2025-02-25T06:21:20.952Z,1740464480.952 [Supervisor](DEBUG): Initializing supervisor.
2025-02-25T06:21:20.956Z,1740464480.956 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-02-25T06:21:20.957Z,1740464480.957 [SyncHandler](INFO): Protected caller Thread ID is 4659
2025-02-25T06:21:20.957Z,1740464480.957 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-02-25T06:21:20.958Z,1740464480.958 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-02-25T06:21:20.959Z,1740464480.959 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 4660
2025-02-25T06:21:20.963Z,1740464480.963 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-02-25T06:21:20.980Z,1740464480.980 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-02-25T06:21:20.981Z,1740464480.981 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-02-25T06:21:20.981Z,1740464480.981 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 4661
2025-02-25T06:21:20.986Z,1740464480.986 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-02-25T06:21:20.987Z,1740464480.987 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-02-25T06:21:20.987Z,1740464480.987 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 4662
2025-02-25T06:21:20.989Z,1740464480.989 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-02-25T06:21:20.990Z,1740464480.990 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-02-25T06:21:20.990Z,1740464480.990 [logger ThreadHandler](INFO): Protected caller Thread ID is 4663
2025-02-25T06:21:20.994Z,1740464480.994 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-02-25T06:21:20.995Z,1740464480.995 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-02-25T06:21:20.996Z,1740464480.996 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-02-25T06:21:21.265Z,1740464481.265 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-02-25T06:21:21.267Z,1740464481.267 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-02-25T06:21:21.498Z,1740464481.498 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-02-25T06:21:21.498Z,1740464481.498 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-02-25T06:21:21.617Z,1740464481.617 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-02-25T06:21:21.618Z,1740464481.618 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-02-25T06:21:21.820Z,1740464481.820 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-02-25T06:21:21.822Z,1740464481.822 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-02-25T06:21:22.340Z,1740464482.340 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-02-25T06:21:22.340Z,1740464482.340 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-02-25T06:21:22.471Z,1740464482.471 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-02-25T06:21:22.473Z,1740464482.473 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-02-25T06:21:22.762Z,1740464482.762 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-02-25T06:21:22.763Z,1740464482.763 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-02-25T06:21:22.993Z,1740464482.993 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-02-25T06:21:22.994Z,1740464482.994 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-02-25T06:21:23.552Z,1740464483.552 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-02-25T06:21:23.553Z,1740464483.553 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-02-25T06:21:23.983Z,1740464483.983 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-02-25T06:21:23.983Z,1740464483.983 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-02-25T06:21:24.086Z,1740464484.086 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-02-25T06:21:24.471Z,1740464484.471 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-02-25T06:21:24.472Z,1740464484.472 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-02-25T06:21:24.635Z,1740464484.635 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-02-25T06:21:24.636Z,1740464484.636 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-02-25T06:21:25.494Z,1740464485.494 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-02-25T06:21:25.495Z,1740464485.495 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-02-25T06:21:28.966Z,1740464488.966 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-02-25T06:21:28.967Z,1740464488.967 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-02-25T06:21:34.209Z,1740464494.209 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-aku/
2025-02-25T06:21:34.210Z,1740464494.210 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/secure.cfg
2025-02-25T06:21:34.323Z,1740464494.323 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/logger.cfg
2025-02-25T06:21:37.066Z,1740464497.066 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/vehicle.cfg
2025-02-25T06:21:37.195Z,1740464497.195 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/BIT.cfg
2025-02-25T06:21:37.307Z,1740464497.307 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Simulator.cfg
2025-02-25T06:21:37.417Z,1740464497.417 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Servo.cfg
2025-02-25T06:21:37.544Z,1740464497.544 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Science.cfg
2025-02-25T06:21:37.708Z,1740464497.708 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Sensor.cfg
2025-02-25T06:21:37.896Z,1740464497.896 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Control.cfg
2025-02-25T06:21:38.014Z,1740464498.014 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Battery.cfg
2025-02-25T06:21:38.302Z,1740464498.302 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-02-25T06:21:38.302Z,1740464498.302 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-02-25T06:21:38.320Z,1740464498.320 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-02-25T06:21:38.684Z,1740464498.684 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-02-25T06:21:38.685Z,1740464498.685 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-02-25T06:21:39.200Z,1740464499.200 [AHRS_M2] Loaded
2025-02-25T06:21:39.200Z,1740464499.200 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-02-25T06:21:39.242Z,1740464499.242 [BackseatComponent] Loaded
2025-02-25T06:21:39.242Z,1740464499.242 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-02-25T06:21:39.243Z,1740464499.243 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408AB4E0
2025-02-25T06:21:39.243Z,1740464499.243 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 4742
2025-02-25T06:21:39.246Z,1740464499.246 [LcmUniversalReporter] Loaded
2025-02-25T06:21:39.246Z,1740464499.246 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-02-25T06:21:40.050Z,1740464500.050 [BPC1] Loaded
2025-02-25T06:21:40.051Z,1740464500.051 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-02-25T06:21:40.145Z,1740464500.145 [DAT] Loaded
2025-02-25T06:21:40.145Z,1740464500.145 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-02-25T06:21:40.146Z,1740464500.146 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 408DB4E0
2025-02-25T06:21:40.146Z,1740464500.146 [DAT ThreadHandler](INFO): Protected caller Thread ID is 4743
2025-02-25T06:21:40.221Z,1740464500.221 [DataOverHttps] Loaded
2025-02-25T06:21:40.221Z,1740464500.221 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-02-25T06:21:40.222Z,1740464500.222 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4090B4E0
2025-02-25T06:21:40.223Z,1740464500.223 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 4744
2025-02-25T06:21:40.246Z,1740464500.246 [Depth_Keller] Loaded
2025-02-25T06:21:40.246Z,1740464500.246 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-02-25T06:21:40.251Z,1740464500.251 [DropWeight] Loaded
2025-02-25T06:21:40.251Z,1740464500.251 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-02-25T06:21:40.316Z,1740464500.316 [NAL9602] Loaded
2025-02-25T06:21:40.316Z,1740464500.316 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-02-25T06:21:40.345Z,1740464500.345 [Onboard] Loaded
2025-02-25T06:21:40.345Z,1740464500.345 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-02-25T06:21:40.346Z,1740464500.346 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4093B4E0
2025-02-25T06:21:40.347Z,1740464500.347 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 4745
2025-02-25T06:21:40.360Z,1740464500.360 [Power24vConverter] Loaded
2025-02-25T06:21:40.361Z,1740464500.361 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-02-25T06:21:40.378Z,1740464500.378 [Radio_Surface] Loaded
2025-02-25T06:21:40.378Z,1740464500.378 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-02-25T06:21:40.379Z,1740464500.379 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4096B4E0
2025-02-25T06:21:40.379Z,1740464500.379 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 4746
2025-02-25T06:21:40.395Z,1740464500.395 [Sonardyne_Nano] Loaded
2025-02-25T06:21:40.395Z,1740464500.395 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-02-25T06:21:40.395Z,1740464500.395 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-02-25T06:21:40.396Z,1740464500.396 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-02-25T06:21:40.535Z,1740464500.535 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-02-25T06:21:40.536Z,1740464500.536 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-02-25T06:21:40.591Z,1740464500.591 [VerticalControl](DEBUG): Construct VerticalControl.
2025-02-25T06:21:40.652Z,1740464500.652 [VerticalControl] Loaded
2025-02-25T06:21:40.652Z,1740464500.652 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-02-25T06:21:40.655Z,1740464500.655 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-02-25T06:21:40.703Z,1740464500.703 [HorizontalControl] Loaded
2025-02-25T06:21:40.703Z,1740464500.703 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-02-25T06:21:40.705Z,1740464500.705 [SpeedControl](DEBUG): Construct SpeedControl.
2025-02-25T06:21:40.709Z,1740464500.709 [SpeedControl] Loaded
2025-02-25T06:21:40.709Z,1740464500.709 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-02-25T06:21:40.712Z,1740464500.712 [LoopControl](DEBUG): Construct LoopControl.
2025-02-25T06:21:40.712Z,1740464500.712 [LoopControl] Loaded
2025-02-25T06:21:40.712Z,1740464500.712 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-02-25T06:21:40.713Z,1740464500.713 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-02-25T06:21:40.714Z,1740464500.714 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-02-25T06:21:40.724Z,1740464500.724 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-02-25T06:21:40.725Z,1740464500.725 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-02-25T06:21:40.754Z,1740464500.754 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-02-25T06:21:40.755Z,1740464500.755 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-02-25T06:21:40.924Z,1740464500.924 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-02-25T06:21:40.924Z,1740464500.924 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-02-25T06:21:40.938Z,1740464500.938 [NavChart] Loaded
2025-02-25T06:21:40.939Z,1740464500.939 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-02-25T06:21:40.944Z,1740464500.944 [UniversalFixResidualReporter] Loaded
2025-02-25T06:21:40.944Z,1740464500.944 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-02-25T06:21:40.945Z,1740464500.945 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-02-25T06:21:40.946Z,1740464500.946 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-02-25T06:21:41.942Z,1740464501.942 [SBIT](DEBUG): Construct Startup Built In Test.
2025-02-25T06:21:41.951Z,1740464501.951 [SBIT] Loaded
2025-02-25T06:21:41.952Z,1740464501.952 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-02-25T06:21:41.954Z,1740464501.954 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-02-25T06:21:41.967Z,1740464501.967 [IBIT] Loaded
2025-02-25T06:21:41.967Z,1740464501.967 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-02-25T06:21:41.973Z,1740464501.973 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-02-25T06:21:42.080Z,1740464502.080 [CBIT] Loaded
2025-02-25T06:21:42.081Z,1740464502.081 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-02-25T06:21:42.081Z,1740464502.081 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-02-25T06:21:42.082Z,1740464502.082 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-02-25T06:21:42.263Z,1740464502.263 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-02-25T06:21:42.264Z,1740464502.264 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-02-25T06:21:42.403Z,1740464502.403 [BuoyancyServo] Loaded
2025-02-25T06:21:42.403Z,1740464502.403 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-02-25T06:21:42.426Z,1740464502.426 [ElevatorServo] Loaded
2025-02-25T06:21:42.426Z,1740464502.426 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-02-25T06:21:42.448Z,1740464502.448 [MassServo] Loaded
2025-02-25T06:21:42.448Z,1740464502.448 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-02-25T06:21:42.469Z,1740464502.469 [RudderServo] Loaded
2025-02-25T06:21:42.469Z,1740464502.469 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-02-25T06:21:42.487Z,1740464502.487 [ThrusterHE] Loaded
2025-02-25T06:21:42.487Z,1740464502.487 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-02-25T06:21:42.487Z,1740464502.487 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-02-25T06:21:42.488Z,1740464502.488 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-02-25T06:21:42.669Z,1740464502.669 [CTD_Seabird] Loaded
2025-02-25T06:21:42.669Z,1740464502.669 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-02-25T06:21:42.670Z,1740464502.670 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BA14E0
2025-02-25T06:21:42.671Z,1740464502.671 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 4747
2025-02-25T06:21:42.706Z,1740464502.706 [ESPComponent] Loaded
2025-02-25T06:21:42.707Z,1740464502.707 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-02-25T06:21:42.729Z,1740464502.729 [PAR_Licor] Loaded
2025-02-25T06:21:42.729Z,1740464502.729 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-02-25T06:21:42.775Z,1740464502.775 [WetLabsBB2FL] Loaded
2025-02-25T06:21:42.776Z,1740464502.776 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-02-25T06:21:42.777Z,1740464502.777 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BD14E0
2025-02-25T06:21:42.777Z,1740464502.777 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 4748
2025-02-25T06:21:42.778Z,1740464502.778 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-02-25T06:21:42.778Z,1740464502.778 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-02-25T06:21:42.830Z,1740464502.830 [DepthRateCalculator] Loaded
2025-02-25T06:21:42.830Z,1740464502.830 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-02-25T06:21:42.836Z,1740464502.836 [PitchRateCalculator] Loaded
2025-02-25T06:21:42.836Z,1740464502.836 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-02-25T06:21:42.845Z,1740464502.845 [SpeedCalculator] Loaded
2025-02-25T06:21:42.845Z,1740464502.845 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-02-25T06:21:42.850Z,1740464502.850 [YawRateCalculator] Loaded
2025-02-25T06:21:42.850Z,1740464502.850 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-02-25T06:21:42.869Z,1740464502.869 [ElevatorOffsetCalculator] Loaded
2025-02-25T06:21:42.870Z,1740464502.870 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-02-25T06:21:42.870Z,1740464502.870 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-02-25T06:21:42.871Z,1740464502.871 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-02-25T06:21:42.931Z,1740464502.931 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-02-25T06:21:42.938Z,1740464502.938 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-02-25T06:21:42.940Z,1740464502.940 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-02-25T06:21:42.952Z,1740464502.952 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-02-25T06:21:42.953Z,1740464502.953 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C5E4E0
2025-02-25T06:21:42.953Z,1740464502.953 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 4749
2025-02-25T06:21:42.958Z,1740464502.958 [Supervisor](INFO): Main Thread ID is 829
2025-02-25T06:21:42.958Z,1740464502.958 [Supervisor](DEBUG): Running supervisor.
2025-02-25T06:21:42.958Z,1740464502.958 [CommandExec ThreadHandler](INFO): Handler Thread ID is 4750
2025-02-25T06:21:42.959Z,1740464502.959 [CommandExec](INFO): Initializing the command executive.
2025-02-25T06:21:42.960Z,1740464502.960 [CommandLine ThreadHandler](INFO): Handler Thread ID is 4751
2025-02-25T06:21:42.962Z,1740464502.962 [controlThread ThreadHandler](INFO): Handler Thread ID is 4752
2025-02-25T06:21:42.963Z,1740464502.963 [controlThread](DEBUG): Initializing ControlThread
2025-02-25T06:21:42.967Z,1740464502.967 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-02-25T06:21:42.968Z,1740464502.968 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-02-25T06:21:42.969Z,1740464502.969 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-02-25T06:21:42.970Z,1740464502.970 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-02-25T06:21:42.970Z,1740464502.970 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-02-25T06:21:42.971Z,1740464502.971 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-02-25T06:21:42.971Z,1740464502.971 [SBIT](INFO): Initialize SBIT Component.
2025-02-25T06:21:42.971Z,1740464502.971 [SBIT](IMPORTANT): git: 2025-02-24
2025-02-25T06:21:42.971Z,1740464502.971 [SBIT](INFO): git hash: a6046a38350dbb557659cdb2136a92a0beb43de0
2025-02-25T06:21:42.972Z,1740464502.972 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-02-25T06:21:42.973Z,1740464502.973 [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
2025-02-25T06:21:42.974Z,1740464502.974 [SBIT](INFO): Beginning SBIT in 66.000000 seconds.
2025-02-25T06:21:42.975Z,1740464502.975 [IBIT](INFO): Initialize IBIT Component.
2025-02-25T06:21:42.976Z,1740464502.976 [CBIT](DEBUG): Initialize CBIT Component.
2025-02-25T06:21:42.977Z,1740464502.977 [logger ThreadHandler](INFO): Handler Thread ID is 4753
2025-02-25T06:21:42.989Z,1740464502.989 [CBIT](DEBUG): Initialized mux pins.
2025-02-25T06:21:42.989Z,1740464502.989 [CBIT](DEBUG): Initializing the watchdog timer.
2025-02-25T06:21:42.997Z,1740464502.997 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 4754
2025-02-25T06:21:43.009Z,1740464503.009 [DAT ThreadHandler](INFO): Handler Thread ID is 4755
2025-02-25T06:21:43.010Z,1740464503.010 [DAT](INFO): Powering up
2025-02-25T06:21:43.010Z,1740464503.010 [DAT](DEBUG): Initializing DAT.
2025-02-25T06:21:43.013Z,1740464503.013 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-02-25T06:21:43.013Z,1740464503.013 [CBIT](DEBUG): Initializing heartbeat.
2025-02-25T06:21:43.015Z,1740464503.015 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 4757
2025-02-25T06:21:43.017Z,1740464503.017 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-02-25T06:21:43.026Z,1740464503.026 [Onboard ThreadHandler](INFO): Handler Thread ID is 4758
2025-02-25T06:21:43.043Z,1740464503.043 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 4759
2025-02-25T06:21:43.062Z,1740464503.062 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 4760
2025-02-25T06:21:43.062Z,1740464503.062 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-02-25T06:21:43.066Z,1740464503.066 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 4762
2025-02-25T06:21:43.069Z,1740464503.069 [WetLabsBB2FL](INFO): Powering up
2025-02-25T06:21:43.071Z,1740464503.071 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 4764
2025-02-25T06:21:43.075Z,1740464503.075 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-02-25T06:21:43.075Z,1740464503.075 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-02-25T06:21:43.075Z,1740464503.075 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-02-25T06:21:43.075Z,1740464503.075 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-02-25T06:21:43.075Z,1740464503.075 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-02-25T06:21:43.076Z,1740464503.076 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-02-25T06:21:43.076Z,1740464503.076 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-02-25T06:21:43.076Z,1740464503.076 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-02-25T06:21:43.085Z,1740464503.085 [CBIT](DEBUG): Deactivating GF circuits.
2025-02-25T06:21:43.085Z,1740464503.085 [CBIT](DEBUG): Deactivating emergency mode.
2025-02-25T06:21:43.125Z,1740464503.125 [CBIT](DEBUG): Backplane powered.
2025-02-25T06:21:43.129Z,1740464503.129 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-02-25T06:21:43.130Z,1740464503.130 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-02-25T06:21:43.130Z,1740464503.130 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-02-25T06:21:43.130Z,1740464503.130 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-02-25T06:21:43.131Z,1740464503.131 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-02-25T06:21:43.132Z,1740464503.132 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-02-25T06:21:43.133Z,1740464503.133 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-02-25T06:21:43.133Z,1740464503.133 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-02-25T06:21:43.136Z,1740464503.136 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-02-25T06:21:43.205Z,1740464503.205 [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>

2025-02-25T06:21:43.226Z,1740464503.226 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-25T06:21:43.270Z,1740464503.270 [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
    }
  }
}


2025-02-25T06:21:43.271Z,1740464503.271 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-02-25T06:21:43.271Z,1740464503.271 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-02-25T06:21:43.275Z,1740464503.275 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-02-25T06:21:43.449Z,1740464503.449 [Radio_Surface](INFO): Powering up
2025-02-25T06:21:43.572Z,1740464503.572 [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>

2025-02-25T06:21:43.590Z,1740464503.590 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-02-25T06:21:43.591Z,1740464503.591 [Default:A.Wait](DEBUG): Construct Wait.
2025-02-25T06:21:43.593Z,1740464503.593 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-25T06:21:43.630Z,1740464503.630 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-02-25T06:21:43.633Z,1740464503.633 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-02-25T06:21:43.647Z,1740464503.647 [Default:E.Execute](DEBUG): Construct Execute.
2025-02-25T06:21:43.674Z,1740464503.674 [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"
  }
}


2025-02-25T06:21:43.679Z,1740464503.679 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Sonardyne_Nano,ESPComponent,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,
2025-02-25T06:21:43.701Z,1740464503.701 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-02-25T06:21:43.768Z,1740464503.768 [Power24vConverter](INFO): Powering up.
2025-02-25T06:21:43.773Z,1740464503.773 [Sonardyne_Nano](INFO): Initializing.
2025-02-25T06:21:43.815Z,1740464503.815 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-02-25T06:21:43.821Z,1740464503.821 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-02-25T06:21:43.822Z,1740464503.822 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-02-25T06:21:43.833Z,1740464503.833 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-02-25T06:21:43.834Z,1740464503.834 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-25T06:21:43.841Z,1740464503.841 [MassServo](DEBUG): Initializing MassServo.
2025-02-25T06:21:43.842Z,1740464503.842 [RudderServo](DEBUG): Initializing EZServoServo.
2025-02-25T06:21:43.849Z,1740464503.849 [RudderServo](DEBUG): Initializing RudderServo.
2025-02-25T06:21:43.850Z,1740464503.850 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T06:21:43.857Z,1740464503.857 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T06:21:45.177Z,1740464505.177 [WetLabsBB2FL](INFO): Powering down
2025-02-25T06:21:45.707Z,1740464505.707 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-02-25T06:21:46.994Z,1740464506.994 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2409
2025-02-25T06:21:54.602Z,1740464514.602 [DAT](INFO): DAT read: 

2025-02-25T06:21:54.603Z,1740464514.603 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-02-25T06:21:56.114Z,1740464516.114 [DAT](INFO): DAT read: MF Frequency Band

2025-02-25T06:21:56.115Z,1740464516.115 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-02-25T06:21:56.116Z,1740464516.116 [DAT](INFO): DAT read: Feb 25 2025 06:21:41 

2025-02-25T06:21:57.374Z,1740464517.374 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-02-25T06:21:57.375Z,1740464517.375 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-02-25T06:21:57.376Z,1740464517.376 [DAT](INFO): commRate: 800
2025-02-25T06:21:59.441Z,1740464519.441 [DAT](INFO): entering command mode
2025-02-25T06:21:59.642Z,1740464519.642 [DAT](INFO): DAT read: 

2025-02-25T06:21:59.642Z,1740464519.642 [DAT](INFO): DAT read: user:1>

2025-02-25T06:21:59.642Z,1740464519.642 [DAT](INFO): setting verbose to 3
2025-02-25T06:21:59.894Z,1740464519.894 [DAT](INFO): DAT read: user:1>

2025-02-25T06:21:59.895Z,1740464519.895 [DAT](INFO): DAT read: Verbose         | 3           

2025-02-25T06:21:59.895Z,1740464519.895 [DAT](INFO): set verbose to 3
2025-02-25T06:21:59.895Z,1740464519.895 [DAT](INFO): setting DatVerbose to 27440
2025-02-25T06:22:00.146Z,1740464520.146 [DAT](INFO): DAT read: user:2>

2025-02-25T06:22:00.147Z,1740464520.147 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-02-25T06:22:00.147Z,1740464520.147 [DAT](INFO): set DatVerbose to 27440
2025-02-25T06:22:00.147Z,1740464520.147 [DAT](INFO): setting transmit power to 8
2025-02-25T06:22:00.398Z,1740464520.398 [DAT](INFO): DAT read: user:3>

2025-02-25T06:22:00.399Z,1740464520.399 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-02-25T06:22:00.399Z,1740464520.399 [DAT](INFO): set transmit power to 8
2025-02-25T06:22:00.399Z,1740464520.399 [DAT](INFO): setting local address to 2
2025-02-25T06:22:00.650Z,1740464520.650 [DAT](INFO): DAT read: user:4>

2025-02-25T06:22:00.650Z,1740464520.650 [DAT](INFO): DAT read: LocalAddr       | 2           

2025-02-25T06:22:00.651Z,1740464520.651 [DAT](INFO): set local address to 2
2025-02-25T06:22:00.652Z,1740464520.652 [DAT](INFO): Setting time to: 6:22:0 And date to:2/25/2025
2025-02-25T06:22:00.902Z,1740464520.902 [DAT](INFO): DAT read: user:5>

2025-02-25T06:22:00.902Z,1740464520.902 [DAT](INFO): DAT read: Tue Feb 25, 2025  06:22:00  

2025-02-25T06:22:00.903Z,1740464520.903 [DAT](INFO): Local DAT time set to Tue Feb 25, 2025  06:22:00  

2025-02-25T06:22:10.386Z,1740464530.386 [NAL9602](INFO): Powering up NAL9602
2025-02-25T06:22:21.300Z,1740464541.300 [NAL9602](INFO): NAL9602 initialized
2025-02-25T06:22:43.112Z,1740464563.112 [NAL9602](INFO): SBD MO Status=0, MOMSN=13397, MT Status=0, MTMSN=0
2025-02-25T06:22:43.112Z,1740464563.112 [NAL9602](INFO): No messages in MT queue
2025-02-25T06:22:49.740Z,1740464569.740 [SBIT](IMPORTANT): Beginning Startup BIT
2025-02-25T06:22:49.744Z,1740464569.744 [CBIT](IMPORTANT): Beginning ground fault scan
2025-02-25T06:22:49.992Z,1740464569.992 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,062246.00,A,3647.74115,N,12152.54660,W,0.311,114.08,250225,,,A*71
2025-02-25T06:22:49.995Z,1740464569.995 [NAL9602](INFO): GPS fix at 20250225T062246: (36.795686, -121.875777)
2025-02-25T06:22:50.385Z,1740464570.385 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T06:23:00.662Z,1740464580.662 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.000745
CHAN A1 (24V): 0.013927
CHAN A2 (12V): 0.000421
CHAN A3 (5V): -0.001683
CHAN B0 (3.3V): -0.000783
CHAN B1 (3.15aV): -0.001705
CHAN B2 (3.15bV): -0.001358
CHAN B3 (GND): -0.002382
OPEN: 0.004891
Full Scale: +/- 1 mA
2025-02-25T06:23:03.314Z,1740464583.314 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T06:23:16.240Z,1740464596.240 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T06:23:22.310Z,1740464602.310 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T06:23:28.764Z,1740464608.764 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T06:23:41.932Z,1740464621.932 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T06:23:43.758Z,1740464623.758 [SBIT](IMPORTANT): SBIT PASSED
2025-02-25T06:23:43.758Z,1740464623.758 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-02-25T06:23:43.759Z,1740464623.759 [SBIT](IMPORTANT): BioacousticsDataBridge.loadAtStartup=0 bool;

