Z,1739925412.110 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-19T00:36:52.123Z,1739925412.123 [BPC1](FAULT): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-19T00:36:52.124Z,1739925412.124 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-19T00:36:52.126Z,1739925412.126 [BPC1](INFO): Received data from all battery sticks.
2025-02-19T00:36:59.787Z,1739925419.787 [NAL9602](INFO): SBD MO Status=2, MOMSN=12702, MT Status=2, MTMSN=0
2025-02-19T00:36:59.788Z,1739925419.788 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-19T00:37:12.050Z,1739925432.050 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-19T00:37:28.875Z,1739925448.875 [NAL9602](INFO): SBD MO Status=2, MOMSN=12702, MT Status=2, MTMSN=0
2025-02-19T00:37:28.876Z,1739925448.876 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-19T00:37:43.186Z,1739925463.186 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-19T00:37:46.272Z,1739925466.272 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=12702, MT Status=1, MTMSN=233
2025-02-19T00:37:46.272Z,1739925466.272 [NAL9602](INFO): Data available in MT queue
2025-02-19T00:37:46.870Z,1739925466.870 [NAL9602](INFO): Received command: configSet Express linearApproximation PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water 100 umol/s/m2 persist
2025-02-19T00:37:47.889Z,1739925467.889 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003747.00,A,3647.29444,N,12151.00001,W,0.369,193.00,190225,,,A*7F
2025-02-19T00:37:47.891Z,1739925467.891 [NAL9602](INFO): GPS fix at 20250219T003747: (36.788241, -121.850000)
2025-02-19T00:37:47.931Z,1739925467.931 [UniversalFixResidualReporter](INFO): Fix residual: 16.8 %DT, over the last 3369.8 m. Residual distance 567.3 m at bearing 32.1 degrees. Fix at (36.7882, -121.8500) with 634.3 m made good.
2025-02-19T00:37:47.931Z,1739925467.931 [Default:CheckIn:Read_GPS] Stopped
2025-02-19T00:37:47.932Z,1739925467.932 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-19T00:38:03.203Z,1739925483.203 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002942
2025-02-19T00:38:04.702Z,1739925484.702 [CommandExec](IMPORTANT): got command configSet Express linearApproximation PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water 100 micromole_per_second_per_square_meter persist
2025-02-19T00:38:08.896Z,1739925488.896 [NAL9602](INFO): SBD MO Status=1, MOMSN=12703, MT Status=0, MTMSN=0
2025-02-19T00:38:08.954Z,1739925488.954 [NAL9602](INFO): Sent 93 bytes from file Logs/20250218T221253/Courier0037.lzma
2025-02-19T00:38:08.954Z,1739925488.954 [NAL9602](INFO): Packets left to send: 0
2025-02-19T00:38:14.362Z,1739925494.362 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250218T221253/Courier0040.lzma
2025-02-19T00:38:15.135Z,1739925495.135 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Courier0040.lzma.bak
2025-02-19T00:38:15.135Z,1739925495.135 [DataOverHttps](INFO): SBD MOMSN=23966685
2025-02-19T00:38:31.095Z,1739925511.095 [DataOverHttps](INFO): Sending 1156 bytes from file Logs/20250218T221253/Express0038.lzma
2025-02-19T00:38:32.116Z,1739925512.116 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Express0038.lzma.bak
2025-02-19T00:38:32.116Z,1739925512.116 [DataOverHttps](INFO): SBD MOMSN=23966691
2025-02-19T00:38:41.058Z,1739925521.058 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-19T00:38:47.994Z,1739925527.994 [DataOverHttps](INFO): Sending 341 bytes from file Logs/20250218T221253/Express0041.lzma
2025-02-19T00:38:48.995Z,1739925528.995 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Express0041.lzma.bak
2025-02-19T00:38:48.995Z,1739925528.995 [DataOverHttps](INFO): SBD MOMSN=23966698
2025-02-19T00:38:50.360Z,1739925530.360 [Default:CheckIn:Read_Iridium] Stopped
2025-02-19T00:38:50.361Z,1739925530.361 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-19T00:38:50.361Z,1739925530.361 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-19T00:39:58.648Z,1739925598.648 [DataOverHttps](IMPORTANT): SBD MTMSN=20250219T003957
2025-02-19T00:40:05.992Z,1739925605.992 [DataOverHttps](INFO): Received command: sched asap "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 10 m;set transit.Speed 1 m/s" 1yf6c 1 2
2025-02-19T00:40:06.002Z,1739925606.002 [CommandExec](IMPORTANT): got command schedule asap "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 10 m;set transit.Speed 1 m/s" 1yf6c 1 2.000000
2025-02-19T00:40:06.002Z,1739925606.002 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=1yf6c
2025-02-19T00:40:06.003Z,1739925606.003 [CommandExec](IMPORTANT): Scheduled #4 (#1 of 2 with id='1yf6c'): "load Transport/transit.tl;set transit.MissionTimeout 60 min;set transit.NeedCommsTime 30 min;set transit.Latitude 36.797 degree;set transit.Longitude -121.847 degree;set transit.Depth 10 m;set transit.Speed 1 m/s", ASAP
2025-02-19T00:40:06.991Z,1739925606.991 [DataOverHttps](IMPORTANT): SBD MTMSN=20250219T004006
2025-02-19T00:40:14.501Z,1739925614.501 [DataOverHttps](INFO): Received command: sched asap "set transit.MaxDepth 20 m;set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run" 1yf6c 2 2
2025-02-19T00:40:14.553Z,1739925614.553 [CommandExec](IMPORTANT): got command schedule asap "set transit.MaxDepth 20 m;set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run" 1yf6c 2 2.000000
2025-02-19T00:40:14.553Z,1739925614.553 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=1yf6c
2025-02-19T00:40:14.554Z,1739925614.554 [CommandExec](IMPORTANT): Scheduled #5 (#2 of 2 with id='1yf6c'): "set transit.MaxDepth 20 m;set transit.MinOffshore 1 km;set transit.MinAltitude 7 m;run", ASAP
2025-02-19T00:40:14.670Z,1739925614.670 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-02-19T00:40:14.670Z,1739925614.670 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-02-19T00:40:14.671Z,1739925614.671 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-02-19T00:40:14.672Z,1739925614.672 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-02-19T00:40:15.385Z,1739925615.385 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </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" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </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>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" />
    </Aggregate>
</Mission>