2025-02-25T06:23:43.759Z,1740464623.759 [SBIT](IMPORTANT): CBIT.runNavErrorCritical=0 bool;

2025-02-25T06:23:43.759Z,1740464623.759 [SBIT](IMPORTANT): Courier mostRecent latitude_fix;

2025-02-25T06:23:43.759Z,1740464623.759 [SBIT](IMPORTANT): Courier mostRecent longitude_fix;

2025-02-25T06:23:43.760Z,1740464623.760 [SBIT](IMPORTANT): Courier mostRecent time_fix;

2025-02-25T06:23:43.760Z,1740464623.760 [SBIT](IMPORTANT): DAT.loadAtStartup=1 bool;

2025-02-25T06:23:43.760Z,1740464623.760 [SBIT](IMPORTANT): DATMMP.loadAtStartup=0 bool;

2025-02-25T06:23:43.760Z,1740464623.760 [SBIT](IMPORTANT): DATMMP.simulateHardware=0 bool;

2025-02-25T06:23:43.760Z,1740464623.760 [SBIT](IMPORTANT): ESPComponent.loadAtStartup=1 bool;

2025-02-25T06:23:43.760Z,1740464623.760 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute;

2025-02-25T06:23:43.760Z,1740464623.760 [SBIT](IMPORTANT): ESPComponent.simulateHardware=1 bool;

2025-02-25T06:23:43.760Z,1740464623.760 [SBIT](IMPORTANT): Express none PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water;

2025-02-25T06:23:43.761Z,1740464623.761 [SBIT](IMPORTANT): SpeedControl.rollOptimum=0.950000 m/s;

2025-02-25T06:23:43.761Z,1740464623.761 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=305.318315 cubic_centimeter;

2025-02-25T06:23:43.761Z,1740464623.761 [SBIT](IMPORTANT): VerticalControl.elevDeadband=0.5 degree;

2025-02-25T06:23:43.761Z,1740464623.761 [SBIT](IMPORTANT): VerticalControl.kdPitchMass=0.1 second;

2025-02-25T06:23:43.761Z,1740464623.761 [SBIT](IMPORTANT): VerticalControl.kiPitchMass=0.001 reciprocal_second;

2025-02-25T06:23:43.761Z,1740464623.761 [SBIT](IMPORTANT): VerticalControl.kpDepthBuoy=30 ratio;

2025-02-25T06:23:43.761Z,1740464623.761 [SBIT](IMPORTANT): VerticalControl.kpPitchMass=0.1 none;

2025-02-25T06:23:43.761Z,1740464623.761 [SBIT](IMPORTANT): VerticalControl.massDeadband=0 millimeter;

2025-02-25T06:23:43.762Z,1740464623.762 [SBIT](IMPORTANT): VerticalControl.massDefault=11.647778 millimeter;

2025-02-25T06:23:43.762Z,1740464623.762 [SBIT](IMPORTANT): VerticalControl.massOnlyForceInt=1 bool;

2025-02-25T06:23:43.915Z,1740464623.915 [MissionManager](IMPORTANT): Started mission Startup
2025-02-25T06:23:43.916Z,1740464623.916 [Startup] Running Loop=1
2025-02-25T06:23:43.916Z,1740464623.916 [Startup](DEBUG): Aggregate::initialize Startup
2025-02-25T06:23:43.916Z,1740464623.916 [Startup:A.GoToSurface] Running Loop=1
2025-02-25T06:23:43.916Z,1740464623.916 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T06:23:43.933Z,1740464623.933 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-25T06:23:43.934Z,1740464623.934 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-25T06:23:43.934Z,1740464623.934 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-25T06:23:43.934Z,1740464623.934 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-25T06:23:43.935Z,1740464623.935 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T06:23:43.935Z,1740464623.935 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T06:23:43.942Z,1740464623.942 [Startup:StartupSatComms] Running Loop=1
2025-02-25T06:23:43.942Z,1740464623.942 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-02-25T06:23:43.942Z,1740464623.942 [Startup:StartupSatComms:A] Running Loop=1
2025-02-25T06:23:44.397Z,1740464624.397 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-02-25T06:23:45.912Z,1740464625.912 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,062342.00,A,3647.73989,N,12152.54600,W,0.408,110.28,250225,,,A*71
2025-02-25T06:23:45.914Z,1740464625.914 [NAL9602](INFO): GPS fix at 20250225T062342: (36.795665, -121.875767)
2025-02-25T06:23:45.926Z,1740464625.926 [Startup:StartupSatComms:A] Stopped
2025-02-25T06:23:45.926Z,1740464625.926 [Startup:StartupSatComms:B] Running Loop=1
2025-02-25T06:23:46.335Z,1740464626.335 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-25T06:23:55.699Z,1740464635.699 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T06:23:58.847Z,1740464638.847 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004239
2025-02-25T06:24:08.545Z,1740464648.545 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250225T061326/Courier0003.lzma
2025-02-25T06:24:09.459Z,1740464649.459 [NAL9602](INFO): SBD MO Status=1, MOMSN=13398, MT Status=0, MTMSN=0
2025-02-25T06:24:09.509Z,1740464649.509 [NAL9602](INFO): Sent 39 bytes from file Logs/20250225T061326/Courier0003.lzma
2025-02-25T06:24:09.509Z,1740464649.509 [NAL9602](INFO): Packets left to send: 0
2025-02-25T06:24:09.542Z,1740464649.542 [Startup:StartupSatComms:B] Stopped
2025-02-25T06:24:09.542Z,1740464649.542 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-02-25T06:24:09.542Z,1740464649.542 [Startup:StartupSatComms] Stopped
2025-02-25T06:24:09.542Z,1740464649.542 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-02-25T06:24:09.543Z,1740464649.543 [Startup](INFO): Completed Startup
2025-02-25T06:24:09.543Z,1740464649.543 [MissionManager](INFO): Startup is completed.
2025-02-25T06:24:09.544Z,1740464649.544 [MissionManager](INFO): Uninitializing Mission Startup
2025-02-25T06:24:09.544Z,1740464649.544 [Startup] Stopped
2025-02-25T06:24:09.544Z,1740464649.544 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-02-25T06:24:09.544Z,1740464649.544 [Startup:A.GoToSurface] Stopped
2025-02-25T06:24:09.544Z,1740464649.544 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T06:24:09.547Z,1740464649.547 [DataOverHttps](INFO): Moved sent file to Logs/20250225T061326/Courier0003.lzma.bak
2025-02-25T06:24:09.547Z,1740464649.547 [DataOverHttps](INFO): SBD MOMSN=23975596
2025-02-25T06:24:09.919Z,1740464649.919 [MissionManager](IMPORTANT): Started mission Default
2025-02-25T06:24:09.920Z,1740464649.920 [Default] Running Loop=1
2025-02-25T06:24:09.920Z,1740464649.920 [Default](DEBUG): Aggregate::initialize Default
2025-02-25T06:24:09.920Z,1740464649.920 [Default:B.GoToSurface] Running Loop=1
2025-02-25T06:24:09.920Z,1740464649.920 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T06:24:09.920Z,1740464649.920 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-25T06:24:09.921Z,1740464649.921 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-25T06:24:09.921Z,1740464649.921 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-25T06:24:09.921Z,1740464649.921 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-25T06:24:09.922Z,1740464649.922 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T06:24:09.922Z,1740464649.922 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T06:24:09.922Z,1740464649.922 [Default:A.Wait] Running Loop=1
2025-02-25T06:24:09.922Z,1740464649.922 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-25T06:24:10.264Z,1740464650.264 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T06:24:23.442Z,1740464663.442 [Default:A.Wait](INFO): Done Waiting.
2025-02-25T06:24:23.442Z,1740464663.442 [Default:A.Wait] Stopped
2025-02-25T06:24:23.442Z,1740464663.442 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T06:24:23.831Z,1740464663.831 [Default:CheckIn] Running Loop=1
2025-02-25T06:24:23.831Z,1740464663.831 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-25T06:24:23.831Z,1740464663.831 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-25T06:24:24.242Z,1740464664.242 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-25T06:24:26.011Z,1740464666.011 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,062422.00,A,3647.73893,N,12152.54493,W,1.011,132.05,250225,,,A*70
2025-02-25T06:24:26.021Z,1740464666.021 [NAL9602](INFO): GPS fix at 20250225T062422: (36.795649, -121.875749)
2025-02-25T06:24:26.083Z,1740464666.083 [Default:CheckIn:Read_GPS] Stopped
2025-02-25T06:24:26.083Z,1740464666.083 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-25T06:24:26.641Z,1740464666.641 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-25T06:24:44.505Z,1740464684.505 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20250225T062120/Courier0000.lzma
2025-02-25T06:24:45.507Z,1740464685.507 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Courier0000.lzma.bak
2025-02-25T06:24:45.507Z,1740464685.507 [DataOverHttps](INFO): SBD MOMSN=23975600
2025-02-25T06:24:59.238Z,1740464699.238 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T06:25:04.610Z,1740464704.610 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-02-25T06:25:05.119Z,1740464705.119 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250225T062120/Courier0004.lzma
2025-02-25T06:25:06.117Z,1740464706.117 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Courier0004.lzma.bak
2025-02-25T06:25:06.117Z,1740464706.117 [DataOverHttps](INFO): SBD MOMSN=23975604
2025-02-25T06:25:28.446Z,1740464728.446 [DataOverHttps](INFO): Sending 262 bytes from file Logs/20250225T061326/Express0005.lzma
2025-02-25T06:25:29.447Z,1740464729.447 [DataOverHttps](INFO): Moved sent file to Logs/20250225T061326/Express0005.lzma.bak
2025-02-25T06:25:29.447Z,1740464729.447 [DataOverHttps](INFO): SBD MOMSN=23975607
2025-02-25T06:25:49.010Z,1740464749.010 [DataOverHttps](INFO): Sending 1167 bytes from file Logs/20250225T062120/Express0001.lzma
2025-02-25T06:25:50.011Z,1740464750.011 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Express0001.lzma.bak
2025-02-25T06:25:50.011Z,1740464750.011 [DataOverHttps](INFO): SBD MOMSN=23975613
2025-02-25T06:26:06.996Z,1740464766.996 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250225T062120/Express0005.lzma
2025-02-25T06:26:07.995Z,1740464767.995 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Express0005.lzma.bak
2025-02-25T06:26:07.995Z,1740464767.995 [DataOverHttps](INFO): SBD MOMSN=23975649
2025-02-25T06:26:09.741Z,1740464769.741 [Default:CheckIn:Read_Iridium] Stopped
2025-02-25T06:26:09.741Z,1740464769.741 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-25T06:26:09.742Z,1740464769.742 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-25T06:28:54.119Z,1740464934.119 [DataOverHttps](IMPORTANT): SBD MTMSN=20250225T062853
2025-02-25T06:29:04.766Z,1740464944.766 [DataOverHttps](INFO): Received command: sched asap "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 6 h;set sci2_slowyo_test.NeedCommsTime 90 min;set sci2_slowyo_test.Repeat 3 count;set sci2_slowyo_test.Lat1 36.79631 degree" 29zbw 1 4
2025-02-25T06:29:04.771Z,1740464944.771 [CommandExec](IMPORTANT): got command schedule asap "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 6 h;set sci2_slowyo_test.NeedCommsTime 90 min;set sci2_slowyo_test.Repeat 3 count;set sci2_slowyo_test.Lat1 36.79631 degree" 29zbw 1 4.000000
2025-02-25T06:29:04.772Z,1740464944.772 [CommandExec](IMPORTANT): Scheduling command #1 of 4 with id=29zbw
2025-02-25T06:29:04.773Z,1740464944.773 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 4 with id='29zbw'): "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 6 h;set sci2_slowyo_test.NeedCommsTime 90 min;set sci2_slowyo_test.Repeat 3 count;set sci2_slowyo_test.Lat1 36.79631 degree", ASAP
2025-02-25T06:29:05.768Z,1740464945.768 [DataOverHttps](IMPORTANT): SBD MTMSN=20250225T062905
2025-02-25T06:29:11.418Z,1740464951.418 [MassServo](ERROR): getPosition uart error serial timeout
2025-02-25T06:29:11.419Z,1740464951.419 [MassServo](FAULT): Invalid EZ Servo response:"\377"
2025-02-25T06:29:11.419Z,1740464951.419 [MassServo] Communications Fault, FailCount= 1
2025-02-25T06:29:11.419Z,1740464951.419 [MassServo](ERROR): Communications Fault
2025-02-25T06:29:11.463Z,1740464951.463 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-25T06:29:11.912Z,1740464951.912 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-25T06:29:11.912Z,1740464951.912 [MassServo](INFO): Powering down
2025-02-25T06:29:12.070Z,1740464952.070 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-25T06:29:12.507Z,1740464952.507 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-25T06:29:12.638Z,1740464952.638 [MassServo](DEBUG): Initializing MassServo.
2025-02-25T06:29:12.650Z,1740464952.650 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-25T06:29:12.650Z,1740464952.650 [MassServo] No Fault, FailCount= 1
2025-02-25T06:29:17.357Z,1740464957.357 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-25T06:29:17.361Z,1740464957.361 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-25T06:29:17.364Z,1740464957.364 [BPC1](INFO): Received data from all battery sticks.
2025-02-25T06:29:18.945Z,1740464958.945 [DataOverHttps](INFO): Received command: sched asap "set sci2_slowyo_test.Lon1 -121.87204 degree;set sci2_slowyo_test.Lat2 36.79636 degree;set sci2_slowyo_test.Lon2 -121.90301 degree;set sci2_slowyo_test.SlowYoDiveAngle 10 degree" 29zbw 2 4
2025-02-25T06:29:19.009Z,1740464959.009 [CommandExec](IMPORTANT): got command schedule asap "set sci2_slowyo_test.Lon1 -121.87204 degree;set sci2_slowyo_test.Lat2 36.79636 degree;set sci2_slowyo_test.Lon2 -121.90301 degree;set sci2_slowyo_test.SlowYoDiveAngle 10 degree" 29zbw 2 4.000000
2025-02-25T06:29:19.010Z,1740464959.010 [CommandExec](IMPORTANT): Scheduling command #2 of 4 with id=29zbw
2025-02-25T06:29:19.010Z,1740464959.010 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 4 with id='29zbw'): "set sci2_slowyo_test.Lon1 -121.87204 degree;set sci2_slowyo_test.Lat2 36.79636 degree;set sci2_slowyo_test.Lon2 -121.90301 degree;set sci2_slowyo_test.SlowYoDiveAngle 10 degree", ASAP
2025-02-25T06:29:19.948Z,1740464959.948 [DataOverHttps](IMPORTANT): SBD MTMSN=20250225T062918
2025-02-25T06:29:28.121Z,1740464968.121 [DataOverHttps](INFO): Received command: sched asap "set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 190 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m;set sci2_slowyo_test.MassDefault NaN mm;set sci2_slowyo_test.MinAltitude 20 m" 29zbw 3 4
2025-02-25T06:29:28.219Z,1740464968.219 [CommandExec](IMPORTANT): got command schedule asap "set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 190 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m;set sci2_slowyo_test.MassDefault NaN mm;set sci2_slowyo_test.MinAltitude 20 m" 29zbw 3 4.000000
2025-02-25T06:29:28.219Z,1740464968.219 [CommandExec](IMPORTANT): Scheduling command #3 of 4 with id=29zbw
2025-02-25T06:29:28.220Z,1740464968.220 [CommandExec](IMPORTANT): Scheduled #3 (#3 of 4 with id='29zbw'): "set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 190 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m;set sci2_slowyo_test.MassDefault NaN mm;set sci2_slowyo_test.MinAltitude 20 m", ASAP
2025-02-25T06:29:29.123Z,1740464969.123 [DataOverHttps](IMPORTANT): SBD MTMSN=20250225T062928
2025-02-25T06:29:37.005Z,1740464977.005 [DataOverHttps](INFO): Received command: sched asap "set sci2_slowyo_test.MaxDepth 230 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run" 29zbw 4 4
2025-02-25T06:29:37.072Z,1740464977.072 [CommandExec](IMPORTANT): got command schedule asap "set sci2_slowyo_test.MaxDepth 230 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run" 29zbw 4 4.000000
2025-02-25T06:29:37.073Z,1740464977.073 [CommandExec](IMPORTANT): Scheduling command #4 of 4 with id=29zbw
2025-02-25T06:29:37.074Z,1740464977.074 [CommandExec](IMPORTANT): Scheduled #4 (#4 of 4 with id='29zbw'): "set sci2_slowyo_test.MaxDepth 230 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run", ASAP
2025-02-25T06:29:37.236Z,1740464977.236 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_slowyo_test.tl
2025-02-25T06:29:37.236Z,1740464977.236 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_slowyo_test.tl
2025-02-25T06:29:37.237Z,1740464977.237 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_slowyo_test.tl
2025-02-25T06:29:37.242Z,1740464977.242 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_slowyo_test.tl
2025-02-25T06:29:41.763Z,1740464981.763 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_slowyo_test.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_slowyo_test">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsSurfaceDepthRate">
        <Units:meter_per_second />
        <Value>0.3</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="SlowYoDiveAngle">
        <Units:degree />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1.0</Value>
    </DefineArg>
    <DefineArg Name="SlowYoMinDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SlowYoMaxDepth">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="SlowYoNumYoYos">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SlowYoTurningWindow">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectChl">
        <False />
    </DefineArg>
    <DefineArg Name="ShallowBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTrigger">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThreshold">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="ElevatorDefault">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="SlowYo">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="Science" Filename="Insert/Science.tl">
        <RedefineArg Name="PeakDetectChlActive">
            <Arg Name="PeakDetectChl" />
        </RedefineArg>
        <RedefineArg Name="ShallowBound">
            <Arg Name="ShallowBoundChl" />
        </RedefineArg>
        <RedefineArg Name="DeepBound">
            <Arg Name="DeepBoundChl" />
        </RedefineArg>
        <RedefineArg Name="ChlThreshTriggerActive">
            <Arg Name="ChlThreshTrigger" />
        </RedefineArg>
        <RedefineArg Name="ChlLowerThresh">
            <Arg Name="ChlLowerThreshold" />
        </RedefineArg>
        <RedefineArg Name="ChlUpperThresh">
            <Arg Name="ChlUpperThreshold" />
        </RedefineArg>
        <RedefineArg Name="NumProfilesThresh">
            <Arg Name="NumProfilesThreshold" />
        </RedefineArg>
    </Insert>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:SurfaceDepthRate" />
        <Arg Name="NeedCommsSurfaceDepthRate" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Aggregate Id="setInitial">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="InitialDive" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToInit">
                    <Sequence />
                    <Break>
                        <Universal:depth />
                        <Ge>
                            <Arg Name="SlowYoMinDepth" />
                        </Ge>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="InitialDive" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToYo">
                    <Sequence />
                    <Break>
                        <Universal:depth />
                        <Lt>
                            <Arg Name="SlowYoMinDepth" />
                        </Lt>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="SlowYo" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Syslog Severity="Info">Waiting for 1 minute while pumping down to neutral.</Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Units:minute />
                        <Value>1</Value>
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="SlowYoMinDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="Speed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="SlowYoMinDepth" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SlowYo" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SlowYoToWaypoint">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SlowYo" />
                </Eq>
            </While>
            <Aggregate Id="SlowYoTask">
                <Parallel />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.elevatorAngle />
                        <Arg Name="ElevatorDefault" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Aggregate Id="SlowYoLoop">
                    <Sequence Repeat="Repeat" />
                    <Guidance:SlowYo>
                        <Sequence />
                        <Setting>
                            <Guidance:SlowYo.diveAngle />
                            <Arg Name="SlowYoDiveAngle" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.minDepth />
                            <Arg Name="SlowYoMinDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.maxDepth />
                            <Arg Name="SlowYoMaxDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.turningWindow />
                            <Arg Name="SlowYoTurningWindow" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.numYoYos />
                            <Arg Name="SlowYoNumYoYos" />
                        </Setting>
                    </Guidance:SlowYo>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="StopIfTriggered">
        <When>
            <Arg Name="Science:TriggeredOnChl" />
        </When>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>stop</String>
            </Setting>
        </Guidance:Execute>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="Wpt1">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.captureRadius />
                    <Arg Name="CaptureRadius" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt2">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat2" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon2" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt3">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat3" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon3" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt4">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat4" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon4" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt5">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat5" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon5" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt6">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat6" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon6" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt7">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat7" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon7" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
    </Aggregate>
</Mission>

2025-02-25T06:29:41.775Z,1740464981.775 [MissionManager](INFO): DefineArg sci2_slowyo_test.MissionTimeout = 2.000000 h
2025-02-25T06:29:41.778Z,1740464981.778 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsTime = 60.000000 min
2025-02-25T06:29:41.781Z,1740464981.781 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsSurfaceDepthRate = 0.300000 m/s
2025-02-25T06:29:41.784Z,1740464981.784 [MissionManager](INFO): DefineArg sci2_slowyo_test.Repeat = 1.000000 count
2025-02-25T06:29:41.787Z,1740464981.787 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat1 = nan arcdeg
2025-02-25T06:29:41.790Z,1740464981.790 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat2 = nan arcdeg
2025-02-25T06:29:41.793Z,1740464981.793 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat3 = nan arcdeg
2025-02-25T06:29:41.796Z,1740464981.796 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat4 = nan arcdeg
2025-02-25T06:29:41.800Z,1740464981.800 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat5 = nan arcdeg
2025-02-25T06:29:41.804Z,1740464981.804 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat6 = nan arcdeg
2025-02-25T06:29:41.807Z,1740464981.807 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat7 = nan arcdeg
2025-02-25T06:29:41.810Z,1740464981.810 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon1 = nan arcdeg
2025-02-25T06:29:41.836Z,1740464981.836 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon2 = nan arcdeg
2025-02-25T06:29:41.854Z,1740464981.854 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon3 = nan arcdeg
2025-02-25T06:29:41.861Z,1740464981.861 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon4 = nan arcdeg
2025-02-25T06:29:41.864Z,1740464981.864 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon5 = nan arcdeg
2025-02-25T06:29:41.872Z,1740464981.872 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon6 = nan arcdeg
2025-02-25T06:29:41.876Z,1740464981.876 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon7 = nan arcdeg
2025-02-25T06:29:41.887Z,1740464981.887 [MissionManager](INFO): DefineArg sci2_slowyo_test.ApproachDepthTimeout = 15.000000 min
2025-02-25T06:29:41.890Z,1740464981.890 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoDiveAngle = 15.000000 arcdeg
2025-02-25T06:29:41.905Z,1740464981.905 [MissionManager](INFO): DefineArg sci2_slowyo_test.Speed = 1.000000 m/s
2025-02-25T06:29:41.908Z,1740464981.908 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMinDepth = 10.000000 m
2025-02-25T06:29:41.915Z,1740464981.915 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMaxDepth = 40.000000 m
2025-02-25T06:29:41.922Z,1740464981.922 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoNumYoYos = 1.000000 count
2025-02-25T06:29:41.926Z,1740464981.926 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoTurningWindow = 10.000000 m
2025-02-25T06:29:41.937Z,1740464981.937 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkOffSurface = 0 bool
2025-02-25T06:29:41.940Z,1740464981.940 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepth = 10.000000 m
2025-02-25T06:29:41.947Z,1740464981.947 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepthTimeout = 10.000000 min
2025-02-25T06:29:41.972Z,1740464981.972 [MissionManager](INFO): DefineArg sci2_slowyo_test.CaptureRadius = nan m
2025-02-25T06:29:41.983Z,1740464981.983 [MissionManager](INFO): DefineArg sci2_slowyo_test.PeakDetectChl = 0 bool
2025-02-25T06:29:41.990Z,1740464981.990 [MissionManager](INFO): DefineArg sci2_slowyo_test.ShallowBoundChl = nan m
2025-02-25T06:29:42.007Z,1740464982.007 [MissionManager](INFO): DefineArg sci2_slowyo_test.DeepBoundChl = nan m
2025-02-25T06:29:42.027Z,1740464982.027 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlThreshTrigger = 0 bool
2025-02-25T06:29:42.034Z,1740464982.034 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlLowerThreshold = nan ug/l
2025-02-25T06:29:42.053Z,1740464982.053 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlUpperThreshold = nan ug/l
2025-02-25T06:29:42.056Z,1740464982.056 [MissionManager](INFO): DefineArg sci2_slowyo_test.NumProfilesThreshold = 5.000000 count
2025-02-25T06:29:42.072Z,1740464982.072 [MissionManager](INFO): DefineArg sci2_slowyo_test.BuoyancyNeutral = 305.318329 cc
2025-02-25T06:29:42.076Z,1740464982.076 [MissionManager](INFO): DefineArg sci2_slowyo_test.ElevatorDefault = 0.000000 arcdeg
2025-02-25T06:29:42.112Z,1740464982.112 [MissionManager](INFO): DefineArg sci2_slowyo_test.MassDefault = 1.164778 cm
2025-02-25T06:29:42.124Z,1740464982.124 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinAltitude = 7.000000 m
2025-02-25T06:29:42.131Z,1740464982.131 [MissionManager](INFO): DefineArg sci2_slowyo_test.MaxDepth = 60.000000 m
2025-02-25T06:29:42.135Z,1740464982.135 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinOffshore = 2.000000 km
2025-02-25T06:29:42.146Z,1740464982.146 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DiveMode = 0.000000 count
2025-02-25T06:29:42.153Z,1740464982.153 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DoingComms = 0.000000 count
2025-02-25T06:29:42.156Z,1740464982.156 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SurfaceSink = 1.000000 count
2025-02-25T06:29:42.173Z,1740464982.173 [MissionManager](INFO): DefineOutput sci2_slowyo_test.InitialDive = 2.000000 count
2025-02-25T06:29:42.180Z,1740464982.180 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SlowYo = 3.000000 count
2025-02-25T06:29:42.187Z,1740464982.187 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-25T06:29:42.188Z,1740464982.188 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-25T06:29:42.210Z,1740464982.210 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-25T06:29:45.507Z,1740464985.507 [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>

2025-02-25T06:29:45.544Z,1740464985.544 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectChlActive = 0 bool
2025-02-25T06:29:45.547Z,1740464985.547 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectChlActive = 0 bool
2025-02-25T06:29:45.550Z,1740464985.550 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.TimeWindowPeakReport = nan min
2025-02-25T06:29:45.552Z,1740464985.552 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestChlPeakReportActive = 0 bool
2025-02-25T06:29:45.555Z,1740464985.555 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestSaltPeakReportActive = 0 bool
2025-02-25T06:29:45.558Z,1740464985.558 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestOilPeakReportActive = 0 bool
2025-02-25T06:29:45.561Z,1740464985.561 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PatchTracking = 0 bool
2025-02-25T06:29:45.564Z,1740464985.564 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.FilterWidthHorizontal = 3.000000 count
2025-02-25T06:29:45.587Z,1740464985.587 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-25T06:29:45.618Z,1740464985.618 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-25T06:29:45.633Z,1740464985.633 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectNO3Active = 0 bool
2025-02-25T06:29:45.636Z,1740464985.636 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectOilActive = 0 bool
2025-02-25T06:29:45.647Z,1740464985.647 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectFDOMActive = 0 bool
2025-02-25T06:29:45.663Z,1740464985.663 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectSalinityActive = 0 bool
2025-02-25T06:29:45.667Z,1740464985.667 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-25T06:29:45.682Z,1740464985.682 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-25T06:29:45.684Z,1740464985.684 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-25T06:29:45.695Z,1740464985.695 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-25T06:29:45.698Z,1740464985.698 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-25T06:29:45.700Z,1740464985.700 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-25T06:29:45.708Z,1740464985.708 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledAanderaaO2 = 0 bool
2025-02-25T06:29:45.720Z,1740464985.720 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledNeilBrown = 0 bool
2025-02-25T06:29:45.723Z,1740464985.723 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledSeabird = 1 bool
2025-02-25T06:29:45.737Z,1740464985.737 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-25T06:29:45.745Z,1740464985.745 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-25T06:29:45.752Z,1740464985.752 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsUBAT = 0 bool
2025-02-25T06:29:45.774Z,1740464985.774 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.LowPassWindowLength = 20.000000 count
2025-02-25T06:29:45.797Z,1740464985.797 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.MedianFilterLen = 5.000000 count
2025-02-25T06:29:45.800Z,1740464985.800 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ShallowBound = nan m
2025-02-25T06:29:45.807Z,1740464985.807 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DeepBound = nan m
2025-02-25T06:29:45.811Z,1740464985.811 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-25T06:29:45.822Z,1740464985.822 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionVertical = nan %
2025-02-25T06:29:45.833Z,1740464985.833 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-25T06:29:45.838Z,1740464985.838 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = 0 bool
2025-02-25T06:29:45.844Z,1740464985.844 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlLowerThresh = nan ug/l
2025-02-25T06:29:45.851Z,1740464985.851 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlUpperThresh = nan ug/l
2025-02-25T06:29:45.855Z,1740464985.855 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesThresh = 5.000000 count
2025-02-25T06:29:45.870Z,1740464985.870 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-25T06:29:45.873Z,1740464985.873 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.GoDown = 1 bool
2025-02-25T06:29:45.880Z,1740464985.880 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChl = nan ug/l
2025-02-25T06:29:45.895Z,1740464985.895 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlDepth = nan m
2025-02-25T06:29:45.898Z,1740464985.898 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlTemperature = nan degC
2025-02-25T06:29:45.913Z,1740464985.913 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLatitude = nan arcdeg
2025-02-25T06:29:45.916Z,1740464985.916 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLongitude = nan arcdeg
2025-02-25T06:29:45.923Z,1740464985.923 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChl = nan ug/l
2025-02-25T06:29:45.927Z,1740464985.927 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlDepth = nan m
2025-02-25T06:29:45.942Z,1740464985.942 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlTemperature = nan degC
2025-02-25T06:29:45.950Z,1740464985.950 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLatitude = nan arcdeg
2025-02-25T06:29:45.957Z,1740464985.957 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLongitude = nan arcdeg
2025-02-25T06:29:45.960Z,1740464985.960 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3 = nan umol/l
2025-02-25T06:29:45.967Z,1740464985.967 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Depth = nan m
2025-02-25T06:29:45.972Z,1740464985.972 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Latitude = nan arcdeg
2025-02-25T06:29:45.979Z,1740464985.979 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Longitude = nan arcdeg
2025-02-25T06:29:45.987Z,1740464985.987 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOil = nan kg/m3
2025-02-25T06:29:45.992Z,1740464985.992 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilDepth = nan m
2025-02-25T06:29:46.034Z,1740464986.034 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLatitude = nan arcdeg
2025-02-25T06:29:46.059Z,1740464986.059 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLongitude = nan arcdeg
2025-02-25T06:29:46.062Z,1740464986.062 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOM = nan ppb
2025-02-25T06:29:46.073Z,1740464986.073 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMDepth = nan m
2025-02-25T06:29:46.076Z,1740464986.076 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMTemperature = nan degC
2025-02-25T06:29:46.079Z,1740464986.079 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLatitude = nan arcdeg
2025-02-25T06:29:46.088Z,1740464986.088 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLongitude = nan arcdeg
2025-02-25T06:29:46.100Z,1740464986.100 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSalt = nan psu
2025-02-25T06:29:46.104Z,1740464986.104 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltDepth = nan m
2025-02-25T06:29:46.121Z,1740464986.121 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltTemperature = nan degC
2025-02-25T06:29:46.124Z,1740464986.124 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLatitude = nan arcdeg
2025-02-25T06:29:46.131Z,1740464986.131 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLongitude = nan arcdeg
2025-02-25T06:29:46.146Z,1740464986.146 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-25T06:29:46.156Z,1740464986.156 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-25T06:29:46.171Z,1740464986.171 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-25T06:29:46.175Z,1740464986.175 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-25T06:29:46.192Z,1740464986.192 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-25T06:29:46.215Z,1740464986.215 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-25T06:29:46.219Z,1740464986.219 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-25T06:29:46.234Z,1740464986.234 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-25T06:29:46.241Z,1740464986.241 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-25T06:29:46.247Z,1740464986.247 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-25T06:29:46.250Z,1740464986.250 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-25T06:29:46.257Z,1740464986.257 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-25T06:29:46.265Z,1740464986.265 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-25T06:29:46.272Z,1740464986.272 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-25T06:29:46.295Z,1740464986.295 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-25T06:29:46.306Z,1740464986.306 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-25T06:29:46.330Z,1740464986.330 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-25T06:29:46.335Z,1740464986.335 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-25T06:29:46.338Z,1740464986.338 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-25T06:29:46.348Z,1740464986.348 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-25T06:29:46.360Z,1740464986.360 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-25T06:29:46.373Z,1740464986.373 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-25T06:29:46.376Z,1740464986.376 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-25T06:29:46.387Z,1740464986.387 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-25T06:29:46.391Z,1740464986.391 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-25T06:29:46.394Z,1740464986.394 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChl = nan ug/l
2025-02-25T06:29:46.441Z,1740464986.441 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDepth = nan m
2025-02-25T06:29:46.445Z,1740464986.445 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLatitude = nan arcdeg
2025-02-25T06:29:46.456Z,1740464986.456 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLongitude = nan arcdeg
2025-02-25T06:29:46.468Z,1740464986.468 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDistance = nan m
2025-02-25T06:29:46.489Z,1740464986.489 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSalt = nan psu
2025-02-25T06:29:46.498Z,1740464986.498 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDepth = nan m
2025-02-25T06:29:46.505Z,1740464986.505 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLatitude = nan arcdeg
2025-02-25T06:29:46.508Z,1740464986.508 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLongitude = nan arcdeg
2025-02-25T06:29:46.516Z,1740464986.516 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDistance = nan m
2025-02-25T06:29:46.523Z,1740464986.523 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOil = nan psu
2025-02-25T06:29:46.531Z,1740464986.531 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDepth = nan m
2025-02-25T06:29:46.540Z,1740464986.540 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLatitude = nan arcdeg
2025-02-25T06:29:46.565Z,1740464986.565 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLongitude = nan arcdeg
2025-02-25T06:29:46.568Z,1740464986.568 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDistance = nan m
2025-02-25T06:29:46.575Z,1740464986.575 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.TriggeredOnChl = 0 bool
2025-02-25T06:29:46.597Z,1740464986.597 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.ChlTriggering = nan ug/l
2025-02-25T06:29:46.703Z,1740464986.703 [sci2_slowyo_test:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T06:29:46.733Z,1740464986.733 [sci2_slowyo_test:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-25T06:29:46.775Z,1740464986.775 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-25T06:29:46.868Z,1740464986.868 [sci2_slowyo_test:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T06:29:46.911Z,1740464986.911 [sci2_slowyo_test:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T06:29:46.934Z,1740464986.934 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-25T06:29:46.955Z,1740464986.955 [sci2_slowyo_test:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T06:29:47.007Z,1740464987.007 [sci2_slowyo_test:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T06:29:47.037Z,1740464987.037 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-25T06:29:47.067Z,1740464987.067 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T06:29:47.111Z,1740464987.111 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-25T06:29:47.169Z,1740464987.169 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T06:29:47.198Z,1740464987.198 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T06:29:47.277Z,1740464987.277 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T06:29:47.310Z,1740464987.310 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-25T06:29:47.342Z,1740464987.342 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDetectChlActive = reader:sci2_slowyo_test.PeakDetectChl
2025-02-25T06:29:47.344Z,1740464987.344 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ShallowBound = reader:sci2_slowyo_test.ShallowBoundChl
2025-02-25T06:29:47.347Z,1740464987.347 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.DeepBound = reader:sci2_slowyo_test.DeepBoundChl
2025-02-25T06:29:47.355Z,1740464987.355 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = reader:sci2_slowyo_test.ChlThreshTrigger
2025-02-25T06:29:47.357Z,1740464987.357 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlLowerThresh = reader:sci2_slowyo_test.ChlLowerThreshold
2025-02-25T06:29:47.370Z,1740464987.370 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlUpperThresh = reader:sci2_slowyo_test.ChlUpperThreshold
2025-02-25T06:29:47.372Z,1740464987.372 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.NumProfilesThresh = reader:sci2_slowyo_test.NumProfilesThreshold
2025-02-25T06:29:47.372Z,1740464987.372 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-25T06:29:47.372Z,1740464987.372 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-25T06:29:47.375Z,1740464987.375 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-25T06:29:47.885Z,1740464987.885 [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>

2025-02-25T06:29:47.899Z,1740464987.899 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.DiveInterval = 1.000000 h
2025-02-25T06:29:47.902Z,1740464987.902 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-25T06:29:47.909Z,1740464987.909 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-25T06:29:47.912Z,1740464987.912 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceDepthRate = nan m/s
2025-02-25T06:29:47.938Z,1740464987.938 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-25T06:29:47.953Z,1740464987.953 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-25T06:29:47.956Z,1740464987.956 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.GPSTimeout = 7.000000 min
2025-02-25T06:29:47.967Z,1740464987.967 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.CommsTimeout = 30.000000 min
2025-02-25T06:29:47.982Z,1740464987.982 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-25T06:29:48.078Z,1740464988.078 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-25T06:29:48.078Z,1740464988.078 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-25T06:29:48.079Z,1740464988.079 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-25T06:29:48.254Z,1740464988.254 [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>

2025-02-25T06:29:48.263Z,1740464988.263 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-25T06:29:48.270Z,1740464988.270 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-25T06:29:48.277Z,1740464988.277 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-25T06:29:48.280Z,1740464988.280 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-25T06:29:48.286Z,1740464988.286 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-25T06:29:48.302Z,1740464988.302 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-25T06:29:48.319Z,1740464988.319 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-25T06:29:48.342Z,1740464988.342 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-25T06:29:48.343Z,1740464988.343 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-25T06:29:48.344Z,1740464988.344 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-25T06:29:48.386Z,1740464988.386 [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>

2025-02-25T06:29:48.394Z,1740464988.394 [MissionManager](INFO): DefineArg sci2_slowyo_test:BackseatDriver.EnableBackseat = 0 bool
2025-02-25T06:29:48.401Z,1740464988.401 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-25T06:29:48.404Z,1740464988.404 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-25T06:29:48.404Z,1740464988.404 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-25T06:29:48.409Z,1740464988.409 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-25T06:29:48.690Z,1740464988.690 [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>

2025-02-25T06:29:48.699Z,1740464988.699 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleAll = 0 bool
2025-02-25T06:29:48.705Z,1740464988.705 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad1 = 0 bool
2025-02-25T06:29:48.708Z,1740464988.708 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad2 = 0 bool
2025-02-25T06:29:48.715Z,1740464988.715 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad3 = 0 bool
2025-02-25T06:29:48.722Z,1740464988.722 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-25T06:29:48.738Z,1740464988.738 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-25T06:29:48.777Z,1740464988.777 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-25T06:29:48.780Z,1740464988.780 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-02-25T06:29:48.793Z,1740464988.793 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-02-25T06:29:48.860Z,1740464988.860 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Construct.
2025-02-25T06:29:48.867Z,1740464988.867 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-25T06:29:48.883Z,1740464988.883 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Construct Wait.
2025-02-25T06:29:48.895Z,1740464988.895 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-02-25T06:29:48.904Z,1740464988.904 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-02-25T06:29:48.935Z,1740464988.935 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-25T06:29:48.952Z,1740464988.952 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-25T06:29:48.959Z,1740464988.959 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Construct.
2025-02-25T06:29:48.975Z,1740464988.975 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Construct.
2025-02-25T06:29:48.987Z,1740464988.987 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Construct SlowYo.
2025-02-25T06:29:48.996Z,1740464988.996 [sci2_slowyo_test:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-02-25T06:29:49.011Z,1740464989.011 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T06:29:49.048Z,1740464989.048 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T06:29:49.064Z,1740464989.064 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T06:29:49.080Z,1740464989.080 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T06:29:49.091Z,1740464989.091 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T06:29:49.108Z,1740464989.108 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T06:29:49.123Z,1740464989.123 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T06:29:49.266Z,1740464989.266 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  output {
    DiveMode = 0 count

    DoingComms = 0 count

    SurfaceSink = 1 count

    InitialDive = 2 count

    SlowYo = 3 count
  }

  timeout duration=MissionTimeout

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

    redefineArg PeakDetectChlActive = PeakDetectChl
    redefineArg ShallowBound = ShallowBoundChl
    redefineArg DeepBound = DeepBoundChl
    redefineArg ChlThreshTriggerActive = ChlThreshTrigger
    redefineArg ChlLowerThresh = ChlLowerThreshold
    redefineArg ChlUpperThresh = ChlUpperThreshold
    redefineArg NumProfilesThresh = NumProfilesThreshold
  }

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:SurfaceDepthRate = NeedCommsSurfaceDepthRate

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    aggregate setInitial {
      run in sequence

      break if ( SinkOffSurface )

      assign in sequence DiveMode = InitialDive
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

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

          set depth = SinkDepth
        }

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

          break if ( Universal:depth >= SlowYoMinDepth )

          assign in sequence DiveMode = InitialDive
        }

        aggregate sinkToYo {
          run in sequence

          break if ( Universal:depth < SlowYoMinDepth )

          assign in sequence DiveMode = SlowYo
        }
      }
    }

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

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

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

          run in sequence

          set duration = 1 minute
        }

        syslog "Moving to " + SlowYoMinDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = Speed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = SlowYoMinDepth
          }
        }

        assign in sequence DiveMode = SlowYo
      }
    }

    aggregate SlowYoToWaypoint {
      run while ( DiveMode == SlowYo )

      aggregate SlowYoTask {
        run in parallel

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set elevatorAngle = ElevatorDefault
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }

        aggregate SlowYoLoop {
          run in sequence repeat=Repeat

          behavior Guidance:SlowYo {
            run in sequence

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

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

    run when ( Science:TriggeredOnChl )