2025-02-19T00:40:15.390Z,1739925615.390 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-02-19T00:40:15.392Z,1739925615.392 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-02-19T00:40:15.395Z,1739925615.395 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-02-19T00:40:15.397Z,1739925615.397 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-02-19T00:40:15.399Z,1739925615.399 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-02-19T00:40:15.401Z,1739925615.401 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-02-19T00:40:15.403Z,1739925615.403 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-02-19T00:40:15.405Z,1739925615.405 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-02-19T00:40:15.408Z,1739925615.408 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-02-19T00:40:15.410Z,1739925615.410 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-02-19T00:40:15.412Z,1739925615.412 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-02-19T00:40:15.414Z,1739925615.414 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-02-19T00:40:15.416Z,1739925615.416 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-02-19T00:40:15.416Z,1739925615.416 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-19T00:40:15.417Z,1739925615.417 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-19T00:40:15.442Z,1739925615.442 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-19T00:40:15.747Z,1739925615.747 [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>

2025-02-19T00:40:15.751Z,1739925615.751 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-02-19T00:40:15.754Z,1739925615.754 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-19T00:40:15.756Z,1739925615.756 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-19T00:40:15.758Z,1739925615.758 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-02-19T00:40:15.760Z,1739925615.760 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-19T00:40:15.763Z,1739925615.763 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-19T00:40:15.765Z,1739925615.765 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-02-19T00:40:15.767Z,1739925615.767 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-02-19T00:40:15.772Z,1739925615.772 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-19T00:40:15.829Z,1739925615.829 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-19T00:40:15.830Z,1739925615.830 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-19T00:40:15.831Z,1739925615.831 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-19T00:40:15.901Z,1739925615.901 [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>

2025-02-19T00:40:15.904Z,1739925615.904 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-19T00:40:15.907Z,1739925615.907 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-19T00:40:15.909Z,1739925615.909 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-19T00:40:15.911Z,1739925615.911 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-19T00:40:15.912Z,1739925615.912 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-19T00:40:15.917Z,1739925615.917 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-19T00:40:15.924Z,1739925615.924 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-19T00:40:15.932Z,1739925615.932 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-19T00:40:15.932Z,1739925615.932 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-19T00:40:15.933Z,1739925615.933 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-19T00:40:16.028Z,1739925616.028 [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>

2025-02-19T00:40:16.040Z,1739925616.040 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-02-19T00:40:16.059Z,1739925616.059 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-19T00:40:16.061Z,1739925616.061 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-19T00:40:16.065Z,1739925616.065 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-19T00:40:16.067Z,1739925616.067 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-19T00:40:16.209Z,1739925616.209 [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>

2025-02-19T00:40:16.213Z,1739925616.213 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-02-19T00:40:16.215Z,1739925616.215 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-02-19T00:40:16.217Z,1739925616.217 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-02-19T00:40:16.219Z,1739925616.219 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-02-19T00:40:16.221Z,1739925616.221 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-19T00:40:16.255Z,1739925616.255 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-19T00:40:16.257Z,1739925616.257 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-19T00:40:16.260Z,1739925616.260 [transit:MassHold.Pitch](DEBUG): Construct.
2025-02-19T00:40:16.266Z,1739925616.266 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-02-19T00:40:16.272Z,1739925616.272 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-02-19T00:40:16.275Z,1739925616.275 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-19T00:40:16.300Z,1739925616.300 [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 transit {
  """
  Vehicle transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

  arguments {
    MissionTimeout = 60 minute
      """
      Maximum duration of mission
      """

    NeedCommsTime = 30 minute
      """
      How often to surface for commumications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to seek. If set to NaN, uses latitude at mission
      initialization.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to seek. If set to NaN, uses longitude at mission
      initialization.
      """

    Northings = 0 meter
      """
      Northward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Eastings = 0 meter
      """
      Eastward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Depth = 10 meter
      """
      Depth of flat and level flight during the mission.
      """

    Speed = 1 meter_per_second
      """
      Speed of vehicle (relative to water) during the mission.
      """

    MaxDepth = 20 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance offshore for the entire mission.
      """

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

    MassHold = true
      """
      Set to True in order to hold mass at default position, False to allow
      mass to run on its own.
      """

    BuoyancyHold = true
      """
      Set to True in order to hold buoyancy at neutral position, False to
      allow buoyancy to run on its own.
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  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

  behavior Guidance:Buoyancy id="BuoyancyHold" {
    run while ( BuoyancyHold )