    behavior Guidance:Execute {
      run in sequence

      set command = "stop"
    }
  }

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

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

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

        behavior Guidance:Waypoint {
          run in sequence

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


2025-02-25T06:29:49.267Z,1740464989.267 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_slowyo_test.tl id=sci2_slowyo_test
2025-02-25T06:30:11.296Z,1740465011.296 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MissionTimeout 6 hour
2025-02-25T06:30:11.299Z,1740465011.299 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.NeedCommsTime 90 minute
2025-02-25T06:30:11.299Z,1740465011.299 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Repeat 3 count
2025-02-25T06:30:11.300Z,1740465011.300 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lat1 36.79631 degree
2025-02-25T06:30:26.884Z,1740465026.884 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lon1 -121.87204 degree
2025-02-25T06:30:26.889Z,1740465026.889 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lat2 36.79636 degree
2025-02-25T06:30:26.890Z,1740465026.890 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lon2 -121.90301 degree
2025-02-25T06:30:26.890Z,1740465026.890 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoDiveAngle 10 degree
2025-02-25T06:31:10.415Z,1740465070.415 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-25T06:31:10.415Z,1740465070.415 [Default:CheckIn:C.Wait] Stopped
2025-02-25T06:31:10.415Z,1740465070.415 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T06:31:10.415Z,1740465070.415 [Default:CheckIn:D] Running Loop=1
2025-02-25T06:31:10.941Z,1740465070.941 [Default:CheckIn:D] Stopped
2025-02-25T06:31:10.942Z,1740465070.942 [Default:CheckIn:E] Running Loop=1
2025-02-25T06:31:11.386Z,1740465071.386 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  7.017028 min 
2025-02-25T06:31:11.386Z,1740465071.386 [Default:CheckIn:E] Stopped
2025-02-25T06:31:11.387Z,1740465071.387 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-25T06:31:11.387Z,1740465071.387 [Default:CheckIn] Stopped
2025-02-25T06:31:11.387Z,1740465071.387 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-25T06:31:11.387Z,1740465071.387 [Default:CheckIn](INFO): Running loop #2
2025-02-25T06:31:11.387Z,1740465071.387 [Default:CheckIn] Running Loop=2
2025-02-25T06:31:11.387Z,1740465071.387 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-25T06:31:11.387Z,1740465071.387 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-25T06:31:13.319Z,1740465073.319 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,063112.00,A,3647.73217,N,12152.52963,W,0.525,281.90,250225,,,D*74
2025-02-25T06:31:13.377Z,1740465073.377 [NAL9602](INFO): GPS fix at 20250225T063112: (36.795536, -121.875494)
2025-02-25T06:31:13.483Z,1740465073.483 [Default:CheckIn:Read_GPS] Stopped
2025-02-25T06:31:13.483Z,1740465073.483 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-25T06:31:27.073Z,1740465087.073 [DataOverHttps](INFO): Sending 202 bytes from file Logs/20250225T062120/Courier0007.lzma
2025-02-25T06:31:28.087Z,1740465088.087 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Courier0007.lzma.bak
2025-02-25T06:31:28.087Z,1740465088.087 [DataOverHttps](INFO): SBD MOMSN=23975657
2025-02-25T06:31:28.207Z,1740465088.207 [NAL9602](INFO): SBD MO Status=0, MOMSN=13399, MT Status=0, MTMSN=0
2025-02-25T06:31:28.208Z,1740465088.208 [NAL9602](INFO): No messages in MT queue
2025-02-25T06:31:28.673Z,1740465088.673 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Speed SpeedControl.rollOptimum
2025-02-25T06:31:28.673Z,1740465088.673 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoMaxDepth 190 meter
2025-02-25T06:31:28.674Z,1740465088.674 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoTurningWindow 30 meter
2025-02-25T06:31:28.675Z,1740465088.675 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MassDefault NaN millimeter
2025-02-25T06:31:28.676Z,1740465088.676 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MinAltitude 20 meter
2025-02-25T06:31:47.779Z,1740465107.779 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MaxDepth 230 meter
2025-02-25T06:31:47.780Z,1740465107.780 [CommandExec](IMPORTANT): got command set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool
2025-02-25T06:31:47.780Z,1740465107.780 [CommandExec](IMPORTANT): got command run
2025-02-25T06:31:47.826Z,1740465107.826 [CommandExec](IMPORTANT): Running 
2025-02-25T06:31:48.058Z,1740465108.058 [Default] Stopped
2025-02-25T06:31:48.058Z,1740465108.058 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-25T06:31:48.058Z,1740465108.058 [Default:B.GoToSurface] Stopped
2025-02-25T06:31:48.058Z,1740465108.058 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T06:31:48.058Z,1740465108.058 [Default:CheckIn] Stopped
2025-02-25T06:31:48.058Z,1740465108.058 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-25T06:31:48.058Z,1740465108.058 [Default:CheckIn:Read_Iridium] Stopped
2025-02-25T06:31:48.058Z,1740465108.058 [MissionManager](IMPORTANT): Started mission sci2_slowyo_test
2025-02-25T06:31:48.059Z,1740465108.059 [sci2_slowyo_test] Running Loop=1
2025-02-25T06:31:48.059Z,1740465108.059 [sci2_slowyo_test](DEBUG): Aggregate::initialize sci2_slowyo_test
2025-02-25T06:31:48.059Z,1740465108.059 [sci2_slowyo_test:Science] Running Loop=1
2025-02-25T06:31:48.059Z,1740465108.059 [sci2_slowyo_test:Science](DEBUG): Aggregate::initialize sci2_slowyo_test:Science
2025-02-25T06:31:48.059Z,1740465108.059 [sci2_slowyo_test:Science:A] Running Loop=1
2025-02-25T06:31:48.059Z,1740465108.059 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-25T06:31:48.059Z,1740465108.059 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-25T06:31:48.059Z,1740465108.059 [sci2_slowyo_test:Science:D] Running Loop=1
2025-02-25T06:31:48.059Z,1740465108.059 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-25T06:31:48.059Z,1740465108.059 [sci2_slowyo_test:Science:F] Running Loop=1
2025-02-25T06:31:48.059Z,1740465108.059 [sci2_slowyo_test:Science:Read_Oil] Running Loop=1
2025-02-25T06:31:48.059Z,1740465108.059 [sci2_slowyo_test:Science:PeakDetectChl] Running Loop=1
2025-02-25T06:31:48.060Z,1740465108.060 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-25T06:31:48.060Z,1740465108.060 [sci2_slowyo_test:Science:PeakDetectChl:A] Running Loop=1
2025-02-25T06:31:48.060Z,1740465108.060 [sci2_slowyo_test:Science:EdgeDetectChl] Running Loop=1
2025-02-25T06:31:48.060Z,1740465108.060 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-25T06:31:48.060Z,1740465108.060 [sci2_slowyo_test:Science:EdgeDetectChl:A] Running Loop=1
2025-02-25T06:31:48.060Z,1740465108.060 [sci2_slowyo_test:Science:HighestChlPeakReport] Running Loop=1
2025-02-25T06:31:48.060Z,1740465108.060 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-25T06:31:48.060Z,1740465108.060 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-25T06:31:48.060Z,1740465108.060 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-25T06:31:48.065Z,1740465108.065 [sci2_slowyo_test:Science:PeakDetectNO3] Running Loop=1
2025-02-25T06:31:48.065Z,1740465108.065 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-25T06:31:48.065Z,1740465108.065 [sci2_slowyo_test:Science:PeakDetectNO3:A] Running Loop=1
2025-02-25T06:31:48.065Z,1740465108.065 [sci2_slowyo_test:Science:PeakDetectOil] Running Loop=1
2025-02-25T06:31:48.066Z,1740465108.066 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-25T06:31:48.066Z,1740465108.066 [sci2_slowyo_test:Science:PeakDetectOil:A] Running Loop=1
2025-02-25T06:31:48.066Z,1740465108.066 [sci2_slowyo_test:Science:HighestOilPeakReport] Running Loop=1
2025-02-25T06:31:48.066Z,1740465108.066 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-25T06:31:48.066Z,1740465108.066 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-25T06:31:48.066Z,1740465108.066 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-25T06:31:48.067Z,1740465108.067 [sci2_slowyo_test:Science:PeakDetectFDOM] Running Loop=1
2025-02-25T06:31:48.067Z,1740465108.067 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-25T06:31:48.067Z,1740465108.067 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-25T06:31:48.067Z,1740465108.067 [sci2_slowyo_test:Science:PeakDetectSalinity] Running Loop=1
2025-02-25T06:31:48.067Z,1740465108.067 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-25T06:31:48.067Z,1740465108.067 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-25T06:31:48.067Z,1740465108.067 [sci2_slowyo_test:Science:HighestSaltPeakReport] Running Loop=1
2025-02-25T06:31:48.067Z,1740465108.067 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-25T06:31:48.067Z,1740465108.067 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-25T06:31:48.067Z,1740465108.067 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-25T06:31:48.068Z,1740465108.068 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-25T06:31:48.068Z,1740465108.068 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-25T06:31:48.068Z,1740465108.068 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-25T06:31:48.068Z,1740465108.068 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-25T06:31:48.068Z,1740465108.068 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-25T06:31:48.068Z,1740465108.068 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-25T06:31:48.068Z,1740465108.068 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-25T06:31:48.089Z,1740465108.089 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-25T06:31:48.089Z,1740465108.089 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-25T06:31:48.089Z,1740465108.089 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-25T06:31:48.089Z,1740465108.089 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-25T06:31:48.089Z,1740465108.089 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-25T06:31:48.089Z,1740465108.089 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-25T06:31:48.090Z,1740465108.090 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-25T06:31:48.090Z,1740465108.090 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-25T06:31:48.090Z,1740465108.090 [sci2_slowyo_test:Science:ChlThreshTrigger] Running Loop=1
2025-02-25T06:31:48.090Z,1740465108.090 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-25T06:31:48.090Z,1740465108.090 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-25T06:31:48.090Z,1740465108.090 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-25T06:31:48.091Z,1740465108.091 [sci2_slowyo_test:Science:OceanCurrent] Running Loop=1
2025-02-25T06:31:48.091Z,1740465108.091 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:OceanCurrent
2025-02-25T06:31:48.091Z,1740465108.091 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-25T06:31:48.091Z,1740465108.091 [sci2_slowyo_test:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-25T06:31:48.091Z,1740465108.091 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-25T06:31:48.092Z,1740465108.092 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_slowyo_test:StandardEnvelopes
2025-02-25T06:31:48.092Z,1740465108.092 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-25T06:31:48.092Z,1740465108.092 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-25T06:31:48.092Z,1740465108.092 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-25T06:31:48.092Z,1740465108.092 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-25T06:31:48.092Z,1740465108.092 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-25T06:31:48.092Z,1740465108.092 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-25T06:31:48.092Z,1740465108.092 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-25T06:31:48.093Z,1740465108.093 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::initialize sci2_slowyo_test:BackseatDriver
2025-02-25T06:31:48.101Z,1740465108.101 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-25T06:31:48.101Z,1740465108.101 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-25T06:31:48.101Z,1740465108.101 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::initialize sci2_slowyo_test:PowerOnly
2025-02-25T06:31:48.101Z,1740465108.101 [sci2_slowyo_test:PowerOnly:A] Running Loop=1
2025-02-25T06:31:48.101Z,1740465108.101 [sci2_slowyo_test:PowerOnly:B] Running Loop=1
2025-02-25T06:31:48.101Z,1740465108.101 [sci2_slowyo_test:PowerOnly:C] Running Loop=1
2025-02-25T06:31:48.101Z,1740465108.101 [sci2_slowyo_test:PowerOnly:D] Running Loop=1
2025-02-25T06:31:48.102Z,1740465108.102 [sci2_slowyo_test:PowerOnly:E.Wait] Running Loop=1
2025-02-25T06:31:48.102Z,1740465108.102 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-25T06:31:48.102Z,1740465108.102 [sci2_slowyo_test:C] Running Loop=1
2025-02-25T06:31:48.103Z,1740465108.103 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-25T06:31:48.103Z,1740465108.103 [sci2_slowyo_test:PowerOnly:D] Stopped
2025-02-25T06:31:48.103Z,1740465108.103 [sci2_slowyo_test:PowerOnly:C] Stopped
2025-02-25T06:31:48.103Z,1740465108.103 [sci2_slowyo_test:PowerOnly:B] Stopped
2025-02-25T06:31:48.103Z,1740465108.103 [sci2_slowyo_test:PowerOnly:A] Stopped
2025-02-25T06:31:48.103Z,1740465108.103 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-25T06:31:48.104Z,1740465108.104 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-25T06:31:48.117Z,1740465108.117 [BackseatComponent](INFO): Powering up
2025-02-25T06:31:48.118Z,1740465108.118 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-25T06:31:48.247Z,1740465108.247 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-25T06:31:48.247Z,1740465108.247 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-25T06:31:48.248Z,1740465108.248 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-25T06:31:48.248Z,1740465108.248 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-25T06:31:48.265Z,1740465108.265 [sci2_slowyo_test:C] Stopped
2025-02-25T06:31:48.265Z,1740465108.265 [sci2_slowyo_test:E] Running Loop=1
2025-02-25T06:31:48.265Z,1740465108.265 [sci2_slowyo_test:Science] Running Loop=1
2025-02-25T06:31:48.268Z,1740465108.268 [sci2_slowyo_test:Science:ChlThreshTrigger] Stopped
2025-02-25T06:31:48.268Z,1740465108.268 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-25T06:31:48.268Z,1740465108.268 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-25T06:31:48.268Z,1740465108.268 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-25T06:31:48.268Z,1740465108.268 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-25T06:31:48.268Z,1740465108.268 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-25T06:31:48.268Z,1740465108.268 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-25T06:31:48.269Z,1740465108.269 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-25T06:31:48.281Z,1740465108.281 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-25T06:31:48.281Z,1740465108.281 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-25T06:31:48.281Z,1740465108.281 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-25T06:31:48.281Z,1740465108.281 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-25T06:31:48.281Z,1740465108.281 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-25T06:31:48.281Z,1740465108.281 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-25T06:31:48.281Z,1740465108.281 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-25T06:31:48.282Z,1740465108.282 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-25T06:31:48.282Z,1740465108.282 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-25T06:31:48.282Z,1740465108.282 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-25T06:31:48.282Z,1740465108.282 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-25T06:31:48.282Z,1740465108.282 [sci2_slowyo_test:Science:HighestSaltPeakReport] Stopped
2025-02-25T06:31:48.282Z,1740465108.282 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-25T06:31:48.282Z,1740465108.282 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-25T06:31:48.282Z,1740465108.282 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-25T06:31:48.282Z,1740465108.282 [sci2_slowyo_test:Science:PeakDetectSalinity] Stopped
2025-02-25T06:31:48.282Z,1740465108.282 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-25T06:31:48.282Z,1740465108.282 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Stopped
2025-02-25T06:31:48.282Z,1740465108.282 [sci2_slowyo_test:Science:PeakDetectFDOM] Stopped
2025-02-25T06:31:48.282Z,1740465108.282 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-25T06:31:48.283Z,1740465108.283 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Stopped
2025-02-25T06:31:48.283Z,1740465108.283 [sci2_slowyo_test:Science:HighestOilPeakReport] Stopped
2025-02-25T06:31:48.283Z,1740465108.283 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-25T06:31:48.283Z,1740465108.283 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-25T06:31:48.283Z,1740465108.283 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-25T06:31:48.283Z,1740465108.283 [sci2_slowyo_test:Science:PeakDetectOil] Stopped
2025-02-25T06:31:48.283Z,1740465108.283 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-25T06:31:48.283Z,1740465108.283 [sci2_slowyo_test:Science:PeakDetectOil:A] Stopped
2025-02-25T06:31:48.283Z,1740465108.283 [sci2_slowyo_test:Science:PeakDetectNO3] Stopped
2025-02-25T06:31:48.283Z,1740465108.283 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-25T06:31:48.283Z,1740465108.283 [sci2_slowyo_test:Science:PeakDetectNO3:A] Stopped
2025-02-25T06:31:48.283Z,1740465108.283 [sci2_slowyo_test:Science:HighestChlPeakReport] Stopped
2025-02-25T06:31:48.283Z,1740465108.283 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-25T06:31:48.284Z,1740465108.284 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-25T06:31:48.284Z,1740465108.284 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-25T06:31:48.284Z,1740465108.284 [sci2_slowyo_test:Science:EdgeDetectChl] Stopped
2025-02-25T06:31:48.284Z,1740465108.284 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-25T06:31:48.284Z,1740465108.284 [sci2_slowyo_test:Science:EdgeDetectChl:A] Stopped
2025-02-25T06:31:48.284Z,1740465108.284 [sci2_slowyo_test:Science:PeakDetectChl] Stopped
2025-02-25T06:31:48.284Z,1740465108.284 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-25T06:31:48.284Z,1740465108.284 [sci2_slowyo_test:Science:PeakDetectChl:A] Stopped
2025-02-25T06:31:48.284Z,1740465108.284 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-25T06:31:48.284Z,1740465108.284 [sci2_slowyo_test:Science:Read_Oil] Stopped
2025-02-25T06:31:48.284Z,1740465108.284 [sci2_slowyo_test:Science:F] Stopped
2025-02-25T06:31:48.285Z,1740465108.285 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-25T06:31:48.306Z,1740465108.306 [sci2_slowyo_test:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-25T06:31:48.306Z,1740465108.306 [sci2_slowyo_test:Science:D] Stopped
2025-02-25T06:31:48.306Z,1740465108.306 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-25T06:31:48.307Z,1740465108.307 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-25T06:31:48.308Z,1740465108.308 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-25T06:31:48.308Z,1740465108.308 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-25T06:31:48.308Z,1740465108.308 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-25T06:31:48.314Z,1740465108.314 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-25T06:31:48.314Z,1740465108.314 [sci2_slowyo_test:Science:A] Stopped
2025-02-25T06:31:48.355Z,1740465108.355 [WetLabsBB2FL](INFO): Powering up
2025-02-25T06:31:48.613Z,1740465108.613 [sci2_slowyo_test:E] Stopped
2025-02-25T06:31:48.613Z,1740465108.613 [sci2_slowyo_test:F] Running Loop=1
2025-02-25T06:31:48.953Z,1740465108.953 [sci2_slowyo_test:F] Stopped
2025-02-25T06:31:48.953Z,1740465108.953 [sci2_slowyo_test:G] Running Loop=1
2025-02-25T06:31:49.337Z,1740465109.337 [sci2_slowyo_test:G] Stopped
2025-02-25T06:31:49.337Z,1740465109.337 [sci2_slowyo_test:StartingMission] Running Loop=1
2025-02-25T06:31:49.337Z,1740465109.337 [sci2_slowyo_test:StartingMission](DEBUG): Aggregate::initialize sci2_slowyo_test:StartingMission
2025-02-25T06:31:49.725Z,1740465109.725 [sci2_slowyo_test:SurfaceComms] Running Loop=1
2025-02-25T06:31:49.726Z,1740465109.726 [sci2_slowyo_test:SurfaceComms](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms
2025-02-25T06:31:49.726Z,1740465109.726 [sci2_slowyo_test:SurfaceComms:A] Running Loop=1
2025-02-25T06:31:49.726Z,1740465109.726 [sci2_slowyo_test:SurfaceComms:A] Stopped
2025-02-25T06:31:49.726Z,1740465109.726 [sci2_slowyo_test:SurfaceComms:B] Running Loop=1
2025-02-25T06:31:49.726Z,1740465109.726 [sci2_slowyo_test:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:B
2025-02-25T06:31:49.730Z,1740465109.730 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-25T06:31:50.134Z,1740465110.134 [sci2_slowyo_test:NeedComms] Running Loop=1
2025-02-25T06:31:50.134Z,1740465110.134 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::initialize sci2_slowyo_test:NeedComms
2025-02-25T06:31:50.134Z,1740465110.134 [sci2_slowyo_test:NeedComms:B.GoToSurface] Running Loop=1
2025-02-25T06:31:50.134Z,1740465110.134 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T06:31:50.134Z,1740465110.134 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received depth rate setting 0.300000 m/s.
2025-02-25T06:31:50.135Z,1740465110.135 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-25T06:31:50.135Z,1740465110.135 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-25T06:31:50.135Z,1740465110.135 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-25T06:31:50.136Z,1740465110.136 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T06:31:50.136Z,1740465110.136 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T06:31:50.136Z,1740465110.136 [sci2_slowyo_test:NeedComms:A] Running Loop=1
2025-02-25T06:31:50.138Z,1740465110.138 [sci2_slowyo_test:NeedComms:A](INFO): last time_fix was:  1740465072.000000 second since 1970/01/01T00:00:00Z 
2025-02-25T06:31:50.138Z,1740465110.138 [sci2_slowyo_test:NeedComms:A] Stopped
2025-02-25T06:31:50.591Z,1740465110.591 [sci2_slowyo_test:NeedComms:C] Running Loop=1
2025-02-25T06:31:51.014Z,1740465111.014 [sci2_slowyo_test:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-25T06:31:52.002Z,1740465112.002 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-25T06:31:52.552Z,1740465112.552 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,063151.00,A,3647.73119,N,12152.52785,W,0.758,233.37,250225,,,D*74
2025-02-25T06:31:52.556Z,1740465112.556 [NAL9602](INFO): GPS fix at 20250225T063151: (36.795520, -121.875464)
2025-02-25T06:31:52.586Z,1740465112.586 [sci2_slowyo_test:NeedComms:C] Stopped
2025-02-25T06:31:52.586Z,1740465112.586 [sci2_slowyo_test:NeedComms:D] Running Loop=1
2025-02-25T06:31:52.994Z,1740465112.994 [sci2_slowyo_test:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-25T06:31:53.424Z,1740465113.424 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250225T062120/Courier0010.lzma
2025-02-25T06:31:54.423Z,1740465114.423 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Courier0010.lzma.bak
2025-02-25T06:31:54.425Z,1740465114.425 [DataOverHttps](INFO): SBD MOMSN=23975661
2025-02-25T06:32:14.857Z,1740465134.857 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250225T062120/Courier0013.lzma
2025-02-25T06:32:15.867Z,1740465135.867 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Courier0013.lzma.bak
2025-02-25T06:32:15.867Z,1740465135.867 [DataOverHttps](INFO): SBD MOMSN=23975664
2025-02-25T06:32:24.446Z,1740465144.446 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T06:32:33.150Z,1740465153.150 [MassServo](ERROR): getPosition uart error serial timeout
2025-02-25T06:32:33.152Z,1740465153.152 [MassServo](FAULT): Invalid EZ Servo response:"\377"
2025-02-25T06:32:33.152Z,1740465153.152 [MassServo] Communications Fault, FailCount= 2
2025-02-25T06:32:33.152Z,1740465153.152 [MassServo](ERROR): Communications Fault
2025-02-25T06:32:33.163Z,1740465153.163 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-25T06:32:33.423Z,1740465153.423 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-25T06:32:33.423Z,1740465153.423 [MassServo](INFO): Powering down
2025-02-25T06:32:34.271Z,1740465154.271 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-25T06:32:34.390Z,1740465154.390 [MassServo](DEBUG): Initializing MassServo.
2025-02-25T06:32:34.394Z,1740465154.394 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-25T06:32:34.394Z,1740465154.394 [MassServo] No Fault, FailCount= 2
2025-02-25T06:32:37.878Z,1740465157.878 [DataOverHttps](INFO): Sending 863 bytes from file Logs/20250225T062120/Express0008.lzma
2025-02-25T06:32:38.879Z,1740465158.879 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Express0008.lzma.bak
2025-02-25T06:32:38.879Z,1740465158.879 [DataOverHttps](INFO): SBD MOMSN=23975667
2025-02-25T06:32:52.493Z,1740465172.493 [MassServo](ERROR): getPosition uart error serial timeout
2025-02-25T06:32:52.494Z,1740465172.494 [MassServo](FAULT): Invalid EZ Servo response:"\n"
2025-02-25T06:32:52.494Z,1740465172.494 [MassServo] Communications Fault, FailCount= 3
2025-02-25T06:32:52.494Z,1740465172.494 [MassServo](ERROR): Communications Fault
2025-02-25T06:32:52.498Z,1740465172.498 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-25T06:32:52.825Z,1740465172.825 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-25T06:32:52.825Z,1740465172.825 [MassServo](INFO): Powering down
2025-02-25T06:32:53.614Z,1740465173.614 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-25T06:32:53.730Z,1740465173.730 [MassServo](DEBUG): Initializing MassServo.
2025-02-25T06:32:53.735Z,1740465173.735 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-25T06:32:53.735Z,1740465173.735 [MassServo] No Fault, FailCount= 3
2025-02-25T06:32:57.260Z,1740465177.260 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250225T062120/Express0011.lzma
2025-02-25T06:32:58.260Z,1740465178.260 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Express0011.lzma.bak
2025-02-25T06:32:58.260Z,1740465178.260 [DataOverHttps](INFO): SBD MOMSN=23975697
2025-02-25T06:33:00.355Z,1740465180.355 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250225T063259
2025-02-25T06:33:03.072Z,1740465183.072 [BackseatComponent](INFO): Created universal data reader for depth with code: 6
2025-02-25T06:33:03.072Z,1740465183.072 [BackseatComponent](INFO): Requesting data from depth (6). Requested size is: 1
2025-02-25T06:33:03.083Z,1740465183.083 [BackseatComponent](INFO): Created universal data reader for latitude with code: 23
2025-02-25T06:33:03.084Z,1740465183.084 [BackseatComponent](INFO): Requesting data from latitude (23). Requested size is: 2
2025-02-25T06:33:03.087Z,1740465183.087 [BackseatComponent](INFO): Created universal data reader for longitude with code: 26
2025-02-25T06:33:03.088Z,1740465183.088 [BackseatComponent](INFO): Requesting data from longitude (26). Requested size is: 3
2025-02-25T06:33:03.091Z,1740465183.091 [BackseatComponent](INFO): Created universal data reader for platform_orientation with code: 52
2025-02-25T06:33:03.091Z,1740465183.091 [BackseatComponent](INFO): Requesting data from platform_orientation (52). Requested size is: 4
2025-02-25T06:33:03.108Z,1740465183.108 [BackseatComponent](INFO): Created universal data reader for platform_pitch_angle with code: 54
2025-02-25T06:33:03.112Z,1740465183.112 [BackseatComponent](INFO): Requesting data from platform_pitch_angle (54). Requested size is: 5
2025-02-25T06:33:03.116Z,1740465183.116 [BackseatComponent](INFO): Created universal data reader for platform_roll_angle with code: 59
2025-02-25T06:33:03.117Z,1740465183.117 [BackseatComponent](INFO): Requesting data from platform_roll_angle (59). Requested size is: 6
2025-02-25T06:33:03.143Z,1740465183.143 [BackseatComponent](INFO): Created universal data reader for platform_x_velocity_wrt_sea_water with code: 70
2025-02-25T06:33:03.143Z,1740465183.143 [BackseatComponent](INFO): Requesting data from platform_x_velocity_wrt_sea_water (70). Requested size is: 7
2025-02-25T06:33:07.593Z,1740465187.593 [MassServo](ERROR): getPosition uart error serial timeout
2025-02-25T06:33:07.938Z,1740465187.938 [MassServo](FAULT): Invalid EZ Servo response:"0867\r"
2025-02-25T06:33:07.938Z,1740465187.938 [MassServo] Communications Fault, FailCount= 4
2025-02-25T06:33:07.938Z,1740465187.938 [MassServo](ERROR): Communications Fault
2025-02-25T06:33:07.955Z,1740465187.955 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-25T06:33:08.314Z,1740465188.314 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-25T06:33:08.314Z,1740465188.314 [MassServo](INFO): Powering down
2025-02-25T06:33:09.154Z,1740465189.154 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-25T06:33:09.278Z,1740465189.278 [MassServo](DEBUG): Initializing MassServo.
2025-02-25T06:33:09.292Z,1740465189.292 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-25T06:33:09.292Z,1740465189.292 [MassServo] No Fault, FailCount= 4
2025-02-25T06:33:25.125Z,1740465205.125 [DataOverHttps](INFO): Sending 311 bytes from file Logs/20250225T062120/Express0014.lzma
2025-02-25T06:33:26.128Z,1740465206.128 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Express0014.lzma.bak
2025-02-25T06:33:26.128Z,1740465206.128 [DataOverHttps](INFO): SBD MOMSN=23975699
2025-02-25T06:33:28.030Z,1740465208.030 [sci2_slowyo_test:NeedComms:D] Stopped
2025-02-25T06:33:28.030Z,1740465208.030 [sci2_slowyo_test:NeedComms:E] Running Loop=1
2025-02-25T06:33:28.435Z,1740465208.435 [sci2_slowyo_test:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-25T06:33:30.028Z,1740465210.028 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,063329.00,A,3647.72983,N,12152.52294,W,0.855,85.35,250225,,,D*49
2025-02-25T06:33:30.030Z,1740465210.030 [NAL9602](INFO): GPS fix at 20250225T063329: (36.795497, -121.875382)
2025-02-25T06:33:30.078Z,1740465210.078 [sci2_slowyo_test:NeedComms:E] Stopped
2025-02-25T06:33:30.079Z,1740465210.079 [sci2_slowyo_test:NeedComms](INFO): Completed sci2_slowyo_test:NeedComms
2025-02-25T06:33:30.079Z,1740465210.079 [sci2_slowyo_test:NeedComms] Stopped
2025-02-25T06:33:30.079Z,1740465210.079 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:NeedComms
2025-02-25T06:33:30.079Z,1740465210.079 [sci2_slowyo_test:NeedComms:B.GoToSurface] Stopped
2025-02-25T06:33:30.079Z,1740465210.079 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T06:33:30.497Z,1740465210.497 [sci2_slowyo_test:SurfaceComms:B](INFO): Completed sci2_slowyo_test:SurfaceComms:B
2025-02-25T06:33:30.498Z,1740465210.498 [sci2_slowyo_test:SurfaceComms:B] Stopped
2025-02-25T06:33:30.498Z,1740465210.498 [sci2_slowyo_test:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:B
2025-02-25T06:33:30.498Z,1740465210.498 [sci2_slowyo_test:SurfaceComms:setInitial] Running Loop=1
2025-02-25T06:33:30.498Z,1740465210.498 [sci2_slowyo_test:SurfaceComms:setInitial](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:setInitial
2025-02-25T06:33:30.498Z,1740465210.498 [sci2_slowyo_test:SurfaceComms:setInitial:A] Running Loop=1
2025-02-25T06:33:30.860Z,1740465210.860 [sci2_slowyo_test:SurfaceComms:setInitial:A] Stopped
2025-02-25T06:33:30.860Z,1740465210.860 [sci2_slowyo_test:SurfaceComms:setInitial](INFO): Completed sci2_slowyo_test:SurfaceComms:setInitial
2025-02-25T06:33:30.860Z,1740465210.860 [sci2_slowyo_test:SurfaceComms:setInitial] Stopped
2025-02-25T06:33:30.861Z,1740465210.861 [sci2_slowyo_test:SurfaceComms:setInitial](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:setInitial
2025-02-25T06:33:30.865Z,1740465210.865 [sci2_slowyo_test:SurfaceComms:setSink] Running Loop=1
2025-02-25T06:33:30.865Z,1740465210.865 [sci2_slowyo_test:SurfaceComms:setSink](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:setSink
2025-02-25T06:33:30.865Z,1740465210.865 [sci2_slowyo_test:SurfaceComms:setSink:A] Running Loop=1
2025-02-25T06:33:31.287Z,1740465211.287 [sci2_slowyo_test:SurfaceComms:setSink] Stopped
2025-02-25T06:33:31.287Z,1740465211.287 [sci2_slowyo_test:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:setSink
2025-02-25T06:33:31.287Z,1740465211.287 [sci2_slowyo_test:SurfaceComms:setSink:A] Stopped
2025-02-25T06:33:31.287Z,1740465211.287 [sci2_slowyo_test:SurfaceComms](INFO): Completed sci2_slowyo_test:SurfaceComms
2025-02-25T06:33:31.287Z,1740465211.287 [sci2_slowyo_test:SurfaceComms] Stopped
2025-02-25T06:33:31.287Z,1740465211.287 [sci2_slowyo_test:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms
2025-02-25T06:33:31.768Z,1740465211.768 [sci2_slowyo_test:StartingMission](INFO): Completed sci2_slowyo_test:StartingMission
2025-02-25T06:33:31.768Z,1740465211.768 [sci2_slowyo_test:StartingMission] Stopped
2025-02-25T06:33:31.773Z,1740465211.773 [sci2_slowyo_test:StartingMission](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StartingMission
2025-02-25T06:33:31.773Z,1740465211.773 [sci2_slowyo_test:Lap] Running Loop=1
2025-02-25T06:33:31.773Z,1740465211.773 [sci2_slowyo_test:Lap](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap
2025-02-25T06:33:31.773Z,1740465211.773 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-25T06:33:31.774Z,1740465211.774 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive
2025-02-25T06:33:31.774Z,1740465211.774 [sci2_slowyo_test:Lap:Dive:A] Running Loop=1
2025-02-25T06:33:31.774Z,1740465211.774 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive:A
2025-02-25T06:33:31.774Z,1740465211.774 [sci2_slowyo_test:Lap:Wpt1] Running Loop=1
2025-02-25T06:33:31.774Z,1740465211.774 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt1
2025-02-25T06:33:31.774Z,1740465211.774 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-02-25T06:33:31.775Z,1740465211.775 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T06:33:31.776Z,1740465211.776 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.796310,-121.872040
2025-02-25T06:33:32.159Z,1740465212.159 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.796310,-121.872040
2025-02-25T06:33:32.159Z,1740465212.159 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-25T06:33:32.159Z,1740465212.159 [sci2_slowyo_test:DiveCmd] Running Loop=1
2025-02-25T06:33:32.160Z,1740465212.160 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd
2025-02-25T06:33:32.160Z,1740465212.160 [sci2_slowyo_test:DiveCmd:SurfaceSink] Running Loop=1
2025-02-25T06:33:32.160Z,1740465212.160 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-25T06:33:32.160Z,1740465212.160 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-02-25T06:33:32.160Z,1740465212.160 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-25T06:33:32.160Z,1740465212.160 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-25T06:33:32.160Z,1740465212.160 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-25T06:33:32.160Z,1740465212.160 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-02-25T06:33:32.160Z,1740465212.160 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-02-25T06:33:32.171Z,1740465212.171 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-02-25T06:33:32.172Z,1740465212.172 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-02-25T06:33:32.172Z,1740465212.172 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-25T06:33:32.172Z,1740465212.172 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Running Loop=1
2025-02-25T06:33:32.172Z,1740465212.172 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-25T06:33:32.172Z,1740465212.172 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-02-25T06:33:32.172Z,1740465212.172 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Initialize.
2025-02-25T06:33:32.172Z,1740465212.172 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-25T06:33:32.172Z,1740465212.172 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-25T06:33:32.177Z,1740465212.177 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Running Loop=1
2025-02-25T06:33:32.177Z,1740465212.177 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-25T06:33:32.177Z,1740465212.177 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-25T06:33:32.177Z,1740465212.177 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-25T06:33:32.177Z,1740465212.177 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-25T06:33:32.177Z,1740465212.177 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-25T06:33:32.177Z,1740465212.177 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-25T06:33:32.178Z,1740465212.178 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-25T06:33:32.178Z,1740465212.178 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-25T06:33:32.178Z,1740465212.178 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-25T06:33:32.178Z,1740465212.178 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-25T06:33:32.178Z,1740465212.178 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-25T06:33:32.178Z,1740465212.178 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T06:33:32.178Z,1740465212.178 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-25T06:33:32.179Z,1740465212.179 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-25T06:33:32.179Z,1740465212.179 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-25T06:33:32.180Z,1740465212.180 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-25T06:33:32.180Z,1740465212.180 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-25T06:33:32.180Z,1740465212.180 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-25T06:33:32.180Z,1740465212.180 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-25T06:33:32.180Z,1740465212.180 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-25T06:33:32.180Z,1740465212.180 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-25T06:33:32.180Z,1740465212.180 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-25T06:33:32.180Z,1740465212.180 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-25T06:33:32.180Z,1740465212.180 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-25T06:33:32.180Z,1740465212.180 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T06:33:32.180Z,1740465212.180 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-25T06:33:32.180Z,1740465212.180 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-25T06:33:32.217Z,1740465212.217 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-02-25T06:33:32.218Z,1740465212.218 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C](INFO): Waiting for 1 minute while pumping down to neutral.
2025-02-25T06:33:32.218Z,1740465212.218 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Stopped
2025-02-25T06:33:32.218Z,1740465212.218 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait] Running Loop=1
2025-02-25T06:33:32.218Z,1740465212.218 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Initialize Wait Component.
2025-02-25T06:33:32.218Z,1740465212.218 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-25T06:33:32.219Z,1740465212.219 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-02-25T06:33:32.220Z,1740465212.220 [sci2_slowyo_test:DiveCmd:SurfaceSink] Stopped
2025-02-25T06:33:32.220Z,1740465212.220 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-25T06:33:32.220Z,1740465212.220 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Stopped
2025-02-25T06:33:32.220Z,1740465212.220 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-25T06:33:32.220Z,1740465212.220 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-02-25T06:33:32.221Z,1740465212.221 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-25T06:33:32.225Z,1740465212.225 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-02-25T06:33:32.225Z,1740465212.225 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-02-25T06:33:32.225Z,1740465212.225 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Stopped
2025-02-25T06:33:32.264Z,1740465212.264 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-02-25T06:33:32.264Z,1740465212.264 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-02-25T06:33:32.264Z,1740465212.264 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-02-25T06:33:46.082Z,1740465226.082 [NAL9602](INFO): SBD MO Status=0, MOMSN=13400, MT Status=0, MTMSN=0
2025-02-25T06:33:46.082Z,1740465226.082 [NAL9602](INFO): No messages in MT queue
2025-02-25T06:34:01.444Z,1740465241.444 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2126
2025-02-25T06:34:16.644Z,1740465256.644 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T06:34:32.630Z,1740465272.630 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](INFO): Done Waiting.
2025-02-25T06:34:32.630Z,1740465272.630 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait] Stopped
2025-02-25T06:34:32.630Z,1740465272.630 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T06:34:32.630Z,1740465272.630 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E] Running Loop=1
2025-02-25T06:34:33.242Z,1740465273.242 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E](INFO): Moving to  10.000000 m 
2025-02-25T06:34:33.242Z,1740465273.242 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E] Stopped
2025-02-25T06:34:33.243Z,1740465273.243 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-02-25T06:34:33.243Z,1740465273.243 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-25T06:34:33.243Z,1740465273.243 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-02-25T06:34:33.243Z,1740465273.243 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-02-25T06:34:33.243Z,1740465273.243 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-02-25T06:34:33.243Z,1740465273.243 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-02-25T06:34:34.082Z,1740465274.082 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-02-25T06:36:01.389Z,1740465361.389 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T06:36:25.229Z,1740465385.229 [Radio_Surface](INFO): Powering down
2025-02-25T06:36:32.513Z,1740465392.513 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T06:36:33.517Z,1740465393.517 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-25T06:37:08.978Z,1740465428.978 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-02-25T06:37:08.979Z,1740465428.979 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-25T06:37:08.979Z,1740465428.979 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-02-25T06:37:08.979Z,1740465428.979 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-25T06:37:08.979Z,1740465428.979 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-02-25T06:37:08.979Z,1740465428.979 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-02-25T06:37:08.979Z,1740465428.979 [sci2_slowyo_test:DiveCmd:InitialDive:dive:G] Running Loop=1
2025-02-25T06:37:09.380Z,1740465429.380 [sci2_slowyo_test:DiveCmd:InitialDive:dive:G] Stopped
2025-02-25T06:37:09.381Z,1740465429.381 [sci2_slowyo_test:DiveCmd:InitialDive:dive](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-25T06:37:09.381Z,1740465429.381 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Stopped
2025-02-25T06:37:09.381Z,1740465429.381 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-25T06:37:09.381Z,1740465429.381 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Stopped
2025-02-25T06:37:09.381Z,1740465429.381 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Uninitialize.
2025-02-25T06:37:09.381Z,1740465429.381 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-02-25T06:37:09.381Z,1740465429.381 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-25T06:37:09.381Z,1740465429.381 [sci2_slowyo_test:DiveCmd:InitialDive](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive
2025-02-25T06:37:09.856Z,1740465429.856 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-25T06:37:09.856Z,1740465429.856 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-25T06:37:09.856Z,1740465429.856 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-25T06:37:09.856Z,1740465429.856 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-25T06:37:09.856Z,1740465429.856 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-25T06:37:09.856Z,1740465429.856 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-25T06:37:09.856Z,1740465429.856 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-25T06:37:09.856Z,1740465429.856 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-25T06:37:09.857Z,1740465429.857 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-25T06:37:09.857Z,1740465429.857 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-25T06:37:09.857Z,1740465429.857 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-25T06:37:09.857Z,1740465429.857 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T06:37:09.858Z,1740465429.858 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-25T06:37:09.858Z,1740465429.858 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-25T06:37:09.858Z,1740465429.858 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-25T06:37:09.858Z,1740465429.858 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-25T06:37:09.859Z,1740465429.859 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-25T06:37:09.859Z,1740465429.859 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-25T06:37:09.860Z,1740465429.860 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-25T06:37:51.836Z,1740465471.836 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.036728
2025-02-25T06:38:01.309Z,1740465481.309 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2127
2025-02-25T06:40:19.743Z,1740465619.743 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.796310,-121.872040
2025-02-25T06:40:19.743Z,1740465619.743 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Stopped
2025-02-25T06:40:19.743Z,1740465619.743 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T06:40:19.744Z,1740465619.744 [sci2_slowyo_test:Lap:Wpt1](INFO): Completed sci2_slowyo_test:Lap:Wpt1
2025-02-25T06:40:19.744Z,1740465619.744 [sci2_slowyo_test:Lap:Wpt1] Stopped
2025-02-25T06:40:19.744Z,1740465619.744 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt1
2025-02-25T06:40:19.744Z,1740465619.744 [sci2_slowyo_test:Lap:Wpt2] Running Loop=1
2025-02-25T06:40:19.745Z,1740465619.745 [sci2_slowyo_test:Lap:Wpt2](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt2
2025-02-25T06:40:19.746Z,1740465619.746 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint] Running Loop=1
2025-02-25T06:40:19.746Z,1740465619.746 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T06:40:19.747Z,1740465619.747 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.796360,-121.903008
2025-02-25T06:40:20.144Z,1740465620.144 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](INFO): Navigating to waypoint: 36.796360,-121.903008
2025-02-25T07:14:23.759Z,1740467663.759 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T07:14:23.759Z,1740467663.759 [ThrusterHE](INFO): Powering down
2025-02-25T07:14:24.546Z,1740467664.546 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T07:14:24.670Z,1740467664.670 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T07:24:13.251Z,1740468253.251 [CTD_Seabird](ERROR): Failed to parse device response: 29.73,10.8807,3.746747
2025-02-25T07:28:24.407Z,1740468504.407 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T07:28:24.407Z,1740468504.407 [ThrusterHE](INFO): Powering down
2025-02-25T07:28:25.354Z,1740468505.354 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T07:28:25.474Z,1740468505.474 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T07:29:10.890Z,1740468550.890 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-25T07:29:10.891Z,1740468550.891 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-25T07:29:10.891Z,1740468550.891 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-25T07:29:10.892Z,1740468550.892 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T07:29:10.892Z,1740468550.892 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-25T07:29:10.892Z,1740468550.892 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T07:29:10.892Z,1740468550.892 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Running loop #2