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch id="MassHold" {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

      set latitude = Latitude
      set longitude = Longitude
      set northingsDelta = Northings
      set eastingsDelta = Eastings
    }

    call id="PhoneHome" refId="NeedComms"
  }
}


2025-02-19T00:40:16.301Z,1739925616.301 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-02-19T00:40:32.800Z,1739925632.800 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 60 minute
2025-02-19T00:40:32.801Z,1739925632.801 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 30 minute
2025-02-19T00:40:32.802Z,1739925632.802 [CommandExec](IMPORTANT): got command set transit.Latitude 36.797 degree
2025-02-19T00:40:32.802Z,1739925632.802 [CommandExec](IMPORTANT): got command set transit.Longitude -121.847 degree
2025-02-19T00:40:32.803Z,1739925632.803 [CommandExec](IMPORTANT): got command set transit.Depth 10 meter
2025-02-19T00:40:32.804Z,1739925632.804 [CommandExec](IMPORTANT): got command set transit.Speed 1 meter_per_second
2025-02-19T00:40:42.504Z,1739925642.504 [CommandExec](IMPORTANT): got command set transit.MaxDepth 20 meter
2025-02-19T00:40:42.504Z,1739925642.504 [CommandExec](IMPORTANT): got command set transit.MinOffshore 1 kilometer
2025-02-19T00:40:42.505Z,1739925642.505 [CommandExec](IMPORTANT): got command set transit.MinAltitude 7 meter
2025-02-19T00:40:42.506Z,1739925642.506 [CommandExec](IMPORTANT): got command run
2025-02-19T00:40:42.507Z,1739925642.507 [CommandExec](IMPORTANT): Running 
2025-02-19T00:40:42.671Z,1739925642.671 [Default] Stopped
2025-02-19T00:40:42.672Z,1739925642.672 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-19T00:40:42.672Z,1739925642.672 [Default:B.GoToSurface] Stopped
2025-02-19T00:40:42.672Z,1739925642.672 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-19T00:40:42.672Z,1739925642.672 [Default:CheckIn] Stopped
2025-02-19T00:40:42.672Z,1739925642.672 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-19T00:40:42.672Z,1739925642.672 [Default:CheckIn:C.Wait] Stopped
2025-02-19T00:40:42.672Z,1739925642.672 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-19T00:40:42.672Z,1739925642.672 [MissionManager](IMPORTANT): Started mission transit
2025-02-19T00:40:42.672Z,1739925642.672 [transit] Running Loop=1
2025-02-19T00:40:42.673Z,1739925642.673 [transit](DEBUG): Aggregate::initialize transit
2025-02-19T00:40:42.673Z,1739925642.673 [transit:StandardEnvelopes] Running Loop=1
2025-02-19T00:40:42.673Z,1739925642.673 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-02-19T00:40:42.673Z,1739925642.673 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-19T00:40:42.673Z,1739925642.673 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-19T00:40:42.673Z,1739925642.673 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-19T00:40:42.673Z,1739925642.673 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-19T00:40:42.674Z,1739925642.674 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-19T00:40:42.674Z,1739925642.674 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-19T00:40:42.674Z,1739925642.674 [transit:BackseatDriver] Running Loop=1
2025-02-19T00:40:42.674Z,1739925642.674 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-02-19T00:40:42.674Z,1739925642.674 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-19T00:40:42.674Z,1739925642.674 [transit:PowerOnly] Running Loop=1
2025-02-19T00:40:42.674Z,1739925642.674 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-02-19T00:40:42.674Z,1739925642.674 [transit:PowerOnly:A] Running Loop=1
2025-02-19T00:40:42.674Z,1739925642.674 [transit:PowerOnly:B] Running Loop=1
2025-02-19T00:40:42.674Z,1739925642.674 [transit:PowerOnly:C] Running Loop=1
2025-02-19T00:40:42.674Z,1739925642.674 [transit:PowerOnly:D] Running Loop=1
2025-02-19T00:40:42.675Z,1739925642.675 [transit:PowerOnly:E.Wait] Running Loop=1
2025-02-19T00:40:42.675Z,1739925642.675 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-19T00:40:42.675Z,1739925642.675 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-19T00:40:42.675Z,1739925642.675 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-19T00:40:42.675Z,1739925642.675 [transit:MassHold.Pitch] Running Loop=1
2025-02-19T00:40:42.675Z,1739925642.675 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-02-19T00:40:42.675Z,1739925642.675 [transit:B] Running Loop=1
2025-02-19T00:40:42.676Z,1739925642.676 [transit:MassHold.Pitch] Running Loop=1
2025-02-19T00:40:42.676Z,1739925642.676 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-19T00:40:42.676Z,1739925642.676 [transit:PowerOnly] Running Loop=1
2025-02-19T00:40:42.677Z,1739925642.677 [transit:PowerOnly:D] Stopped
2025-02-19T00:40:42.677Z,1739925642.677 [transit:PowerOnly:C] Stopped
2025-02-19T00:40:42.677Z,1739925642.677 [transit:PowerOnly:B] Stopped
2025-02-19T00:40:42.677Z,1739925642.677 [transit:PowerOnly:A] Stopped
2025-02-19T00:40:42.677Z,1739925642.677 [transit:BackseatDriver] Running Loop=1
2025-02-19T00:40:42.677Z,1739925642.677 [transit:StandardEnvelopes] Running Loop=1
2025-02-19T00:40:42.677Z,1739925642.677 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-19T00:40:42.678Z,1739925642.678 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-19T00:40:42.678Z,1739925642.678 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-19T00:40:42.678Z,1739925642.678 [transit:B] Stopped
2025-02-19T00:40:42.679Z,1739925642.679 [transit:C] Running Loop=1
2025-02-19T00:40:43.117Z,1739925643.117 [transit:C] Stopped
2025-02-19T00:40:43.137Z,1739925643.137 [transit:E] Running Loop=1