2025-02-25T07:29:10.892Z,1740468550.892 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=2
2025-02-25T07:29:10.893Z,1740468550.893 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T07:29:10.913Z,1740468550.913 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-25T07:29:10.913Z,1740468550.913 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-25T07:30:24.641Z,1740468624.641 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T07:30:38.020Z,1740468638.020 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T07:30:50.936Z,1740468650.936 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T07:31:01.878Z,1740468661.878 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](IMPORTANT): Reached waypoint: 36.796360,-121.903008
2025-02-25T07:31:01.878Z,1740468661.878 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint] Stopped
2025-02-25T07:31:01.878Z,1740468661.878 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T07:31:01.879Z,1740468661.879 [sci2_slowyo_test:Lap:Wpt2](INFO): Completed sci2_slowyo_test:Lap:Wpt2
2025-02-25T07:31:01.879Z,1740468661.879 [sci2_slowyo_test:Lap:Wpt2] Stopped
2025-02-25T07:31:01.879Z,1740468661.879 [sci2_slowyo_test:Lap:Wpt2](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt2
2025-02-25T07:31:01.879Z,1740468661.879 [sci2_slowyo_test:Lap:Wpt3] Running Loop=1
2025-02-25T07:31:01.879Z,1740468661.879 [sci2_slowyo_test:Lap:Wpt3](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt3
2025-02-25T07:31:01.879Z,1740468661.879 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint] Running Loop=1
2025-02-25T07:31:01.880Z,1740468661.880 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T07:31:03.544Z,1740468663.544 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T07:31:15.723Z,1740468675.723 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T07:31:29.069Z,1740468689.069 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T07:31:42.220Z,1740468702.220 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T07:31:52.023Z,1740468712.023 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint] Stopped
2025-02-25T07:31:52.023Z,1740468712.023 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T07:31:52.024Z,1740468712.024 [sci2_slowyo_test:Lap:Wpt3](INFO): Completed sci2_slowyo_test:Lap:Wpt3
2025-02-25T07:31:52.024Z,1740468712.024 [sci2_slowyo_test:Lap:Wpt3] Stopped
2025-02-25T07:31:52.024Z,1740468712.024 [sci2_slowyo_test:Lap:Wpt3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt3
2025-02-25T07:31:52.024Z,1740468712.024 [sci2_slowyo_test:Lap:Wpt4] Running Loop=1
2025-02-25T07:31:52.024Z,1740468712.024 [sci2_slowyo_test:Lap:Wpt4](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt4
2025-02-25T07:31:52.024Z,1740468712.024 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint] Running Loop=1
2025-02-25T07:31:52.024Z,1740468712.024 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T07:31:52.431Z,1740468712.431 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint] Stopped
2025-02-25T07:31:52.431Z,1740468712.431 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T07:31:52.431Z,1740468712.431 [sci2_slowyo_test:Lap:Wpt4](INFO): Completed sci2_slowyo_test:Lap:Wpt4
2025-02-25T07:31:52.431Z,1740468712.431 [sci2_slowyo_test:Lap:Wpt4] Stopped
2025-02-25T07:31:52.431Z,1740468712.431 [sci2_slowyo_test:Lap:Wpt4](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt4
2025-02-25T07:31:52.432Z,1740468712.432 [sci2_slowyo_test:Lap:Wpt5] Running Loop=1
2025-02-25T07:31:52.432Z,1740468712.432 [sci2_slowyo_test:Lap:Wpt5](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt5
2025-02-25T07:31:52.432Z,1740468712.432 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint] Running Loop=1
2025-02-25T07:31:52.432Z,1740468712.432 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T07:31:52.826Z,1740468712.826 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint] Stopped
2025-02-25T07:31:52.826Z,1740468712.826 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T07:31:52.826Z,1740468712.826 [sci2_slowyo_test:Lap:Wpt5](INFO): Completed sci2_slowyo_test:Lap:Wpt5
2025-02-25T07:31:52.826Z,1740468712.826 [sci2_slowyo_test:Lap:Wpt5] Stopped
2025-02-25T07:31:52.826Z,1740468712.826 [sci2_slowyo_test:Lap:Wpt5](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt5
2025-02-25T07:31:52.826Z,1740468712.826 [sci2_slowyo_test:Lap:Wpt6] Running Loop=1
2025-02-25T07:31:52.826Z,1740468712.826 [sci2_slowyo_test:Lap:Wpt6](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt6
2025-02-25T07:31:52.827Z,1740468712.827 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint] Running Loop=1
2025-02-25T07:31:52.827Z,1740468712.827 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T07:31:53.235Z,1740468713.235 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint] Stopped
2025-02-25T07:31:53.235Z,1740468713.235 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T07:31:53.235Z,1740468713.235 [sci2_slowyo_test:Lap:Wpt6](INFO): Completed sci2_slowyo_test:Lap:Wpt6
2025-02-25T07:31:53.235Z,1740468713.235 [sci2_slowyo_test:Lap:Wpt6] Stopped
2025-02-25T07:31:53.235Z,1740468713.235 [sci2_slowyo_test:Lap:Wpt6](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt6
2025-02-25T07:31:53.235Z,1740468713.235 [sci2_slowyo_test:Lap:Wpt7] Running Loop=1
2025-02-25T07:31:53.236Z,1740468713.236 [sci2_slowyo_test:Lap:Wpt7](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt7
2025-02-25T07:31:53.236Z,1740468713.236 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint] Running Loop=1
2025-02-25T07:31:53.236Z,1740468713.236 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T07:31:53.633Z,1740468713.633 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint] Stopped
2025-02-25T07:31:53.633Z,1740468713.633 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T07:31:53.633Z,1740468713.633 [sci2_slowyo_test:Lap:Wpt7](INFO): Completed sci2_slowyo_test:Lap:Wpt7
2025-02-25T07:31:53.634Z,1740468713.634 [sci2_slowyo_test:Lap:Wpt7] Stopped
2025-02-25T07:31:53.634Z,1740468713.634 [sci2_slowyo_test:Lap:Wpt7](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt7
2025-02-25T07:31:53.634Z,1740468713.634 [sci2_slowyo_test:Lap](INFO): Completed sci2_slowyo_test:Lap
2025-02-25T07:31:53.634Z,1740468713.634 [sci2_slowyo_test:Lap] Stopped
2025-02-25T07:31:53.634Z,1740468713.634 [sci2_slowyo_test:Lap](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap
2025-02-25T07:31:53.634Z,1740468713.634 [sci2_slowyo_test:Lap:Dive] Stopped
2025-02-25T07:31:53.634Z,1740468713.634 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive
2025-02-25T07:31:53.634Z,1740468713.634 [sci2_slowyo_test:Lap:Dive:A] Stopped
2025-02-25T07:31:53.634Z,1740468713.634 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive:A
2025-02-25T07:31:53.635Z,1740468713.635 [sci2_slowyo_test:Lap](INFO): Running loop #2
2025-02-25T07:31:53.635Z,1740468713.635 [sci2_slowyo_test:Lap] Running Loop=2
2025-02-25T07:31:53.635Z,1740468713.635 [sci2_slowyo_test:Lap](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap
2025-02-25T07:31:53.635Z,1740468713.635 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-25T07:31:53.635Z,1740468713.635 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive
2025-02-25T07:31:53.635Z,1740468713.635 [sci2_slowyo_test:Lap:Dive:A] Running Loop=1
2025-02-25T07:31:53.635Z,1740468713.635 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive:A
2025-02-25T07:31:53.635Z,1740468713.635 [sci2_slowyo_test:Lap:Wpt1] Running Loop=1
2025-02-25T07:31:53.636Z,1740468713.636 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt1
2025-02-25T07:31:53.636Z,1740468713.636 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-02-25T07:31:53.636Z,1740468713.636 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T07:31:53.638Z,1740468713.638 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.796310,-121.872040
2025-02-25T07:36:48.657Z,1740469008.657 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-25T07:36:50.280Z,1740469010.280 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-25T07:36:50.281Z,1740469010.281 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-25T07:36:50.284Z,1740469010.284 [BPC1](INFO): Received data from all battery sticks.
2025-02-25T07:43:30.310Z,1740469410.310 [sci2_slowyo_test:NeedComms] Running Loop=1
2025-02-25T07:43:30.310Z,1740469410.310 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::initialize sci2_slowyo_test:NeedComms
2025-02-25T07:43:30.310Z,1740469410.310 [sci2_slowyo_test:NeedComms:B.GoToSurface] Running Loop=1
2025-02-25T07:43:30.310Z,1740469410.310 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T07:43:30.310Z,1740469410.310 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received depth rate setting 0.300000 m/s.
2025-02-25T07:43:30.311Z,1740469410.311 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-25T07:43:30.311Z,1740469410.311 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-25T07:43:30.311Z,1740469410.311 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-25T07:43:30.312Z,1740469410.312 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T07:43:30.312Z,1740469410.312 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T07:43:30.313Z,1740469410.313 [sci2_slowyo_test:NeedComms:A] Running Loop=1
2025-02-25T07:43:30.323Z,1740469410.323 [sci2_slowyo_test:NeedComms:A](INFO): last time_fix was:  1740465209.000000 second since 1970/01/01T00:00:00Z 
2025-02-25T07:43:30.323Z,1740469410.323 [sci2_slowyo_test:NeedComms:A] Stopped
2025-02-25T07:49:01.966Z,1740469741.966 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T07:49:01.966Z,1740469741.966 [ThrusterHE](INFO): Powering down
2025-02-25T07:49:02.787Z,1740469742.787 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T07:49:02.906Z,1740469742.906 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T07:49:05.851Z,1740469745.851 [sci2_slowyo_test:NeedComms:C] Running Loop=1
2025-02-25T07:49:06.312Z,1740469746.312 [Radio_Surface](INFO): Powering up
2025-02-25T07:49:12.522Z,1740469752.522 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-25T07:49:42.641Z,1740469782.641 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T07:50:13.770Z,1740469813.770 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T07:50:32.695Z,1740469832.695 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=13401, MT Status=1, MTMSN=283
2025-02-25T07:50:32.696Z,1740469832.696 [NAL9602](INFO): Data available in MT queue
2025-02-25T07:50:33.438Z,1740469833.438 [NAL9602](INFO): Received command: sched "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 4 h;set sci2_slowyo_test.NeedCommsTime 90 min;set sci2_slowyo_test.Repeat 3 count;set sci2_slowyo_test.Lat1 36.79631 degree;set sci2_slowyo_test.Lon1 -121.87204 degree" 2a15o 1 3
2025-02-25T07:50:33.527Z,1740469833.527 [CommandExec](IMPORTANT): got command schedule "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 4 h;set sci2_slowyo_test.NeedCommsTime 90 min;set sci2_slowyo_test.Repeat 3 count;set sci2_slowyo_test.Lat1 36.79631 degree;set sci2_slowyo_test.Lon1 -121.87204 degree" 2a15o 1 3.000000
2025-02-25T07:50:33.528Z,1740469833.528 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=2a15o
2025-02-25T07:50:33.529Z,1740469833.529 [CommandExec](IMPORTANT): Scheduled #5 (#1 of 3 with id='2a15o'): "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 4 h;set sci2_slowyo_test.NeedCommsTime 90 min;set sci2_slowyo_test.Repeat 3 count;set sci2_slowyo_test.Lat1 36.79631 degree;set sci2_slowyo_test.Lon1 -121.87204 degree", AFTER MISSION
2025-02-25T07:50:34.502Z,1740469834.502 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,075033.00,A,3647.67560,N,12153.62004,W,0.719,356.91,250225,,,D*7E
2025-02-25T07:50:34.505Z,1740469834.505 [NAL9602](INFO): GPS fix at 20250225T075033: (36.794593, -121.893667)
2025-02-25T07:50:34.522Z,1740469834.522 [UniversalFixResidualReporter](INFO): Fix residual: 6.9 %DT, over the last 4163.1 m. Residual distance 285.5 m at bearing -71.3 degrees. Fix at (36.7946, -121.8937) with 1631.3 m made good.
2025-02-25T07:50:34.550Z,1740469834.550 [sci2_slowyo_test:NeedComms:C] Stopped
2025-02-25T07:50:34.550Z,1740469834.550 [sci2_slowyo_test:NeedComms:D] Running Loop=1
2025-02-25T07:50:44.893Z,1740469844.893 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T07:50:57.432Z,1740469857.432 [NAL9602](INFO): SBD MO Status=2, MOMSN=13402, MT Status=2, MTMSN=0
2025-02-25T07:50:57.432Z,1740469857.432 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T07:51:16.051Z,1740469876.051 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T07:51:17.612Z,1740469877.612 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=13402, MT Status=1, MTMSN=284
2025-02-25T07:51:17.669Z,1740469877.669 [NAL9602](INFO): Sent 217 bytes from file Logs/20250225T062120/Courier0016.lzma
2025-02-25T07:51:17.670Z,1740469877.670 [NAL9602](INFO): Packets left to send: 0
2025-02-25T07:51:18.378Z,1740469878.378 [NAL9602](INFO): Received command: sched "set sci2_slowyo_test.Lat2 36.79636 degree;set sci2_slowyo_test.Lon2 -121.90301 degree;set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 190 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m" 2a15o 2 3
2025-02-25T07:51:18.492Z,1740469878.492 [CommandExec](IMPORTANT): got command schedule "set sci2_slowyo_test.Lat2 36.79636 degree;set sci2_slowyo_test.Lon2 -121.90301 degree;set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 190 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m" 2a15o 2 3.000000
2025-02-25T07:51:18.497Z,1740469878.497 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=2a15o
2025-02-25T07:51:18.498Z,1740469878.498 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 3 with id='2a15o'): "set sci2_slowyo_test.Lat2 36.79636 degree;set sci2_slowyo_test.Lon2 -121.90301 degree;set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 190 m;set sci2_slowyo_test.SlowYoTurningWindow 30 m", AFTER MISSION
2025-02-25T07:51:34.721Z,1740469894.721 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002951
2025-02-25T07:51:52.277Z,1740469912.277 [DataOverHttps](INFO): Sending 1237 bytes from file Logs/20250225T062120/Express0017.lzma
2025-02-25T07:51:53.275Z,1740469913.275 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Express0017.lzma.bak
2025-02-25T07:51:53.275Z,1740469913.275 [DataOverHttps](INFO): SBD MOMSN=23975726
2025-02-25T07:51:55.118Z,1740469915.118 [sci2_slowyo_test:NeedComms:D] Stopped
2025-02-25T07:51:55.119Z,1740469915.119 [sci2_slowyo_test:NeedComms:E] Running Loop=1
2025-02-25T07:51:57.120Z,1740469917.120 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,075156.00,A,3647.67931,N,12153.61806,W,0.330,250.52,250225,,,D*7A
2025-02-25T07:51:57.122Z,1740469917.122 [NAL9602](INFO): GPS fix at 20250225T075156: (36.794655, -121.893634)
2025-02-25T07:51:57.158Z,1740469917.158 [sci2_slowyo_test:NeedComms:E] Stopped
2025-02-25T07:51:57.159Z,1740469917.159 [sci2_slowyo_test:NeedComms](INFO): Completed sci2_slowyo_test:NeedComms
2025-02-25T07:51:57.159Z,1740469917.159 [sci2_slowyo_test:NeedComms] Stopped
2025-02-25T07:51:57.159Z,1740469917.159 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:NeedComms
2025-02-25T07:51:57.159Z,1740469917.159 [sci2_slowyo_test:NeedComms:B.GoToSurface] Stopped
2025-02-25T07:51:57.159Z,1740469917.159 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T07:52:29.335Z,1740469949.335 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T07:52:55.398Z,1740469975.398 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T07:53:22.774Z,1740470002.774 [Radio_Surface](INFO): Powering down
2025-02-25T07:53:26.521Z,1740470006.521 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T07:53:27.525Z,1740470007.525 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-25T07:55:05.917Z,1740470105.917 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.735275
2025-02-25T07:59:05.102Z,1740470345.102 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T07:59:05.103Z,1740470345.103 [ThrusterHE](INFO): Powering down
2025-02-25T07:59:05.886Z,1740470345.886 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T07:59:06.006Z,1740470346.006 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T08:05:52.712Z,1740470752.712 [CTD_Seabird](ERROR): Failed to parse device response: 3.63470,2324.47
2025-02-25T08:08:35.802Z,1740470915.802 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T08:08:35.802Z,1740470915.802 [ThrusterHE](INFO): Powering down
2025-02-25T08:08:36.611Z,1740470916.611 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T08:08:36.726Z,1740470916.726 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T08:11:53.134Z,1740471113.134 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T08:11:53.134Z,1740471113.134 [ThrusterHE](INFO): Powering down
2025-02-25T08:11:53.934Z,1740471113.934 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T08:11:54.054Z,1740471114.054 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T08:28:50.603Z,1740472130.603 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.796310,-121.872040
2025-02-25T08:28:50.603Z,1740472130.603 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Stopped
2025-02-25T08:28:50.603Z,1740472130.603 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T08:28:50.604Z,1740472130.604 [sci2_slowyo_test:Lap:Wpt1](INFO): Completed sci2_slowyo_test:Lap:Wpt1
2025-02-25T08:28:50.604Z,1740472130.604 [sci2_slowyo_test:Lap:Wpt1] Stopped
2025-02-25T08:28:50.604Z,1740472130.604 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt1
2025-02-25T08:28:50.604Z,1740472130.604 [sci2_slowyo_test:Lap:Wpt2] Running Loop=1
2025-02-25T08:28:50.604Z,1740472130.604 [sci2_slowyo_test:Lap:Wpt2](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt2
2025-02-25T08:28:50.604Z,1740472130.604 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint] Running Loop=1
2025-02-25T08:28:50.622Z,1740472130.622 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T08:28:50.623Z,1740472130.623 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.796360,-121.903008
2025-02-25T08:37:57.776Z,1740472677.776 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T08:38:10.697Z,1740472690.697 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T08:38:23.800Z,1740472703.800 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T08:38:35.926Z,1740472715.926 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T08:38:48.879Z,1740472728.879 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T08:39:01.911Z,1740472741.911 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T08:39:14.968Z,1740472754.968 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T08:41:36.425Z,1740472896.425 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-25T08:41:36.425Z,1740472896.425 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-25T08:41:36.425Z,1740472896.425 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-25T08:41:36.426Z,1740472896.426 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T08:41:36.426Z,1740472896.426 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-25T08:41:36.426Z,1740472896.426 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T08:41:36.426Z,1740472896.426 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Running loop #3
2025-02-25T08:41:36.426Z,1740472896.426 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=3
2025-02-25T08:41:36.426Z,1740472896.426 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T08:41:36.427Z,1740472896.427 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-25T08:41:36.427Z,1740472896.427 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-25T08:44:17.212Z,1740473057.212 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-25T08:44:22.568Z,1740473062.568 [BPC1](FAULT): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-25T08:44:22.569Z,1740473062.569 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-25T08:44:22.571Z,1740473062.571 [BPC1](INFO): Received data from all battery sticks.
2025-02-25T08:48:59.082Z,1740473339.082 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T08:48:59.082Z,1740473339.082 [ThrusterHE](INFO): Powering down
2025-02-25T08:48:59.922Z,1740473339.922 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T08:49:00.038Z,1740473340.038 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T08:54:55.894Z,1740473695.894 [CTD_Seabird](ERROR): Failed to parse device response: ,9.4645,3.65383,3585.63
2025-02-25T09:01:35.595Z,1740474095.595 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T09:01:35.595Z,1740474095.595 [ThrusterHE](INFO): Powering down
2025-02-25T09:01:36.534Z,1740474096.534 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T09:01:36.654Z,1740474096.654 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T09:01:57.186Z,1740474117.186 [sci2_slowyo_test:NeedComms] Running Loop=1
2025-02-25T09:01:57.186Z,1740474117.186 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::initialize sci2_slowyo_test:NeedComms
2025-02-25T09:01:57.186Z,1740474117.186 [sci2_slowyo_test:NeedComms:B.GoToSurface] Running Loop=1
2025-02-25T09:01:57.186Z,1740474117.186 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T09:01:57.186Z,1740474117.186 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received depth rate setting 0.300000 m/s.
2025-02-25T09:01:57.187Z,1740474117.187 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-25T09:01:57.187Z,1740474117.187 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-25T09:01:57.187Z,1740474117.187 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-25T09:01:57.188Z,1740474117.188 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T09:01:57.188Z,1740474117.188 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T09:01:57.189Z,1740474117.189 [sci2_slowyo_test:NeedComms:A] Running Loop=1
2025-02-25T09:01:57.190Z,1740474117.190 [sci2_slowyo_test:NeedComms:A](INFO): last time_fix was:  1740469916.000000 second since 1970/01/01T00:00:00Z 
2025-02-25T09:01:57.190Z,1740474117.190 [sci2_slowyo_test:NeedComms:A] Stopped
2025-02-25T09:02:52.262Z,1740474172.262 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T09:02:52.262Z,1740474172.262 [ThrusterHE](INFO): Powering down
2025-02-25T09:02:53.058Z,1740474173.058 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T09:02:53.178Z,1740474173.178 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T09:09:32.963Z,1740474572.963 [sci2_slowyo_test:NeedComms:C] Running Loop=1
2025-02-25T09:09:33.513Z,1740474573.513 [Radio_Surface](INFO): Powering up
2025-02-25T09:09:39.465Z,1740474579.465 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-25T09:09:46.676Z,1740474586.676 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=13403, MT Status=1, MTMSN=285
2025-02-25T09:09:46.676Z,1740474586.676 [NAL9602](INFO): Data available in MT queue
2025-02-25T09:09:47.370Z,1740474587.370 [NAL9602](INFO): Received command: sched "set sci2_slowyo_test.MassDefault NaN mm;set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 230 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run" 2a15o 3 3
2025-02-25T09:09:47.437Z,1740474587.437 [CommandExec](IMPORTANT): got command schedule "set sci2_slowyo_test.MassDefault NaN mm;set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 230 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run" 2a15o 3 3.000000
2025-02-25T09:09:47.437Z,1740474587.437 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=2a15o
2025-02-25T09:09:47.438Z,1740474587.438 [CommandExec](IMPORTANT): Scheduled #7 (#3 of 3 with id='2a15o'): "set sci2_slowyo_test.MassDefault NaN mm;set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 230 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run", AFTER MISSION
2025-02-25T09:09:48.234Z,1740474588.234 [DAT](INFO): DAT read: user:6>Rx Time:09:09:47.0019