2025-02-19T00:40:43.516Z,1739925643.516 [transit:E] Stopped
2025-02-19T00:40:43.517Z,1739925643.517 [transit:F] Running Loop=1
2025-02-19T00:40:43.885Z,1739925643.885 [transit:F] Stopped
2025-02-19T00:40:43.886Z,1739925643.886 [transit:G] Running Loop=1
2025-02-19T00:40:44.304Z,1739925644.304 [transit:G] Stopped
2025-02-19T00:40:44.304Z,1739925644.304 [transit:Transit] Running Loop=1
2025-02-19T00:40:44.304Z,1739925644.304 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-02-19T00:40:44.304Z,1739925644.304 [transit:Transit:A.Pitch] Running Loop=1
2025-02-19T00:40:44.304Z,1739925644.304 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-02-19T00:40:44.304Z,1739925644.304 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-19T00:40:44.304Z,1739925644.304 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-02-19T00:40:44.305Z,1739925644.305 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-02-19T00:40:44.305Z,1739925644.305 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-19T00:40:44.310Z,1739925644.310 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-19T00:40:44.311Z,1739925644.311 [transit:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-19T00:40:44.715Z,1739925644.715 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-19T00:40:44.715Z,1739925644.715 [transit:Transit:B.SetSpeed] Running Loop=1
2025-02-19T00:40:44.716Z,1739925644.716 [transit:Transit:A.Pitch] Running Loop=1
2025-02-19T00:41:21.879Z,1739925681.879 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 11.65 mm (4 active estimators).
2025-02-19T00:42:10.062Z,1739925730.062 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-19T00:42:41.202Z,1739925761.202 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-19T00:42:54.513Z,1739925774.513 [Radio_Surface](INFO): Powering down
2025-02-19T00:43:12.342Z,1739925792.342 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-19T00:43:13.346Z,1739925793.346 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-19T00:44:18.618Z,1739925858.618 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.762909
2025-02-19T00:58:19.989Z,1739926699.989 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.797001,-121.847000
2025-02-19T00:58:19.990Z,1739926699.990 [transit:Transit:Wpt1.Waypoint] Stopped
2025-02-19T00:58:19.990Z,1739926699.990 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-19T00:58:19.990Z,1739926699.990 [transit:Transit:PhoneHome] Running Loop=1
2025-02-19T00:58:19.990Z,1739926699.990 [transit:Transit:PhoneHome](DEBUG): Aggregate::initialize transit:Transit:PhoneHome
2025-02-19T00:58:20.399Z,1739926700.399 [transit:NeedComms] Running Loop=1
2025-02-19T00:58:20.399Z,1739926700.399 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-02-19T00:58:20.399Z,1739926700.399 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-02-19T00:58:20.399Z,1739926700.399 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-19T00:58:20.400Z,1739926700.400 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-19T00:58:20.400Z,1739926700.400 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-19T00:58:20.401Z,1739926700.401 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-19T00:58:20.401Z,1739926700.401 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-19T00:58:20.401Z,1739926700.401 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-19T00:58:20.402Z,1739926700.402 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-19T00:58:20.402Z,1739926700.402 [transit:NeedComms:A] Running Loop=1
2025-02-19T00:58:20.403Z,1739926700.403 [transit:NeedComms:A](INFO): last time_fix was:  1739925467.000000 second since 1970/01/01T00:00:00Z 
2025-02-19T00:58:20.404Z,1739926700.404 [transit:NeedComms:A] Stopped
2025-02-19T00:58:58.008Z,1739926738.008 [transit:NeedComms:C] Running Loop=1
2025-02-19T00:58:58.400Z,1739926738.400 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-19T00:58:58.487Z,1739926738.487 [Radio_Surface](INFO): Powering up
2025-02-19T00:59:04.302Z,1739926744.302 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-19T00:59:23.036Z,1739926763.036 [NAL9602](INFO): SBD MO Status=2, MOMSN=12704, MT Status=2, MTMSN=0
2025-02-19T00:59:23.036Z,1739926763.036 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-19T00:59:34.424Z,1739926774.424 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-19T01:00:05.546Z,1739926805.546 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-19T01:00:15.616Z,1739926815.616 [NAL9602](INFO): SBD MO Status=2, MOMSN=12704, MT Status=2, MTMSN=0
2025-02-19T01:00:15.616Z,1739926815.616 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-19T01:00:36.670Z,1739926836.670 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-19T01:00:39.852Z,1739926839.852 [NAL9602](INFO): SBD MO Status=2, MOMSN=12704, MT Status=2, MTMSN=0
2025-02-19T01:00:39.852Z,1739926839.852 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-19T01:01:07.810Z,1739926867.810 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-19T01:01:08.276Z,1739926868.276 [NAL9602](INFO): SBD MO Status=2, MOMSN=12704, MT Status=2, MTMSN=0
2025-02-19T01:01:08.276Z,1739926868.276 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-19T01:01:25.494Z,1739926885.494 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002968
2025-02-19T01:01:29.372Z,1739926889.372 [NAL9602](INFO): SBD MO Status=0, MOMSN=12704, MT Status=0, MTMSN=0
2025-02-19T01:01:29.372Z,1739926889.372 [NAL9602](INFO): No messages in MT queue
2025-02-19T01:01:30.588Z,1739926890.588 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,010130.00,A,3647.65404,N,12150.84734,W,0.486,153.95,190225,,,A*7D
2025-02-19T01:01:30.591Z,1739926890.591 [NAL9602](INFO): GPS fix at 20250219T010130: (36.794234, -121.847456)
2025-02-19T01:01:30.603Z,1739926890.603 [UniversalFixResidualReporter](INFO): Fix residual: 33.1 %DT, over the last 1087.3 m. Residual distance 359.9 m at bearing 10.9 degrees. Fix at (36.7942, -121.8475) with 703.9 m made good.
2025-02-19T01:01:30.606Z,1739926890.606 [transit:NeedComms:C] Stopped
2025-02-19T01:01:30.606Z,1739926890.606 [transit:NeedComms:D] Running Loop=1
2025-02-19T01:01:31.052Z,1739926891.052 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-19T01:01:38.001Z,1739926898.001 [DataOverHttps](INFO): Sending 83 bytes from file Logs/20250218T221253/Courier0043.lzma
2025-02-19T01:01:39.003Z,1739926899.003 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Courier0043.lzma.bak
2025-02-19T01:01:39.003Z,1739926899.003 [DataOverHttps](INFO): SBD MOMSN=23966704
2025-02-19T01:01:54.831Z,1739926914.831 [DataOverHttps](INFO): Sending 1512 bytes from file Logs/20250218T221253/Express0044.lzma
2025-02-19T01:01:55.831Z,1739926915.831 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Express0044.lzma.bak
2025-02-19T01:01:55.831Z,1739926915.831 [DataOverHttps](INFO): SBD MOMSN=23966708
2025-02-19T01:02:03.310Z,1739926923.310 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-19T01:02:12.065Z,1739926932.065 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20250218T221253/Express0047.lzma
2025-02-19T01:02:13.067Z,1739926933.067 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Express0047.lzma.bak
2025-02-19T01:02:13.067Z,1739926933.067 [DataOverHttps](INFO): SBD MOMSN=23966734
2025-02-19T01:02:14.632Z,1739926934.632 [transit:NeedComms:D] Stopped
2025-02-19T01:02:14.633Z,1739926934.633 [transit:NeedComms:E] Running Loop=1
2025-02-19T01:02:15.046Z,1739926935.046 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-19T01:02:16.640Z,1739926936.640 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,010216.00,A,3647.64678,N,12150.84516,W,1.050,158.24,190225,,,A*7F
2025-02-19T01:02:16.650Z,1739926936.650 [NAL9602](INFO): GPS fix at 20250219T010216: (36.794113, -121.847419)
2025-02-19T01:02:16.681Z,1739926936.681 [transit:NeedComms:E] Stopped
2025-02-19T01:02:16.682Z,1739926936.682 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-02-19T01:02:16.682Z,1739926936.682 [transit:NeedComms] Stopped
2025-02-19T01:02:16.683Z,1739926936.683 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-02-19T01:02:16.683Z,1739926936.683 [transit:NeedComms:B.GoToSurface] Stopped
2025-02-19T01:02:16.683Z,1739926936.683 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-19T01:02:17.087Z,1739926937.087 [transit:Transit:PhoneHome](INFO): Completed transit:Transit:PhoneHome
2025-02-19T01:02:17.087Z,1739926937.087 [transit:Transit:PhoneHome] Stopped
2025-02-19T01:02:17.087Z,1739926937.087 [transit:Transit:PhoneHome](DEBUG): Aggregate::uninitialize transit:Transit:PhoneHome
2025-02-19T01:02:17.088Z,1739926937.088 [transit:Transit](INFO): Completed transit:Transit
2025-02-19T01:02:17.088Z,1739926937.088 [transit:Transit] Stopped
2025-02-19T01:02:17.088Z,1739926937.088 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-02-19T01:02:17.088Z,1739926937.088 [transit:Transit:A.Pitch] Stopped
2025-02-19T01:02:17.088Z,1739926937.088 [transit:Transit:B.SetSpeed] Stopped
2025-02-19T01:02:17.088Z,1739926937.088 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-02-19T01:02:17.094Z,1739926937.094 [transit](INFO): Completed transit
2025-02-19T01:02:17.095Z,1739926937.095 [MissionManager](INFO): transit is completed.
2025-02-19T01:02:17.095Z,1739926937.095 [MissionManager](INFO): Uninitializing Mission transit
2025-02-19T01:02:17.095Z,1739926937.095 [transit] Stopped
2025-02-19T01:02:17.095Z,1739926937.095 [transit](DEBUG): Aggregate::uninitialize transit
2025-02-19T01:02:17.095Z,1739926937.095 [transit:StandardEnvelopes] Stopped
2025-02-19T01:02:17.095Z,1739926937.095 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-02-19T01:02:17.095Z,1739926937.095 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-19T01:02:17.095Z,1739926937.095 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-19T01:02:17.095Z,1739926937.095 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-19T01:02:17.095Z,1739926937.095 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-19T01:02:17.095Z,1739926937.095 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-19T01:02:17.095Z,1739926937.095 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-19T01:02:17.096Z,1739926937.096 [transit:BackseatDriver] Stopped
2025-02-19T01:02:17.096Z,1739926937.096 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-02-19T01:02:17.096Z,1739926937.096 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-02-19T01:02:17.096Z,1739926937.096 [transit:PowerOnly] Stopped
2025-02-19T01:02:17.096Z,1739926937.096 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-02-19T01:02:17.096Z,1739926937.096 [transit:PowerOnly:E.Wait] Stopped
2025-02-19T01:02:17.096Z,1739926937.096 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-19T01:02:17.096Z,1739926937.096 [transit:BuoyancyHold.Buoyancy] Stopped
2025-02-19T01:02:17.096Z,1739926937.096 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-19T01:02:17.096Z,1739926937.096 [transit:MassHold.Pitch] Stopped
2025-02-19T01:02:17.465Z,1739926937.465 [MissionManager](IMPORTANT): Started mission Default
2025-02-19T01:02:17.466Z,1739926937.466 [Default] Running Loop=1
2025-02-19T01:02:17.466Z,1739926937.466 [Default](DEBUG): Aggregate::initialize Default
2025-02-19T01:02:17.466Z,1739926937.466 [Default:B.GoToSurface] Running Loop=1