2025-02-25T09:09:48.235Z,1740474588.235 [DAT](INFO): Rx dataTimestamp_ set to:1740474588.234219
2025-02-25T09:09:48.235Z,1740474588.235 [DAT](INFO): DAT read: 

2025-02-25T09:09:48.235Z,1740474588.235 [DAT](INFO): DAT read: $Packet for address 0

2025-02-25T09:09:48.236Z,1740474588.236 [DAT](INFO): received a packet notification
2025-02-25T09:09:48.460Z,1740474588.460 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,090947.00,A,3647.76468,N,12153.46227,W,0.855,209.92,250225,,,A*79
2025-02-25T09:09:48.463Z,1740474588.463 [NAL9602](INFO): GPS fix at 20250225T090947: (36.796078, -121.891038)
2025-02-25T09:09:48.495Z,1740474588.495 [UniversalFixResidualReporter](INFO): Fix residual: 1.7 %DT, over the last 4317.4 m. Residual distance 75.0 m at bearing -35.6 degrees. Fix at (36.7961, -121.8910) with 280.2 m made good.
2025-02-25T09:09:48.502Z,1740474588.502 [sci2_slowyo_test:NeedComms:C] Stopped
2025-02-25T09:09:48.502Z,1740474588.502 [sci2_slowyo_test:NeedComms:D] Running Loop=1
2025-02-25T09:09:58.316Z,1740474598.316 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=13404, MT Status=1, MTMSN=286
2025-02-25T09:09:58.370Z,1740474598.370 [NAL9602](INFO): Sent 95 bytes from file Logs/20250225T062120/Courier0019.lzma
2025-02-25T09:09:58.370Z,1740474598.370 [NAL9602](INFO): Packets left to send: 0
2025-02-25T09:09:58.801Z,1740474598.801 [NAL9602](INFO): Received command: schedule resume
2025-02-25T09:09:58.864Z,1740474598.864 [CommandExec](IMPORTANT): got command schedule resume
2025-02-25T09:10:09.585Z,1740474609.585 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T09:10:17.512Z,1740474617.512 [NAL9602](INFO): SBD MO Status=2, MOMSN=13405, MT Status=2, MTMSN=0
2025-02-25T09:10:17.512Z,1740474617.512 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T09:10:40.718Z,1740474640.718 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T09:11:00.470Z,1740474660.470 [NAL9602](INFO): SBD MO Status=1, MOMSN=13405, MT Status=0, MTMSN=0
2025-02-25T09:11:00.529Z,1740474660.529 [NAL9602](INFO): Sent 332 bytes from file Logs/20250225T062120/Express0020.lzma
2025-02-25T09:11:00.529Z,1740474660.529 [NAL9602](INFO): Packets left to send: 2
2025-02-25T09:11:11.849Z,1740474671.849 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T09:11:24.992Z,1740474684.992 [NAL9602](INFO): SBD MO Status=2, MOMSN=13406, MT Status=2, MTMSN=0
2025-02-25T09:11:24.992Z,1740474684.992 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T09:11:42.993Z,1740474702.993 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T09:11:50.635Z,1740474710.635 [NAL9602](INFO): SBD MO Status=2, MOMSN=13406, MT Status=2, MTMSN=0
2025-02-25T09:11:50.636Z,1740474710.636 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T09:12:14.117Z,1740474734.117 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T09:12:16.447Z,1740474736.447 [NAL9602](INFO): SBD MO Status=1, MOMSN=13406, MT Status=0, MTMSN=0
2025-02-25T09:12:16.505Z,1740474736.505 [NAL9602](INFO): Sent 332 bytes from file Logs/20250225T062120/Express0020.lzma
2025-02-25T09:12:16.505Z,1740474736.505 [NAL9602](INFO): Packets left to send: 1
2025-02-25T09:12:29.222Z,1740474749.222 [NAL9602](INFO): SBD MO Status=2, MOMSN=13407, MT Status=2, MTMSN=0
2025-02-25T09:12:29.223Z,1740474749.223 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T09:12:45.242Z,1740474765.242 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T09:12:58.128Z,1740474778.128 [NAL9602](INFO): SBD MO Status=1, MOMSN=13407, MT Status=0, MTMSN=0
2025-02-25T09:12:58.177Z,1740474778.177 [NAL9602](INFO): Sent 288 bytes from file Logs/20250225T062120/Express0020.lzma
2025-02-25T09:12:58.177Z,1740474778.177 [NAL9602](INFO): Packets left to send: 0
2025-02-25T09:13:16.365Z,1740474796.365 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T09:13:18.287Z,1740474798.287 [NAL9602](INFO): SBD MO Status=2, MOMSN=13408, MT Status=2, MTMSN=0
2025-02-25T09:13:18.288Z,1740474798.288 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T09:13:36.815Z,1740474816.815 [NAL9602](INFO): SBD MO Status=2, MOMSN=13408, MT Status=2, MTMSN=0
2025-02-25T09:13:36.816Z,1740474816.816 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T09:13:46.210Z,1740474826.210 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003227
2025-02-25T09:13:47.922Z,1740474827.922 [sci2_slowyo_test:NeedComms:D] Stopped
2025-02-25T09:13:47.922Z,1740474827.922 [sci2_slowyo_test:NeedComms:E] Running Loop=1
2025-02-25T09:13:56.392Z,1740474836.392 [NAL9602](INFO): SBD MO Status=2, MOMSN=13408, MT Status=2, MTMSN=0
2025-02-25T09:13:56.392Z,1740474836.392 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T09:13:57.612Z,1740474837.612 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,091356.00,A,3647.75989,N,12153.46086,W,0.447,355.95,250225,,,A*7A
2025-02-25T09:13:57.615Z,1740474837.615 [NAL9602](INFO): GPS fix at 20250225T091356: (36.795998, -121.891014)
2025-02-25T09:13:57.634Z,1740474837.634 [sci2_slowyo_test:NeedComms:E] Stopped
2025-02-25T09:13:57.635Z,1740474837.635 [sci2_slowyo_test:NeedComms](INFO): Completed sci2_slowyo_test:NeedComms
2025-02-25T09:13:57.635Z,1740474837.635 [sci2_slowyo_test:NeedComms] Stopped
2025-02-25T09:13:57.635Z,1740474837.635 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:NeedComms
2025-02-25T09:13:57.635Z,1740474837.635 [sci2_slowyo_test:NeedComms:B.GoToSurface] Stopped
2025-02-25T09:13:57.635Z,1740474837.635 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T09:14:29.281Z,1740474869.281 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T09:15:19.557Z,1740474919.557 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T09:15:21.913Z,1740474921.913 [Radio_Surface](INFO): Powering down
2025-02-25T09:15:50.683Z,1740474950.683 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T09:15:51.685Z,1740474951.685 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-25T09:16:58.954Z,1740475018.954 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.743149
2025-02-25T09:33:44.841Z,1740476024.841 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](IMPORTANT): Reached waypoint: 36.796360,-121.903008
2025-02-25T09:33:44.841Z,1740476024.841 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint] Stopped
2025-02-25T09:33:44.841Z,1740476024.841 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T09:33:44.841Z,1740476024.841 [sci2_slowyo_test:Lap:Wpt2](INFO): Completed sci2_slowyo_test:Lap:Wpt2
2025-02-25T09:33:44.842Z,1740476024.842 [sci2_slowyo_test:Lap:Wpt2] Stopped
2025-02-25T09:33:44.842Z,1740476024.842 [sci2_slowyo_test:Lap:Wpt2](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt2
2025-02-25T09:33:44.842Z,1740476024.842 [sci2_slowyo_test:Lap:Wpt3] Running Loop=1
2025-02-25T09:33:44.842Z,1740476024.842 [sci2_slowyo_test:Lap:Wpt3](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt3
2025-02-25T09:33:44.842Z,1740476024.842 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint] Running Loop=1
2025-02-25T09:33:44.842Z,1740476024.842 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T09:34:34.605Z,1740476074.605 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint] Stopped
2025-02-25T09:34:34.605Z,1740476074.605 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T09:34:34.605Z,1740476074.605 [sci2_slowyo_test:Lap:Wpt3](INFO): Completed sci2_slowyo_test:Lap:Wpt3
2025-02-25T09:34:34.606Z,1740476074.606 [sci2_slowyo_test:Lap:Wpt3] Stopped
2025-02-25T09:34:34.606Z,1740476074.606 [sci2_slowyo_test:Lap:Wpt3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt3
2025-02-25T09:34:34.606Z,1740476074.606 [sci2_slowyo_test:Lap:Wpt4] Running Loop=1
2025-02-25T09:34:34.606Z,1740476074.606 [sci2_slowyo_test:Lap:Wpt4](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt4
2025-02-25T09:34:34.606Z,1740476074.606 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint] Running Loop=1
2025-02-25T09:34:34.606Z,1740476074.606 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T09:34:35.013Z,1740476075.013 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint] Stopped
2025-02-25T09:34:35.014Z,1740476075.014 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T09:34:35.014Z,1740476075.014 [sci2_slowyo_test:Lap:Wpt4](INFO): Completed sci2_slowyo_test:Lap:Wpt4
2025-02-25T09:34:35.014Z,1740476075.014 [sci2_slowyo_test:Lap:Wpt4] Stopped
2025-02-25T09:34:35.014Z,1740476075.014 [sci2_slowyo_test:Lap:Wpt4](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt4
2025-02-25T09:34:35.014Z,1740476075.014 [sci2_slowyo_test:Lap:Wpt5] Running Loop=1
2025-02-25T09:34:35.014Z,1740476075.014 [sci2_slowyo_test:Lap:Wpt5](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt5
2025-02-25T09:34:35.014Z,1740476075.014 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint] Running Loop=1
2025-02-25T09:34:35.014Z,1740476075.014 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T09:34:35.422Z,1740476075.422 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint] Stopped
2025-02-25T09:34:35.422Z,1740476075.422 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T09:34:35.422Z,1740476075.422 [sci2_slowyo_test:Lap:Wpt5](INFO): Completed sci2_slowyo_test:Lap:Wpt5
2025-02-25T09:34:35.422Z,1740476075.422 [sci2_slowyo_test:Lap:Wpt5] Stopped
2025-02-25T09:34:35.422Z,1740476075.422 [sci2_slowyo_test:Lap:Wpt5](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt5
2025-02-25T09:34:35.422Z,1740476075.422 [sci2_slowyo_test:Lap:Wpt6] Running Loop=1
2025-02-25T09:34:35.422Z,1740476075.422 [sci2_slowyo_test:Lap:Wpt6](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt6
2025-02-25T09:34:35.422Z,1740476075.422 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint] Running Loop=1
2025-02-25T09:34:35.422Z,1740476075.422 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T09:34:35.832Z,1740476075.832 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint] Stopped
2025-02-25T09:34:35.832Z,1740476075.832 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T09:34:35.832Z,1740476075.832 [sci2_slowyo_test:Lap:Wpt6](INFO): Completed sci2_slowyo_test:Lap:Wpt6
2025-02-25T09:34:35.832Z,1740476075.832 [sci2_slowyo_test:Lap:Wpt6] Stopped
2025-02-25T09:34:35.832Z,1740476075.832 [sci2_slowyo_test:Lap:Wpt6](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt6
2025-02-25T09:34:35.832Z,1740476075.832 [sci2_slowyo_test:Lap:Wpt7] Running Loop=1
2025-02-25T09:34:35.832Z,1740476075.832 [sci2_slowyo_test:Lap:Wpt7](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt7
2025-02-25T09:34:35.832Z,1740476075.832 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint] Running Loop=1
2025-02-25T09:34:35.832Z,1740476075.832 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T09:34:36.220Z,1740476076.220 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint] Stopped
2025-02-25T09:34:36.221Z,1740476076.221 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T09:34:36.221Z,1740476076.221 [sci2_slowyo_test:Lap:Wpt7](INFO): Completed sci2_slowyo_test:Lap:Wpt7
2025-02-25T09:34:36.221Z,1740476076.221 [sci2_slowyo_test:Lap:Wpt7] Stopped
2025-02-25T09:34:36.221Z,1740476076.221 [sci2_slowyo_test:Lap:Wpt7](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt7
2025-02-25T09:34:36.221Z,1740476076.221 [sci2_slowyo_test:Lap](INFO): Completed sci2_slowyo_test:Lap
2025-02-25T09:34:36.221Z,1740476076.221 [sci2_slowyo_test:Lap] Stopped
2025-02-25T09:34:36.222Z,1740476076.222 [sci2_slowyo_test:Lap](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap
2025-02-25T09:34:36.222Z,1740476076.222 [sci2_slowyo_test:Lap:Dive] Stopped
2025-02-25T09:34:36.222Z,1740476076.222 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive
2025-02-25T09:34:36.222Z,1740476076.222 [sci2_slowyo_test:Lap:Dive:A] Stopped
2025-02-25T09:34:36.222Z,1740476076.222 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive:A
2025-02-25T09:34:36.222Z,1740476076.222 [sci2_slowyo_test:Lap](INFO): Running loop #3
2025-02-25T09:34:36.222Z,1740476076.222 [sci2_slowyo_test:Lap] Running Loop=3
2025-02-25T09:34:36.222Z,1740476076.222 [sci2_slowyo_test:Lap](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap
2025-02-25T09:34:36.222Z,1740476076.222 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-25T09:34:36.222Z,1740476076.222 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive
2025-02-25T09:34:36.223Z,1740476076.223 [sci2_slowyo_test:Lap:Dive:A] Running Loop=1
2025-02-25T09:34:36.223Z,1740476076.223 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive:A
2025-02-25T09:34:36.223Z,1740476076.223 [sci2_slowyo_test:Lap:Wpt1] Running Loop=1
2025-02-25T09:34:36.223Z,1740476076.223 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt1
2025-02-25T09:34:36.223Z,1740476076.223 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-02-25T09:34:36.223Z,1740476076.223 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T09:34:36.224Z,1740476076.224 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.796310,-121.872040
2025-02-25T09:44:33.750Z,1740476673.750 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T09:44:33.750Z,1740476673.750 [ThrusterHE](INFO): Powering down
2025-02-25T09:44:34.563Z,1740476674.563 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T09:44:34.682Z,1740476674.682 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T09:45:29.950Z,1740476729.950 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T09:45:42.894Z,1740476742.894 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T09:45:56.225Z,1740476756.225 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T09:46:08.816Z,1740476768.816 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T09:46:21.820Z,1740476781.820 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T09:46:34.779Z,1740476794.779 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T09:46:47.702Z,1740476807.702 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T09:51:49.566Z,1740477109.566 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-25T09:51:55.531Z,1740477115.531 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-25T09:51:55.532Z,1740477115.532 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-25T09:51:55.539Z,1740477115.539 [BPC1](INFO): Received data from all battery sticks.
2025-02-25T09:58:53.542Z,1740477533.542 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T09:58:53.542Z,1740477533.542 [ThrusterHE](INFO): Powering down
2025-02-25T09:58:54.354Z,1740477534.354 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T09:58:54.474Z,1740477534.474 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T10:02:18.370Z,1740477738.370 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T10:02:18.370Z,1740477738.370 [ThrusterHE](INFO): Powering down
2025-02-25T10:02:19.174Z,1740477739.174 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T10:02:19.294Z,1740477739.294 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T10:05:10.340Z,1740477910.340 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-25T10:05:10.340Z,1740477910.340 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-25T10:05:10.341Z,1740477910.341 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-25T10:05:10.341Z,1740477910.341 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T10:05:10.341Z,1740477910.341 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-25T10:05:10.341Z,1740477910.341 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T10:05:10.342Z,1740477910.342 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-25T10:05:10.726Z,1740477910.726 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-25T10:05:10.726Z,1740477910.726 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-25T10:05:10.726Z,1740477910.726 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-25T10:05:10.726Z,1740477910.726 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-25T10:05:10.726Z,1740477910.726 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-25T10:05:10.726Z,1740477910.726 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-25T10:05:10.726Z,1740477910.726 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-25T10:05:10.726Z,1740477910.726 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-25T10:05:10.727Z,1740477910.727 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-25T10:05:10.727Z,1740477910.727 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T10:05:10.727Z,1740477910.727 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-25T10:05:10.727Z,1740477910.727 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-25T10:05:59.580Z,1740477959.580 [CTD_Seabird](ERROR): Failed to parse device response: 7.67,18
2025-02-25T10:12:44.310Z,1740478364.310 [CTD_Seabird](ERROR): Failed to parse device response: ,10.0717,3.69543,16756.63
2025-02-25T10:23:57.942Z,1740479037.942 [sci2_slowyo_test:NeedComms] Running Loop=1
2025-02-25T10:23:57.942Z,1740479037.942 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::initialize sci2_slowyo_test:NeedComms
2025-02-25T10:23:57.942Z,1740479037.942 [sci2_slowyo_test:NeedComms:B.GoToSurface] Running Loop=1
2025-02-25T10:23:57.942Z,1740479037.942 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T10:23:57.943Z,1740479037.943 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received depth rate setting 0.300000 m/s.
2025-02-25T10:23:57.943Z,1740479037.943 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-25T10:23:57.943Z,1740479037.943 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-25T10:23:57.944Z,1740479037.944 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-25T10:23:57.944Z,1740479037.944 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T10:23:57.944Z,1740479037.944 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T10:23:57.961Z,1740479037.961 [sci2_slowyo_test:NeedComms:A] Running Loop=1
2025-02-25T10:23:57.963Z,1740479037.963 [sci2_slowyo_test:NeedComms:A](INFO): last time_fix was:  1740474836.000000 second since 1970/01/01T00:00:00Z 
2025-02-25T10:23:57.963Z,1740479037.963 [sci2_slowyo_test:NeedComms:A] Stopped
2025-02-25T10:24:17.116Z,1740479057.116 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.796310,-121.872040
2025-02-25T10:24:17.116Z,1740479057.116 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Stopped
2025-02-25T10:24:17.116Z,1740479057.116 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T10:24:17.133Z,1740479057.133 [sci2_slowyo_test:Lap:Wpt1](INFO): Completed sci2_slowyo_test:Lap:Wpt1
2025-02-25T10:24:17.133Z,1740479057.133 [sci2_slowyo_test:Lap:Wpt1] Stopped
2025-02-25T10:24:17.133Z,1740479057.133 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt1
2025-02-25T10:24:17.133Z,1740479057.133 [sci2_slowyo_test:Lap:Wpt2] Running Loop=1
2025-02-25T10:24:17.133Z,1740479057.133 [sci2_slowyo_test:Lap:Wpt2](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt2
2025-02-25T10:24:17.133Z,1740479057.133 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint] Running Loop=1
2025-02-25T10:24:17.133Z,1740479057.133 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T10:24:17.134Z,1740479057.134 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.796360,-121.903008
2025-02-25T10:31:55.174Z,1740479515.174 [CTD_Seabird](ERROR): Failed to parse device response: 11.52,12.2850,0
2025-02-25T10:32:34.440Z,1740479554.440 [sci2_slowyo_test:NeedComms:C] Running Loop=1
2025-02-25T10:32:34.969Z,1740479554.969 [Radio_Surface](INFO): Powering up
2025-02-25T10:32:40.790Z,1740479560.790 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-25T10:32:59.847Z,1740479579.847 [NAL9602](INFO): SBD MO Status=0, MOMSN=13408, MT Status=0, MTMSN=0
2025-02-25T10:32:59.847Z,1740479579.847 [NAL9602](INFO): No messages in MT queue
2025-02-25T10:33:01.059Z,1740479581.059 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,103300.00,A,3647.79449,N,12152.41377,W,0.505,4.50,250225,,,A*7C
2025-02-25T10:33:01.062Z,1740479581.062 [NAL9602](INFO): GPS fix at 20250225T103300: (36.796575, -121.873563)
2025-02-25T10:33:01.098Z,1740479581.098 [UniversalFixResidualReporter](INFO): Fix residual: 2.1 %DT, over the last 4376.9 m. Residual distance 93.1 m at bearing 106.1 degrees. Fix at (36.7966, -121.8736) with 1555.2 m made good.
2025-02-25T10:33:01.110Z,1740479581.110 [sci2_slowyo_test:NeedComms:C] Stopped
2025-02-25T10:33:01.110Z,1740479581.110 [sci2_slowyo_test:NeedComms:D] Running Loop=1
2025-02-25T10:33:10.921Z,1740479590.921 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T10:33:16.610Z,1740479596.610 [NAL9602](INFO): SBD MO Status=1, MOMSN=13409, MT Status=0, MTMSN=0
2025-02-25T10:33:16.661Z,1740479596.661 [NAL9602](INFO): Sent 94 bytes from file Logs/20250225T062120/Courier0022.lzma
2025-02-25T10:33:16.661Z,1740479596.661 [NAL9602](INFO): Packets left to send: 0
2025-02-25T10:33:39.928Z,1740479619.928 [NAL9602](INFO): SBD MO Status=1, MOMSN=13410, MT Status=0, MTMSN=0
2025-02-25T10:33:39.977Z,1740479619.977 [NAL9602](INFO): Sent 332 bytes from file Logs/20250225T062120/Express0023.lzma
2025-02-25T10:33:39.977Z,1740479619.977 [NAL9602](INFO): Packets left to send: 1
2025-02-25T10:33:42.045Z,1740479622.045 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T10:33:58.810Z,1740479638.810 [NAL9602](INFO): SBD MO Status=1, MOMSN=13411, MT Status=0, MTMSN=0
2025-02-25T10:33:58.857Z,1740479638.857 [NAL9602](INFO): Sent 250 bytes from file Logs/20250225T062120/Express0023.lzma
2025-02-25T10:33:58.857Z,1740479638.857 [NAL9602](INFO): Packets left to send: 0
2025-02-25T10:34:10.912Z,1740479650.912 [NAL9602](INFO): SBD MO Status=0, MOMSN=13412, MT Status=0, MTMSN=0
2025-02-25T10:34:11.014Z,1740479651.014 [sci2_slowyo_test:NeedComms:D] Stopped
2025-02-25T10:34:11.014Z,1740479651.014 [sci2_slowyo_test:NeedComms:E] Running Loop=1
2025-02-25T10:34:13.169Z,1740479653.169 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T10:34:13.330Z,1740479653.330 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,103412.00,A,3647.79380,N,12152.40603,W,0.467,71.54,250225,,,D*4B
2025-02-25T10:34:13.332Z,1740479653.332 [NAL9602](INFO): GPS fix at 20250225T103412: (36.796563, -121.873434)
2025-02-25T10:34:13.354Z,1740479653.354 [sci2_slowyo_test:NeedComms:E] Stopped
2025-02-25T10:34:13.355Z,1740479653.355 [sci2_slowyo_test:NeedComms](INFO): Completed sci2_slowyo_test:NeedComms
2025-02-25T10:34:13.355Z,1740479653.355 [sci2_slowyo_test:NeedComms] Stopped
2025-02-25T10:34:13.355Z,1740479653.355 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:NeedComms
2025-02-25T10:34:13.355Z,1740479653.355 [sci2_slowyo_test:NeedComms:B.GoToSurface] Stopped
2025-02-25T10:34:13.355Z,1740479653.355 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T10:34:44.293Z,1740479684.293 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T10:34:45.770Z,1740479685.770 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T10:35:15.429Z,1740479715.429 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T10:35:36.837Z,1740479736.837 [Radio_Surface](INFO): Powering down
2025-02-25T10:35:37.241Z,1740479737.241 [Radio_Surface](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command.
2025-02-25T10:35:37.242Z,1740479737.242 [Radio_Surface] Hardware Fault, FailCount= 1
2025-02-25T10:35:37.242Z,1740479737.242 [Radio_Surface](ERROR): Hardware Fault
2025-02-25T10:35:37.344Z,1740479737.344 [CBIT](ERROR): Hardware Fault in component: Radio_Surface
2025-02-25T10:35:37.840Z,1740479737.840 [CBIT](INFO): Clearing failed state for component Radio_Surface
2025-02-25T10:35:37.840Z,1740479737.840 [Radio_Surface] No Fault, FailCount= 1
2025-02-25T10:35:38.049Z,1740479738.049 [Radio_Surface](INFO): Powering up
2025-02-25T10:35:44.112Z,1740479744.112 [Radio_Surface](INFO): Powering down
2025-02-25T10:35:46.557Z,1740479746.557 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T10:35:47.563Z,1740479747.563 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-25T10:38:59.502Z,1740479939.502 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T10:38:59.502Z,1740479939.502 [ThrusterHE](INFO): Powering down
2025-02-25T10:39:00.338Z,1740479940.338 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T10:39:00.458Z,1740479940.458 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T10:50:11.801Z,1740480611.801 [MassServo](FAULT): Unknown EZ Servo Error: 13
2025-02-25T10:50:11.802Z,1740480611.802 [MassServo] Hardware Fault, FailCount= 1
2025-02-25T10:50:11.802Z,1740480611.802 [MassServo](ERROR): Hardware Fault
2025-02-25T10:50:11.805Z,1740480611.805 [CTD_Seabird](ERROR): Failed to parse device response: 123.62,,3.63029,1873.33
2025-02-25T10:50:11.996Z,1740480611.996 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-02-25T10:50:12.174Z,1740480612.174 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-25T10:50:12.174Z,1740480612.174 [MassServo](INFO): Powering down
2025-02-25T10:50:12.998Z,1740480612.998 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-25T10:50:13.114Z,1740480613.114 [MassServo](DEBUG): Initializing MassServo.
2025-02-25T10:50:13.193Z,1740480613.193 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-25T10:50:13.193Z,1740480613.193 [MassServo] No Fault, FailCount= 1
2025-02-25T10:53:02.667Z,1740480782.667 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T10:53:15.864Z,1740480795.864 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T10:53:28.799Z,1740480808.799 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T10:53:41.318Z,1740480821.318 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T10:53:54.355Z,1740480834.355 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T10:54:06.900Z,1740480846.900 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T10:54:19.911Z,1740480859.911 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T10:55:26.561Z,1740480926.561 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-02-25T10:58:55.049Z,1740481135.049 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-02-25T10:59:20.515Z,1740481160.515 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-25T10:59:20.516Z,1740481160.516 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-02-25T10:59:33.426Z,1740481173.426 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-25T10:59:33.432Z,1740481173.432 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-25T10:59:33.432Z,1740481173.432 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-25T10:59:33.436Z,1740481173.436 [BPC1](INFO): Received data from all battery sticks.
2025-02-25T11:20:55.470Z,1740482455.470 [CTD_Seabird](ERROR): Failed to parse device response: 11.2531,3.77169,1584.35
2025-02-25T11:22:50.234Z,1740482570.234 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](IMPORTANT): Reached waypoint: 36.796360,-121.903008
2025-02-25T11:22:50.234Z,1740482570.234 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint] Stopped
2025-02-25T11:22:50.234Z,1740482570.234 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T11:22:50.235Z,1740482570.235 [sci2_slowyo_test:Lap:Wpt2](INFO): Completed sci2_slowyo_test:Lap:Wpt2
2025-02-25T11:22:50.235Z,1740482570.235 [sci2_slowyo_test:Lap:Wpt2] Stopped
2025-02-25T11:22:50.235Z,1740482570.235 [sci2_slowyo_test:Lap:Wpt2](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt2
2025-02-25T11:22:50.235Z,1740482570.235 [sci2_slowyo_test:Lap:Wpt3] Running Loop=1
2025-02-25T11:22:50.235Z,1740482570.235 [sci2_slowyo_test:Lap:Wpt3](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt3
2025-02-25T11:22:50.235Z,1740482570.235 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint] Running Loop=1
2025-02-25T11:22:50.235Z,1740482570.235 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T11:23:41.754Z,1740482621.754 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint] Stopped
2025-02-25T11:23:41.754Z,1740482621.754 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T11:23:41.755Z,1740482621.755 [sci2_slowyo_test:Lap:Wpt3](INFO): Completed sci2_slowyo_test:Lap:Wpt3
2025-02-25T11:23:41.755Z,1740482621.755 [sci2_slowyo_test:Lap:Wpt3] Stopped
2025-02-25T11:23:41.755Z,1740482621.755 [sci2_slowyo_test:Lap:Wpt3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt3
2025-02-25T11:23:41.755Z,1740482621.755 [sci2_slowyo_test:Lap:Wpt4] Running Loop=1
2025-02-25T11:23:41.755Z,1740482621.755 [sci2_slowyo_test:Lap:Wpt4](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt4
2025-02-25T11:23:41.755Z,1740482621.755 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint] Running Loop=1
2025-02-25T11:23:41.755Z,1740482621.755 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T11:23:42.170Z,1740482622.170 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint] Stopped
2025-02-25T11:23:42.170Z,1740482622.170 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T11:23:42.171Z,1740482622.171 [sci2_slowyo_test:Lap:Wpt4](INFO): Completed sci2_slowyo_test:Lap:Wpt4
2025-02-25T11:23:42.171Z,1740482622.171 [sci2_slowyo_test:Lap:Wpt4] Stopped
2025-02-25T11:23:42.171Z,1740482622.171 [sci2_slowyo_test:Lap:Wpt4](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt4
2025-02-25T11:23:42.171Z,1740482622.171 [sci2_slowyo_test:Lap:Wpt5] Running Loop=1
2025-02-25T11:23:42.171Z,1740482622.171 [sci2_slowyo_test:Lap:Wpt5](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt5
2025-02-25T11:23:42.171Z,1740482622.171 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint] Running Loop=1
2025-02-25T11:23:42.171Z,1740482622.171 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T11:23:42.555Z,1740482622.555 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint] Stopped
2025-02-25T11:23:42.555Z,1740482622.555 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T11:23:42.555Z,1740482622.555 [sci2_slowyo_test:Lap:Wpt5](INFO): Completed sci2_slowyo_test:Lap:Wpt5
2025-02-25T11:23:42.555Z,1740482622.555 [sci2_slowyo_test:Lap:Wpt5] Stopped
2025-02-25T11:23:42.555Z,1740482622.555 [sci2_slowyo_test:Lap:Wpt5](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt5
2025-02-25T11:23:42.555Z,1740482622.555 [sci2_slowyo_test:Lap:Wpt6] Running Loop=1
2025-02-25T11:23:42.555Z,1740482622.555 [sci2_slowyo_test:Lap:Wpt6](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt6
2025-02-25T11:23:42.555Z,1740482622.555 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint] Running Loop=1
2025-02-25T11:23:42.555Z,1740482622.555 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T11:23:42.967Z,1740482622.967 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint] Stopped
2025-02-25T11:23:42.967Z,1740482622.967 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T11:23:42.967Z,1740482622.967 [sci2_slowyo_test:Lap:Wpt6](INFO): Completed sci2_slowyo_test:Lap:Wpt6
2025-02-25T11:23:42.968Z,1740482622.968 [sci2_slowyo_test:Lap:Wpt6] Stopped
2025-02-25T11:23:42.968Z,1740482622.968 [sci2_slowyo_test:Lap:Wpt6](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt6
2025-02-25T11:23:42.968Z,1740482622.968 [sci2_slowyo_test:Lap:Wpt7] Running Loop=1
2025-02-25T11:23:42.968Z,1740482622.968 [sci2_slowyo_test:Lap:Wpt7](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt7
2025-02-25T11:23:42.968Z,1740482622.968 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint] Running Loop=1
2025-02-25T11:23:42.968Z,1740482622.968 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T11:23:43.374Z,1740482623.374 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint] Stopped
2025-02-25T11:23:43.374Z,1740482623.374 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T11:23:43.374Z,1740482623.374 [sci2_slowyo_test:Lap:Wpt7](INFO): Completed sci2_slowyo_test:Lap:Wpt7
2025-02-25T11:23:43.374Z,1740482623.374 [sci2_slowyo_test:Lap:Wpt7] Stopped
2025-02-25T11:23:43.375Z,1740482623.375 [sci2_slowyo_test:Lap:Wpt7](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt7
2025-02-25T11:23:43.375Z,1740482623.375 [sci2_slowyo_test:Lap](INFO): Completed sci2_slowyo_test:Lap
2025-02-25T11:23:43.375Z,1740482623.375 [sci2_slowyo_test:Lap] Stopped
2025-02-25T11:23:43.375Z,1740482623.375 [sci2_slowyo_test:Lap](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap
2025-02-25T11:23:43.375Z,1740482623.375 [sci2_slowyo_test:Lap:Dive] Stopped
2025-02-25T11:23:43.375Z,1740482623.375 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive
2025-02-25T11:23:43.375Z,1740482623.375 [sci2_slowyo_test:Lap:Dive:A] Stopped
2025-02-25T11:23:43.375Z,1740482623.375 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive:A
2025-02-25T11:23:43.383Z,1740482623.383 [sci2_slowyo_test](INFO): Completed sci2_slowyo_test
2025-02-25T11:23:43.384Z,1740482623.384 [MissionManager](INFO): sci2_slowyo_test is completed.
2025-02-25T11:23:43.384Z,1740482623.384 [MissionManager](INFO): Uninitializing Mission sci2_slowyo_test
2025-02-25T11:23:43.384Z,1740482623.384 [sci2_slowyo_test] Stopped
2025-02-25T11:23:43.384Z,1740482623.384 [sci2_slowyo_test](DEBUG): Aggregate::uninitialize sci2_slowyo_test
2025-02-25T11:23:43.384Z,1740482623.384 [sci2_slowyo_test:Science] Stopped
2025-02-25T11:23:43.384Z,1740482623.384 [sci2_slowyo_test:Science](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science
2025-02-25T11:23:43.384Z,1740482623.384 [sci2_slowyo_test:Science:B] Stopped
2025-02-25T11:23:43.384Z,1740482623.384 [sci2_slowyo_test:Science:C] Stopped
2025-02-25T11:23:43.384Z,1740482623.384 [sci2_slowyo_test:Science:E] Stopped
2025-02-25T11:23:43.384Z,1740482623.384 [sci2_slowyo_test:Science:OceanCurrent] Stopped
2025-02-25T11:23:43.384Z,1740482623.384 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:OceanCurrent
2025-02-25T11:23:43.385Z,1740482623.385 [sci2_slowyo_test:Science:OceanCurrent:A.] Stopped
2025-02-25T11:23:43.385Z,1740482623.385 [sci2_slowyo_test:StandardEnvelopes] Stopped
2025-02-25T11:23:43.385Z,1740482623.385 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StandardEnvelopes
2025-02-25T11:23:43.385Z,1740482623.385 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-25T11:23:43.385Z,1740482623.385 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-25T11:23:43.385Z,1740482623.385 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-25T11:23:43.385Z,1740482623.385 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-25T11:23:43.385Z,1740482623.385 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-25T11:23:43.385Z,1740482623.385 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-25T11:23:43.385Z,1740482623.385 [sci2_slowyo_test:BackseatDriver] Stopped
2025-02-25T11:23:43.385Z,1740482623.385 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_slowyo_test:BackseatDriver
2025-02-25T11:23:43.386Z,1740482623.386 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Stopped
2025-02-25T11:23:43.386Z,1740482623.386 [sci2_slowyo_test:PowerOnly] Stopped
2025-02-25T11:23:43.386Z,1740482623.386 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::uninitialize sci2_slowyo_test:PowerOnly
2025-02-25T11:23:43.386Z,1740482623.386 [sci2_slowyo_test:PowerOnly:E.Wait] Stopped
2025-02-25T11:23:43.386Z,1740482623.386 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T11:23:43.386Z,1740482623.386 [sci2_slowyo_test:DiveCmd] Stopped
2025-02-25T11:23:43.386Z,1740482623.386 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd
2025-02-25T11:23:43.386Z,1740482623.386 [sci2_slowyo_test:DiveCmd:InitialDive] Stopped
2025-02-25T11:23:43.386Z,1740482623.386 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-25T11:23:43.386Z,1740482623.386 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-25T11:23:43.386Z,1740482623.386 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-25T11:23:43.387Z,1740482623.387 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-25T11:23:43.387Z,1740482623.387 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-25T11:23:43.387Z,1740482623.387 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-25T11:23:43.387Z,1740482623.387 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-25T11:23:43.387Z,1740482623.387 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-25T11:23:43.387Z,1740482623.387 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-25T11:23:43.387Z,1740482623.387 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-25T11:23:43.387Z,1740482623.387 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-25T11:23:43.387Z,1740482623.387 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T11:23:43.387Z,1740482623.387 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-25T11:23:43.387Z,1740482623.387 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-25T11:23:43.579Z,1740482623.579 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_slowyo_test.tl
2025-02-25T11:23:43.617Z,1740482623.617 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_slowyo_test.tl
2025-02-25T11:23:43.617Z,1740482623.617 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_slowyo_test.tl
2025-02-25T11:23:43.620Z,1740482623.620 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_slowyo_test.tl
2025-02-25T11:23:43.729Z,1740482623.729 [WetLabsBB2FL](INFO): Powering down
2025-02-25T11:23:45.336Z,1740482625.336 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-25T11:23:45.337Z,1740482625.337 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-25T11:23:47.987Z,1740482627.987 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_slowyo_test.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_slowyo_test">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsSurfaceDepthRate">
        <Units:meter_per_second />
        <Value>0.3</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="SlowYoDiveAngle">
        <Units:degree />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1.0</Value>
    </DefineArg>
    <DefineArg Name="SlowYoMinDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SlowYoMaxDepth">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="SlowYoNumYoYos">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SlowYoTurningWindow">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectChl">
        <False />
    </DefineArg>
    <DefineArg Name="ShallowBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTrigger">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThreshold">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="ElevatorDefault">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="SlowYo">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="Science" Filename="Insert/Science.tl">
        <RedefineArg Name="PeakDetectChlActive">
            <Arg Name="PeakDetectChl" />
        </RedefineArg>
        <RedefineArg Name="ShallowBound">
            <Arg Name="ShallowBoundChl" />
        </RedefineArg>
        <RedefineArg Name="DeepBound">
            <Arg Name="DeepBoundChl" />
        </RedefineArg>
        <RedefineArg Name="ChlThreshTriggerActive">
            <Arg Name="ChlThreshTrigger" />
        </RedefineArg>
        <RedefineArg Name="ChlLowerThresh">
            <Arg Name="ChlLowerThreshold" />
        </RedefineArg>
        <RedefineArg Name="ChlUpperThresh">
            <Arg Name="ChlUpperThreshold" />
        </RedefineArg>
        <RedefineArg Name="NumProfilesThresh">
            <Arg Name="NumProfilesThreshold" />
        </RedefineArg>
    </Insert>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:SurfaceDepthRate" />
        <Arg Name="NeedCommsSurfaceDepthRate" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Aggregate Id="setInitial">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="InitialDive" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToInit">
                    <Sequence />
                    <Break>
                        <Universal:depth />
                        <Ge>
                            <Arg Name="SlowYoMinDepth" />
                        </Ge>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="InitialDive" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToYo">
                    <Sequence />
                    <Break>
                        <Universal:depth />
                        <Lt>
                            <Arg Name="SlowYoMinDepth" />
                        </Lt>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="SlowYo" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Syslog Severity="Info">Waiting for 1 minute while pumping down to neutral.</Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Units:minute />
                        <Value>1</Value>
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="SlowYoMinDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="Speed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="SlowYoMinDepth" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SlowYo" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SlowYoToWaypoint">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SlowYo" />
                </Eq>
            </While>
            <Aggregate Id="SlowYoTask">
                <Parallel />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.elevatorAngle />
                        <Arg Name="ElevatorDefault" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Aggregate Id="SlowYoLoop">
                    <Sequence Repeat="Repeat" />
                    <Guidance:SlowYo>
                        <Sequence />
                        <Setting>
                            <Guidance:SlowYo.diveAngle />
                            <Arg Name="SlowYoDiveAngle" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.minDepth />
                            <Arg Name="SlowYoMinDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.maxDepth />
                            <Arg Name="SlowYoMaxDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.turningWindow />
                            <Arg Name="SlowYoTurningWindow" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.numYoYos />
                            <Arg Name="SlowYoNumYoYos" />
                        </Setting>
                    </Guidance:SlowYo>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="StopIfTriggered">
        <When>
            <Arg Name="Science:TriggeredOnChl" />
        </When>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>stop</String>
            </Setting>
        </Guidance:Execute>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="Wpt1">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.captureRadius />
                    <Arg Name="CaptureRadius" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt2">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat2" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon2" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt3">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat3" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon3" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt4">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat4" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon4" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt5">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat5" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon5" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt6">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat6" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon6" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt7">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat7" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon7" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
    </Aggregate>
</Mission>