2025-02-19T01:02:17.466Z,1739926937.466 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-19T01:02:17.466Z,1739926937.466 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-19T01:02:17.466Z,1739926937.466 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-19T01:02:17.467Z,1739926937.467 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-19T01:02:17.467Z,1739926937.467 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-19T01:02:17.467Z,1739926937.467 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-19T01:02:17.468Z,1739926937.468 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-19T01:02:17.468Z,1739926937.468 [Default:A.Wait] Running Loop=1
2025-02-19T01:02:17.468Z,1739926937.468 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-19T01:02:28.427Z,1739926948.427 [NAL9602](INFO): SBD MO Status=0, MOMSN=12705, MT Status=0, MTMSN=0
2025-02-19T01:02:28.427Z,1739926948.427 [NAL9602](INFO): No messages in MT queue
2025-02-19T01:02:30.862Z,1739926950.862 [Default:A.Wait](INFO): Done Waiting.
2025-02-19T01:02:30.862Z,1739926950.862 [Default:A.Wait] Stopped
2025-02-19T01:02:30.862Z,1739926950.862 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-19T01:02:31.277Z,1739926951.277 [Default:CheckIn] Running Loop=1
2025-02-19T01:02:31.277Z,1739926951.277 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-19T01:02:31.277Z,1739926951.277 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-19T01:02:33.276Z,1739926953.276 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,010232.00,A,3647.64395,N,12150.84348,W,1.186,120.64,190225,,,A*73
2025-02-19T01:02:33.278Z,1739926953.278 [NAL9602](INFO): GPS fix at 20250219T010232: (36.794066, -121.847391)
2025-02-19T01:02:33.289Z,1739926953.289 [Default:CheckIn:Read_GPS] Stopped
2025-02-19T01:02:33.289Z,1739926953.289 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-19T01:02:40.533Z,1739926960.533 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250218T221253/Courier0049.lzma
2025-02-19T01:02:41.536Z,1739926961.536 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Courier0049.lzma.bak
2025-02-19T01:02:41.536Z,1739926961.536 [DataOverHttps](INFO): SBD MOMSN=23966738
2025-02-19T01:03:02.397Z,1739926982.397 [DataOverHttps](INFO): Sending 237 bytes from file Logs/20250218T221253/Express0050.lzma
2025-02-19T01:03:03.388Z,1739926983.388 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Express0050.lzma.bak
2025-02-19T01:03:03.388Z,1739926983.388 [DataOverHttps](INFO): SBD MOMSN=23966743
2025-02-19T01:03:04.855Z,1739926984.855 [Default:CheckIn:Read_Iridium] Stopped
2025-02-19T01:03:04.855Z,1739926984.855 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-19T01:03:04.855Z,1739926984.855 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-19T01:03:05.238Z,1739926985.238 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-19T01:04:13.083Z,1739927053.083 [DataOverHttps](IMPORTANT): SBD MTMSN=20250219T010412
2025-02-19T01:04:20.393Z,1739927060.393 [DataOverHttps](INFO): Received command: configSet ESPComponent.loadAtStartup 1 bool persist
2025-02-19T01:04:20.737Z,1739927060.737 [CommandExec](IMPORTANT): got command configSet ESPComponent.loadAtStartup 1 bool persist
2025-02-19T01:04:20.738Z,1739927060.738 [CommandExec](IMPORTANT): configSet ESPComponent.loadAtStartup requires a restart to take effect.
2025-02-19T01:04:51.908Z,1739927091.908 [DataOverHttps](IMPORTANT): SBD MTMSN=20250219T010451
2025-02-19T01:04:59.213Z,1739927099.213 [DataOverHttps](INFO): Received command: configSet ESPComponent.simulateHardware 1 bool persist
2025-02-19T01:04:59.678Z,1739927099.678 [CommandExec](IMPORTANT): got command configSet ESPComponent.simulateHardware 1 bool persist
2025-02-19T01:06:31.691Z,1739927191.691 [DataOverHttps](IMPORTANT): SBD MTMSN=20250219T010630
2025-02-19T01:06:39.025Z,1739927199.025 [DataOverHttps](INFO): Received command: configSet ESPComponent.sampleTimeout 5 minute persist
2025-02-19T01:06:39.352Z,1739927199.352 [CommandExec](IMPORTANT): got command configSet ESPComponent.sampleTimeout 5 minute persist
2025-02-19T01:08:05.524Z,1739927285.524 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-19T01:08:05.524Z,1739927285.524 [Default:CheckIn:C.Wait] Stopped
2025-02-19T01:08:05.524Z,1739927285.524 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-19T01:08:05.525Z,1739927285.525 [Default:CheckIn:D] Running Loop=1
2025-02-19T01:08:05.914Z,1739927285.914 [Default:CheckIn:D] Stopped
2025-02-19T01:08:05.914Z,1739927285.914 [Default:CheckIn:E] Running Loop=1
2025-02-19T01:08:06.339Z,1739927286.339 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  5.807470 min 
2025-02-19T01:08:06.339Z,1739927286.339 [Default:CheckIn:E] Stopped
2025-02-19T01:08:06.339Z,1739927286.339 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-19T01:08:06.339Z,1739927286.339 [Default:CheckIn] Stopped
2025-02-19T01:08:06.339Z,1739927286.339 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-19T01:08:06.339Z,1739927286.339 [Default:CheckIn](INFO): Running loop #2
2025-02-19T01:08:06.339Z,1739927286.339 [Default:CheckIn] Running Loop=2
2025-02-19T01:08:06.339Z,1739927286.339 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-19T01:08:06.340Z,1739927286.340 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-19T01:08:08.324Z,1739927288.324 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,010807.00,A,3647.57695,N,12150.80694,W,0.855,145.60,190225,,,A*7B
2025-02-19T01:08:08.327Z,1739927288.327 [NAL9602](INFO): GPS fix at 20250219T010807: (36.792949, -121.846782)
2025-02-19T01:08:08.370Z,1739927288.370 [Default:CheckIn:Read_GPS] Stopped
2025-02-19T01:08:08.370Z,1739927288.370 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-19T01:08:10.238Z,1739927290.238 [DataOverHttps](INFO): Sending 74 bytes from file Logs/20250218T221253/Courier0052.lzma
2025-02-19T01:08:10.923Z,1739927290.923 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Courier0052.lzma.bak
2025-02-19T01:08:10.923Z,1739927290.923 [DataOverHttps](INFO): SBD MOMSN=23966752
2025-02-19T01:08:25.392Z,1739927305.392 [NAL9602](INFO): SBD MO Status=0, MOMSN=12706, MT Status=0, MTMSN=0
2025-02-19T01:08:25.392Z,1739927305.392 [NAL9602](INFO): No messages in MT queue
2025-02-19T01:08:27.029Z,1739927307.029 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250218T221253/Courier0055.lzma
2025-02-19T01:08:28.031Z,1739927308.031 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Courier0055.lzma.bak
2025-02-19T01:08:28.031Z,1739927308.031 [DataOverHttps](INFO): SBD MOMSN=23966755
2025-02-19T01:08:43.984Z,1739927323.984 [DataOverHttps](INFO): Sending 724 bytes from file Logs/20250218T221253/Express0053.lzma
2025-02-19T01:08:44.983Z,1739927324.983 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Express0053.lzma.bak
2025-02-19T01:08:44.983Z,1739927324.983 [DataOverHttps](INFO): SBD MOMSN=23966758
2025-02-19T01:08:56.114Z,1739927336.114 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-19T01:09:00.929Z,1739927340.929 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20250218T221253/Express0056.lzma
2025-02-19T01:09:01.931Z,1739927341.931 [DataOverHttps](INFO): Moved sent file to Logs/20250218T221253/Express0056.lzma.bak
2025-02-19T01:09:01.931Z,1739927341.931 [DataOverHttps](INFO): SBD MOMSN=23966768
2025-02-19T01:09:03.405Z,1739927343.405 [Default:CheckIn:Read_Iridium] Stopped
2025-02-19T01:09:03.406Z,1739927343.406 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-19T01:09:03.406Z,1739927343.406 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-19T01:10:11.323Z,1739927411.323 [DataOverHttps](IMPORTANT): SBD MTMSN=20250219T011010
2025-02-19T01:10:18.813Z,1739927418.813 [DataOverHttps](INFO): Received command: restart app
2025-02-19T01:10:18.843Z,1739927418.843 [CommandExec](IMPORTANT): got command restart application
2025-02-19T01:10:19.845Z,1739927419.845 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2025-02-19T01:10:19.846Z,1739927419.846 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-19T01:10:19.846Z,1739927419.846 [CommandExec](INFO): Uninitializing the command executive.
2025-02-19T01:10:19.846Z,1739927419.846 [CommandExec](INFO): Uninitializing the command scheduler.
2025-02-19T01:10:19.846Z,1739927419.846 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:20.001Z,1739927420.001 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-02-19T01:10:20.001Z,1739927420.001 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-02-19T01:10:20.002Z,1739927420.002 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:20.002Z,1739927420.002 [NavChartDb](INFO): Join timeout helper Thread ID is 3075
2025-02-19T01:10:20.269Z,1739927420.269 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-19T01:10:20.270Z,1739927420.270 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:20.288Z,1739927420.288 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-02-19T01:10:20.288Z,1739927420.288 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:20.288Z,1739927420.288 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 3076
2025-02-19T01:10:20.297Z,1739927420.297 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-19T01:10:20.298Z,1739927420.298 [WetLabsBB2FL](INFO): Powering down
2025-02-19T01:10:20.298Z,1739927420.298 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:20.300Z,1739927420.300 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-02-19T01:10:20.300Z,1739927420.300 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:20.300Z,1739927420.300 [CTD_Seabird](INFO): Join timeout helper Thread ID is 3077
2025-02-19T01:10:20.610Z,1739927420.610 [CTD_Seabird](INFO): Powering down
2025-02-19T01:10:20.622Z,1739927420.622 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-19T01:10:20.622Z,1739927420.622 [CTD_Seabird](INFO): Powering down
2025-02-19T01:10:20.633Z,1739927420.633 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:20.645Z,1739927420.645 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-02-19T01:10:20.645Z,1739927420.645 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:20.646Z,1739927420.646 [Radio_Surface](INFO): Join timeout helper Thread ID is 3078
2025-02-19T01:10:20.682Z,1739927420.682 [Radio_Surface](INFO): Powering down
2025-02-19T01:10:20.682Z,1739927420.682 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-19T01:10:20.683Z,1739927420.683 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:20.689Z,1739927420.689 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-02-19T01:10:20.690Z,1739927420.690 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:20.690Z,1739927420.690 [Onboard](INFO): Join timeout helper Thread ID is 3079
2025-02-19T01:10:20.838Z,1739927420.838 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-19T01:10:24.625Z,1739927424.625 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-19T01:10:24.626Z,1739927424.626 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:24.642Z,1739927424.642 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-02-19T01:10:24.642Z,1739927424.642 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:24.643Z,1739927424.643 [DataOverHttps](INFO): Join timeout helper Thread ID is 3080
2025-02-19T01:10:24.853Z,1739927424.853 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-19T01:10:24.854Z,1739927424.854 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:24.873Z,1739927424.873 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-02-19T01:10:24.873Z,1739927424.873 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:24.873Z,1739927424.873 [BackseatComponent](INFO): Join timeout helper Thread ID is 3081
2025-02-19T01:10:24.909Z,1739927424.909 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-19T01:10:24.910Z,1739927424.910 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:24.926Z,1739927424.926 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-02-19T01:10:24.926Z,1739927424.926 [logger ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:24.927Z,1739927424.927 [logger](INFO): Join timeout helper Thread ID is 3082
2025-02-19T01:10:24.927Z,1739927424.927 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-19T01:10:24.927Z,1739927424.927 [logger ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:24.928Z,1739927424.928 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-02-19T01:10:24.928Z,1739927424.928 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:24.929Z,1739927424.929 [CommandLine](INFO): Join timeout helper Thread ID is 3083
2025-02-19T01:10:24.977Z,1739927424.977 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-19T01:10:24.978Z,1739927424.978 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:24.986Z,1739927424.986 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-02-19T01:10:24.986Z,1739927424.986 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:24.986Z,1739927424.986 [CommandExec](INFO): Join timeout helper Thread ID is 3084
2025-02-19T01:10:24.988Z,1739927424.988 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-02-19T01:10:24.988Z,1739927424.988 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:24.988Z,1739927424.988 [controlThread](INFO): Join timeout helper Thread ID is 3085
2025-02-19T01:10:25.013Z,1739927425.013 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-19T01:10:25.014Z,1739927425.014 [controlThread](DEBUG): Uninitializing ControlThread
2025-02-19T01:10:25.014Z,1739927425.014 [AHRS_M2](INFO): Powering down
2025-02-19T01:10:25.086Z,1739927425.086 [NAL9602](INFO): Powering down
2025-02-19T01:10:25.088Z,1739927425.088 [Sonardyne_Nano](INFO): Powering down
2025-02-19T01:10:25.206Z,1739927425.206 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-02-19T01:10:25.207Z,1739927425.207 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-02-19T01:10:25.207Z,1739927425.207 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-02-19T01:10:25.208Z,1739927425.208 [MissionManager](INFO): Uninitializing Mission Default
2025-02-19T01:10:25.208Z,1739927425.208 [Default] Stopped
2025-02-19T01:10:25.208Z,1739927425.208 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-19T01:10:25.208Z,1739927425.208 [Default:B.GoToSurface] Stopped
2025-02-19T01:10:25.208Z,1739927425.208 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-19T01:10:25.208Z,1739927425.208 [Default:CheckIn] Stopped
2025-02-19T01:10:25.208Z,1739927425.208 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-19T01:10:25.209Z,1739927425.209 [Default:CheckIn:C.Wait] Stopped
2025-02-19T01:10:25.209Z,1739927425.209 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-19T01:10:25.211Z,1739927425.211 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-02-19T01:10:25.212Z,1739927425.212 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-02-19T01:10:25.212Z,1739927425.212 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-02-19T01:10:25.212Z,1739927425.212 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-02-19T01:10:25.213Z,1739927425.213 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-02-19T01:10:25.213Z,1739927425.213 [BuoyancyServo](INFO): Powering down
2025-02-19T01:10:25.226Z,1739927425.226 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-02-19T01:10:25.226Z,1739927425.226 [ElevatorServo](INFO): Powering down
2025-02-19T01:10:25.226Z,1739927425.226 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-19T01:10:25.227Z,1739927425.227 [MassServo](INFO): Powering down
2025-02-19T01:10:25.227Z,1739927425.227 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-02-19T01:10:25.228Z,1739927425.228 [RudderServo](INFO): Powering down
2025-02-19T01:10:25.228Z,1739927425.228 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-19T01:10:25.228Z,1739927425.228 [ThrusterHE](INFO): Powering down
2025-02-19T01:10:25.229Z,1739927425.229 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-02-19T01:10:25.230Z,1739927425.230 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-02-19T01:10:25.230Z,1739927425.230 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-02-19T01:10:25.230Z,1739927425.230 [CBIT](DEBUG): Powering off loads.
2025-02-19T01:10:25.241Z,1739927425.241 [CBIT](DEBUG): Disabling WDT.
2025-02-19T01:10:25.253Z,1739927425.253 [CBIT](DEBUG): Opening all GF detection circuits.
2025-02-19T01:10:25.254Z,1739927425.254 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:25.280Z,1739927425.280 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:25.283Z,1739927425.283 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:25.289Z,1739927425.289 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:25.333Z,1739927425.333 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:25.420Z,1739927425.420 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:25.424Z,1739927425.424 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:25.443Z,1739927425.443 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-19T01:10:25.519Z,1739927425.519 [logger ThreadHandler](INFO): Thread cancelled.