2025-02-25T11:23:47.998Z,1740482627.998 [MissionManager](INFO): DefineArg sci2_slowyo_test.MissionTimeout = 2.000000 h
2025-02-25T11:23:47.000Z,1740482628.000 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsTime = 60.000000 min
2025-02-25T11:23:48.002Z,1740482628.002 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsSurfaceDepthRate = 0.300000 m/s
2025-02-25T11:23:48.004Z,1740482628.004 [MissionManager](INFO): DefineArg sci2_slowyo_test.Repeat = 1.000000 count
2025-02-25T11:23:48.006Z,1740482628.006 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat1 = nan arcdeg
2025-02-25T11:23:48.009Z,1740482628.009 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat2 = nan arcdeg
2025-02-25T11:23:48.011Z,1740482628.011 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat3 = nan arcdeg
2025-02-25T11:23:48.013Z,1740482628.013 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat4 = nan arcdeg
2025-02-25T11:23:48.015Z,1740482628.015 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat5 = nan arcdeg
2025-02-25T11:23:48.017Z,1740482628.017 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat6 = nan arcdeg
2025-02-25T11:23:48.019Z,1740482628.019 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat7 = nan arcdeg
2025-02-25T11:23:48.021Z,1740482628.021 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon1 = nan arcdeg
2025-02-25T11:23:48.023Z,1740482628.023 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon2 = nan arcdeg
2025-02-25T11:23:48.025Z,1740482628.025 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon3 = nan arcdeg
2025-02-25T11:23:48.027Z,1740482628.027 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon4 = nan arcdeg
2025-02-25T11:23:48.101Z,1740482628.101 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon5 = nan arcdeg
2025-02-25T11:23:48.103Z,1740482628.103 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon6 = nan arcdeg
2025-02-25T11:23:48.113Z,1740482628.113 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon7 = nan arcdeg
2025-02-25T11:23:48.116Z,1740482628.116 [MissionManager](INFO): DefineArg sci2_slowyo_test.ApproachDepthTimeout = 15.000000 min
2025-02-25T11:23:48.134Z,1740482628.134 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoDiveAngle = 15.000000 arcdeg
2025-02-25T11:23:48.143Z,1740482628.143 [MissionManager](INFO): DefineArg sci2_slowyo_test.Speed = 1.000000 m/s
2025-02-25T11:23:48.155Z,1740482628.155 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMinDepth = 10.000000 m
2025-02-25T11:23:48.163Z,1740482628.163 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMaxDepth = 40.000000 m
2025-02-25T11:23:48.173Z,1740482628.173 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoNumYoYos = 1.000000 count
2025-02-25T11:23:48.176Z,1740482628.176 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoTurningWindow = 10.000000 m
2025-02-25T11:23:48.237Z,1740482628.237 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkOffSurface = 0 bool
2025-02-25T11:23:48.239Z,1740482628.239 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepth = 10.000000 m
2025-02-25T11:23:48.245Z,1740482628.245 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepthTimeout = 10.000000 min
2025-02-25T11:23:48.247Z,1740482628.247 [MissionManager](INFO): DefineArg sci2_slowyo_test.CaptureRadius = nan m
2025-02-25T11:23:48.254Z,1740482628.254 [MissionManager](INFO): DefineArg sci2_slowyo_test.PeakDetectChl = 0 bool
2025-02-25T11:23:48.256Z,1740482628.256 [MissionManager](INFO): DefineArg sci2_slowyo_test.ShallowBoundChl = nan m
2025-02-25T11:23:48.262Z,1740482628.262 [MissionManager](INFO): DefineArg sci2_slowyo_test.DeepBoundChl = nan m
2025-02-25T11:23:48.264Z,1740482628.264 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlThreshTrigger = 0 bool
2025-02-25T11:23:48.278Z,1740482628.278 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlLowerThreshold = nan ug/l
2025-02-25T11:23:48.280Z,1740482628.280 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlUpperThreshold = nan ug/l
2025-02-25T11:23:48.287Z,1740482628.287 [MissionManager](INFO): DefineArg sci2_slowyo_test.NumProfilesThreshold = 5.000000 count
2025-02-25T11:23:48.290Z,1740482628.290 [MissionManager](INFO): DefineArg sci2_slowyo_test.BuoyancyNeutral = 305.318329 cc
2025-02-25T11:23:48.292Z,1740482628.292 [MissionManager](INFO): DefineArg sci2_slowyo_test.ElevatorDefault = 0.000000 arcdeg
2025-02-25T11:23:48.304Z,1740482628.304 [MissionManager](INFO): DefineArg sci2_slowyo_test.MassDefault = 1.164778 cm
2025-02-25T11:23:48.310Z,1740482628.310 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinAltitude = 7.000000 m
2025-02-25T11:23:48.325Z,1740482628.325 [MissionManager](INFO): DefineArg sci2_slowyo_test.MaxDepth = 60.000000 m
2025-02-25T11:23:48.327Z,1740482628.327 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinOffshore = 2.000000 km
2025-02-25T11:23:48.334Z,1740482628.334 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DiveMode = 0.000000 count
2025-02-25T11:23:48.336Z,1740482628.336 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DoingComms = 0.000000 count
2025-02-25T11:23:48.338Z,1740482628.338 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SurfaceSink = 1.000000 count
2025-02-25T11:23:48.340Z,1740482628.340 [MissionManager](INFO): DefineOutput sci2_slowyo_test.InitialDive = 2.000000 count
2025-02-25T11:23:48.355Z,1740482628.355 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SlowYo = 3.000000 count
2025-02-25T11:23:48.355Z,1740482628.355 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-25T11:23:48.356Z,1740482628.356 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-25T11:23:48.364Z,1740482628.364 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-25T11:23:51.153Z,1740482631.153 [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>

2025-02-25T11:23:51.173Z,1740482631.173 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectChlActive = 0 bool
2025-02-25T11:23:51.175Z,1740482631.175 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectChlActive = 0 bool
2025-02-25T11:23:51.178Z,1740482631.178 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.TimeWindowPeakReport = nan min
2025-02-25T11:23:51.179Z,1740482631.179 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestChlPeakReportActive = 0 bool
2025-02-25T11:23:51.181Z,1740482631.181 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestSaltPeakReportActive = 0 bool
2025-02-25T11:23:51.183Z,1740482631.183 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestOilPeakReportActive = 0 bool
2025-02-25T11:23:51.185Z,1740482631.185 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PatchTracking = 0 bool
2025-02-25T11:23:51.187Z,1740482631.187 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.FilterWidthHorizontal = 3.000000 count
2025-02-25T11:23:51.190Z,1740482631.190 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-25T11:23:51.192Z,1740482631.192 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-25T11:23:51.194Z,1740482631.194 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectNO3Active = 0 bool
2025-02-25T11:23:51.196Z,1740482631.196 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectOilActive = 0 bool
2025-02-25T11:23:51.199Z,1740482631.199 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectFDOMActive = 0 bool
2025-02-25T11:23:51.201Z,1740482631.201 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectSalinityActive = 0 bool
2025-02-25T11:23:51.223Z,1740482631.223 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-25T11:23:51.229Z,1740482631.229 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-25T11:23:51.231Z,1740482631.231 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-25T11:23:51.241Z,1740482631.241 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-25T11:23:51.243Z,1740482631.243 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-25T11:23:51.249Z,1740482631.249 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-25T11:23:51.252Z,1740482631.252 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledAanderaaO2 = 0 bool
2025-02-25T11:23:51.259Z,1740482631.259 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledNeilBrown = 0 bool
2025-02-25T11:23:51.266Z,1740482631.266 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledSeabird = 1 bool
2025-02-25T11:23:51.268Z,1740482631.268 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-25T11:23:51.307Z,1740482631.307 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-25T11:23:51.318Z,1740482631.318 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsUBAT = 0 bool
2025-02-25T11:23:51.320Z,1740482631.320 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.LowPassWindowLength = 20.000000 count
2025-02-25T11:23:51.330Z,1740482631.330 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.MedianFilterLen = 5.000000 count
2025-02-25T11:23:51.332Z,1740482631.332 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ShallowBound = nan m
2025-02-25T11:23:51.355Z,1740482631.355 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DeepBound = nan m
2025-02-25T11:23:51.359Z,1740482631.359 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-25T11:23:51.373Z,1740482631.373 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionVertical = nan %
2025-02-25T11:23:51.376Z,1740482631.376 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-25T11:23:51.383Z,1740482631.383 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = 0 bool
2025-02-25T11:23:51.394Z,1740482631.394 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlLowerThresh = nan ug/l
2025-02-25T11:23:51.396Z,1740482631.396 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlUpperThresh = nan ug/l
2025-02-25T11:23:51.402Z,1740482631.402 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesThresh = 5.000000 count
2025-02-25T11:23:51.404Z,1740482631.404 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-25T11:23:51.411Z,1740482631.411 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.GoDown = 1 bool
2025-02-25T11:23:51.425Z,1740482631.425 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChl = nan ug/l
2025-02-25T11:23:51.428Z,1740482631.428 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlDepth = nan m
2025-02-25T11:23:51.457Z,1740482631.457 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlTemperature = nan degC
2025-02-25T11:23:51.460Z,1740482631.460 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLatitude = nan arcdeg
2025-02-25T11:23:51.464Z,1740482631.464 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLongitude = nan arcdeg
2025-02-25T11:23:51.482Z,1740482631.482 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChl = nan ug/l
2025-02-25T11:23:51.484Z,1740482631.484 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlDepth = nan m
2025-02-25T11:23:51.510Z,1740482631.510 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlTemperature = nan degC
2025-02-25T11:23:51.518Z,1740482631.518 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLatitude = nan arcdeg
2025-02-25T11:23:51.520Z,1740482631.520 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLongitude = nan arcdeg
2025-02-25T11:23:51.527Z,1740482631.527 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3 = nan umol/l
2025-02-25T11:23:51.538Z,1740482631.538 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Depth = nan m
2025-02-25T11:23:51.540Z,1740482631.540 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Latitude = nan arcdeg
2025-02-25T11:23:51.546Z,1740482631.546 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Longitude = nan arcdeg
2025-02-25T11:23:51.548Z,1740482631.548 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOil = nan kg/m3
2025-02-25T11:23:51.558Z,1740482631.558 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilDepth = nan m
2025-02-25T11:23:51.560Z,1740482631.560 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLatitude = nan arcdeg
2025-02-25T11:23:51.567Z,1740482631.567 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLongitude = nan arcdeg
2025-02-25T11:23:51.577Z,1740482631.577 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOM = nan ppb
2025-02-25T11:23:51.580Z,1740482631.580 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMDepth = nan m
2025-02-25T11:23:51.586Z,1740482631.586 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMTemperature = nan degC
2025-02-25T11:23:51.589Z,1740482631.589 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLatitude = nan arcdeg
2025-02-25T11:23:51.599Z,1740482631.599 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLongitude = nan arcdeg
2025-02-25T11:23:51.606Z,1740482631.606 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSalt = nan psu
2025-02-25T11:23:51.610Z,1740482631.610 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltDepth = nan m
2025-02-25T11:23:51.612Z,1740482631.612 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltTemperature = nan degC
2025-02-25T11:23:51.615Z,1740482631.615 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLatitude = nan arcdeg
2025-02-25T11:23:51.621Z,1740482631.621 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLongitude = nan arcdeg
2025-02-25T11:23:51.624Z,1740482631.624 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-25T11:23:51.646Z,1740482631.645 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-25T11:23:51.648Z,1740482631.648 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-25T11:23:51.654Z,1740482631.654 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-25T11:23:51.661Z,1740482631.661 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-25T11:23:51.663Z,1740482631.663 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-25T11:23:51.667Z,1740482631.667 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-25T11:23:51.714Z,1740482631.714 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-25T11:23:51.716Z,1740482631.716 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-25T11:23:51.727Z,1740482631.727 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-25T11:23:51.737Z,1740482631.737 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-25T11:23:51.739Z,1740482631.739 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-25T11:23:51.754Z,1740482631.754 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-25T11:23:51.756Z,1740482631.756 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-25T11:23:51.763Z,1740482631.763 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-25T11:23:51.770Z,1740482631.770 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-25T11:23:51.773Z,1740482631.773 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-25T11:23:51.791Z,1740482631.791 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-25T11:23:51.802Z,1740482631.802 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-25T11:23:51.809Z,1740482631.809 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-25T11:23:51.812Z,1740482631.812 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-25T11:23:51.827Z,1740482631.827 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-25T11:23:51.834Z,1740482631.834 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-25T11:23:51.836Z,1740482631.836 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-25T11:23:51.843Z,1740482631.843 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-25T11:23:51.850Z,1740482631.850 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChl = nan ug/l
2025-02-25T11:23:51.852Z,1740482631.852 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDepth = nan m
2025-02-25T11:23:51.867Z,1740482631.867 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLatitude = nan arcdeg
2025-02-25T11:23:51.873Z,1740482631.873 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLongitude = nan arcdeg
2025-02-25T11:23:51.876Z,1740482631.876 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDistance = nan m
2025-02-25T11:23:51.878Z,1740482631.878 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSalt = nan psu
2025-02-25T11:23:51.880Z,1740482631.880 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDepth = nan m
2025-02-25T11:23:51.895Z,1740482631.895 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLatitude = nan arcdeg
2025-02-25T11:23:51.909Z,1740482631.909 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLongitude = nan arcdeg
2025-02-25T11:23:51.918Z,1740482631.918 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDistance = nan m
2025-02-25T11:23:51.936Z,1740482631.936 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOil = nan psu
2025-02-25T11:23:51.943Z,1740482631.943 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDepth = nan m
2025-02-25T11:23:51.949Z,1740482631.949 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLatitude = nan arcdeg
2025-02-25T11:23:51.952Z,1740482631.952 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLongitude = nan arcdeg
2025-02-25T11:23:51.958Z,1740482631.958 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDistance = nan m
2025-02-25T11:23:51.960Z,1740482631.960 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.TriggeredOnChl = 0 bool
2025-02-25T11:23:51.967Z,1740482631.967 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.ChlTriggering = nan ug/l
2025-02-25T11:23:52.019Z,1740482632.019 [sci2_slowyo_test:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T11:23:52.063Z,1740482632.063 [sci2_slowyo_test:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-25T11:23:52.144Z,1740482632.144 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-25T11:23:52.189Z,1740482632.189 [sci2_slowyo_test:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T11:23:52.214Z,1740482632.214 [sci2_slowyo_test:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T11:23:52.244Z,1740482632.244 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-25T11:23:52.268Z,1740482632.268 [sci2_slowyo_test:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T11:23:52.300Z,1740482632.300 [sci2_slowyo_test:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T11:23:52.352Z,1740482632.352 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-25T11:23:52.397Z,1740482632.397 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T11:23:52.426Z,1740482632.426 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-25T11:23:52.470Z,1740482632.470 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T11:23:52.533Z,1740482632.533 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T11:23:52.571Z,1740482632.571 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T11:23:52.602Z,1740482632.602 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-25T11:23:52.619Z,1740482632.619 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDetectChlActive = reader:sci2_slowyo_test.PeakDetectChl
2025-02-25T11:23:52.620Z,1740482632.620 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ShallowBound = reader:sci2_slowyo_test.ShallowBoundChl
2025-02-25T11:23:52.630Z,1740482632.630 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.DeepBound = reader:sci2_slowyo_test.DeepBoundChl
2025-02-25T11:23:52.632Z,1740482632.632 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = reader:sci2_slowyo_test.ChlThreshTrigger
2025-02-25T11:23:52.634Z,1740482632.634 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlLowerThresh = reader:sci2_slowyo_test.ChlLowerThreshold
2025-02-25T11:23:52.635Z,1740482632.635 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlUpperThresh = reader:sci2_slowyo_test.ChlUpperThreshold
2025-02-25T11:23:52.636Z,1740482632.636 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.NumProfilesThresh = reader:sci2_slowyo_test.NumProfilesThreshold
2025-02-25T11:23:52.645Z,1740482632.645 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-25T11:23:52.645Z,1740482632.645 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-25T11:23:52.647Z,1740482632.647 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-25T11:23:52.926Z,1740482632.926 [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>

2025-02-25T11:23:52.955Z,1740482632.955 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.DiveInterval = 1.000000 h
2025-02-25T11:23:52.963Z,1740482632.963 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-25T11:23:52.968Z,1740482632.968 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-25T11:23:52.982Z,1740482632.982 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceDepthRate = nan m/s
2025-02-25T11:23:52.990Z,1740482632.990 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-25T11:23:52.992Z,1740482632.992 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-25T11:23:53.007Z,1740482633.007 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.GPSTimeout = 7.000000 min
2025-02-25T11:23:53.014Z,1740482633.014 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.CommsTimeout = 30.000000 min
2025-02-25T11:23:53.028Z,1740482633.028 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-25T11:23:53.054Z,1740482633.054 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-25T11:23:53.054Z,1740482633.054 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-25T11:23:53.055Z,1740482633.055 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-25T11:23:53.146Z,1740482633.146 [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>

2025-02-25T11:23:53.150Z,1740482633.150 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-25T11:23:53.152Z,1740482633.152 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-25T11:23:53.167Z,1740482633.167 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-25T11:23:53.169Z,1740482633.169 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-25T11:23:53.170Z,1740482633.170 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-25T11:23:53.175Z,1740482633.175 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-25T11:23:53.186Z,1740482633.186 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-25T11:23:53.242Z,1740482633.242 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-25T11:23:53.243Z,1740482633.243 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-25T11:23:53.244Z,1740482633.244 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-25T11:23:53.272Z,1740482633.272 [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>

2025-02-25T11:23:53.275Z,1740482633.275 [MissionManager](INFO): DefineArg sci2_slowyo_test:BackseatDriver.EnableBackseat = 0 bool
2025-02-25T11:23:53.277Z,1740482633.277 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-25T11:23:53.279Z,1740482633.279 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-25T11:23:53.279Z,1740482633.279 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-25T11:23:53.281Z,1740482633.281 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-25T11:23:53.456Z,1740482633.456 [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>

2025-02-25T11:23:53.460Z,1740482633.460 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleAll = 0 bool
2025-02-25T11:23:53.464Z,1740482633.464 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad1 = 0 bool
2025-02-25T11:23:53.479Z,1740482633.479 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad2 = 0 bool
2025-02-25T11:23:53.481Z,1740482633.481 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad3 = 0 bool
2025-02-25T11:23:53.483Z,1740482633.483 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-25T11:23:53.490Z,1740482633.490 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-25T11:23:53.502Z,1740482633.502 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-25T11:23:53.505Z,1740482633.505 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-02-25T11:23:53.514Z,1740482633.514 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-02-25T11:23:53.568Z,1740482633.568 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Construct.
2025-02-25T11:23:53.571Z,1740482633.571 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-25T11:23:53.580Z,1740482633.580 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Construct Wait.
2025-02-25T11:23:53.583Z,1740482633.583 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-02-25T11:23:53.586Z,1740482633.586 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-02-25T11:23:53.593Z,1740482633.593 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-25T11:23:53.598Z,1740482633.598 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-25T11:23:53.600Z,1740482633.600 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Construct.
2025-02-25T11:23:53.604Z,1740482633.604 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Construct.
2025-02-25T11:23:53.607Z,1740482633.607 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Construct SlowYo.
2025-02-25T11:23:53.613Z,1740482633.613 [sci2_slowyo_test:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-02-25T11:23:53.618Z,1740482633.618 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T11:23:53.624Z,1740482633.624 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T11:23:53.644Z,1740482633.644 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T11:23:53.650Z,1740482633.650 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T11:23:53.655Z,1740482633.655 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T11:23:53.661Z,1740482633.661 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T11:23:53.666Z,1740482633.666 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T11:23:53.768Z,1740482633.768 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  output {
    DiveMode = 0 count

    DoingComms = 0 count

    SurfaceSink = 1 count

    InitialDive = 2 count

    SlowYo = 3 count
  }

  timeout duration=MissionTimeout

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

    redefineArg PeakDetectChlActive = PeakDetectChl
    redefineArg ShallowBound = ShallowBoundChl
    redefineArg DeepBound = DeepBoundChl
    redefineArg ChlThreshTriggerActive = ChlThreshTrigger
    redefineArg ChlLowerThresh = ChlLowerThreshold
    redefineArg ChlUpperThresh = ChlUpperThreshold
    redefineArg NumProfilesThresh = NumProfilesThreshold
  }

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:SurfaceDepthRate = NeedCommsSurfaceDepthRate

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    aggregate setInitial {
      run in sequence

      break if ( SinkOffSurface )

      assign in sequence DiveMode = InitialDive
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

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

          set depth = SinkDepth
        }

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

          break if ( Universal:depth >= SlowYoMinDepth )

          assign in sequence DiveMode = InitialDive
        }

        aggregate sinkToYo {
          run in sequence

          break if ( Universal:depth < SlowYoMinDepth )

          assign in sequence DiveMode = SlowYo
        }
      }
    }

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

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

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

          run in sequence

          set duration = 1 minute
        }

        syslog "Moving to " + SlowYoMinDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = Speed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = SlowYoMinDepth
          }
        }

        assign in sequence DiveMode = SlowYo
      }
    }

    aggregate SlowYoToWaypoint {
      run while ( DiveMode == SlowYo )

      aggregate SlowYoTask {
        run in parallel

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set elevatorAngle = ElevatorDefault
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }

        aggregate SlowYoLoop {
          run in sequence repeat=Repeat

          behavior Guidance:SlowYo {
            run in sequence

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

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

    run when ( Science:TriggeredOnChl )

    behavior Guidance:Execute {
      run in sequence

      set command = "stop"
    }
  }

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

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

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

        behavior Guidance:Waypoint {
          run in sequence

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


2025-02-25T11:23:53.769Z,1740482633.769 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_slowyo_test.tl id=sci2_slowyo_test
2025-02-25T11:23:54.160Z,1740482634.160 [MissionManager](IMPORTANT): Started mission Default
2025-02-25T11:23:54.165Z,1740482634.165 [Default] Running Loop=1
2025-02-25T11:23:54.165Z,1740482634.165 [Default](DEBUG): Aggregate::initialize Default
2025-02-25T11:23:54.165Z,1740482634.165 [Default:B.GoToSurface] Running Loop=1
2025-02-25T11:23:54.165Z,1740482634.165 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T11:23:54.165Z,1740482634.165 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-25T11:23:54.166Z,1740482634.166 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-25T11:23:54.166Z,1740482634.166 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-25T11:23:54.166Z,1740482634.166 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-25T11:23:54.167Z,1740482634.167 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T11:23:54.167Z,1740482634.167 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T11:23:54.167Z,1740482634.167 [Default:A.Wait] Running Loop=1
2025-02-25T11:23:54.167Z,1740482634.167 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-25T11:23:54.547Z,1740482634.547 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (1 active estimators).
2025-02-25T11:23:54.685Z,1740482634.685 [Radio_Surface](INFO): Powering up
2025-02-25T11:24:00.533Z,1740482640.533 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-25T11:24:03.511Z,1740482643.511 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-25T11:24:03.512Z,1740482643.512 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-25T11:24:03.513Z,1740482643.513 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-25T11:24:07.374Z,1740482647.374 [Default:A.Wait](INFO): Done Waiting.
2025-02-25T11:24:07.375Z,1740482647.375 [Default:A.Wait] Stopped
2025-02-25T11:24:07.375Z,1740482647.375 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T11:24:15.035Z,1740482655.035 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MissionTimeout 4 hour
2025-02-25T11:24:15.035Z,1740482655.035 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.NeedCommsTime 90 minute
2025-02-25T11:24:15.036Z,1740482655.036 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Repeat 3 count
2025-02-25T11:24:15.037Z,1740482655.037 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lat1 36.79631 degree
2025-02-25T11:24:15.038Z,1740482655.038 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lon1 -121.87204 degree
2025-02-25T11:24:18.427Z,1740482658.427 [Default:CheckIn] Running Loop=1
2025-02-25T11:24:18.427Z,1740482658.427 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-25T11:24:18.427Z,1740482658.427 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-25T11:24:30.664Z,1740482670.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T11:24:35.518Z,1740482675.518 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lat2 36.79636 degree
2025-02-25T11:24:35.519Z,1740482675.519 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lon2 -121.90301 degree
2025-02-25T11:24:35.520Z,1740482675.520 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Speed SpeedControl.rollOptimum
2025-02-25T11:24:35.520Z,1740482675.520 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoMaxDepth 190 meter
2025-02-25T11:24:35.521Z,1740482675.521 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoTurningWindow 30 meter
2025-02-25T11:24:54.896Z,1740482694.896 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MassDefault NaN millimeter
2025-02-25T11:24:54.899Z,1740482694.899 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MinAltitude 20 meter
2025-02-25T11:24:54.900Z,1740482694.900 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MaxDepth 230 meter
2025-02-25T11:24:54.901Z,1740482694.901 [CommandExec](IMPORTANT): got command set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool
2025-02-25T11:24:54.901Z,1740482694.901 [CommandExec](IMPORTANT): got command run
2025-02-25T11:24:54.903Z,1740482694.903 [CommandExec](IMPORTANT): Running 
2025-02-25T11:24:55.162Z,1740482695.162 [Default] Stopped
2025-02-25T11:24:55.162Z,1740482695.162 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-25T11:24:55.162Z,1740482695.162 [Default:B.GoToSurface] Stopped
2025-02-25T11:24:55.162Z,1740482695.162 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T11:24:55.162Z,1740482695.162 [Default:CheckIn] Stopped
2025-02-25T11:24:55.162Z,1740482695.162 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-25T11:24:55.162Z,1740482695.162 [Default:CheckIn:Read_GPS] Stopped
2025-02-25T11:24:55.162Z,1740482695.162 [MissionManager](IMPORTANT): Started mission sci2_slowyo_test
2025-02-25T11:24:55.163Z,1740482695.163 [sci2_slowyo_test] Running Loop=1
2025-02-25T11:24:55.163Z,1740482695.163 [sci2_slowyo_test](DEBUG): Aggregate::initialize sci2_slowyo_test
2025-02-25T11:24:55.163Z,1740482695.163 [sci2_slowyo_test:Science] Running Loop=1
2025-02-25T11:24:55.163Z,1740482695.163 [sci2_slowyo_test:Science](DEBUG): Aggregate::initialize sci2_slowyo_test:Science
2025-02-25T11:24:55.163Z,1740482695.163 [sci2_slowyo_test:Science:A] Running Loop=1
2025-02-25T11:24:55.163Z,1740482695.163 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-25T11:24:55.163Z,1740482695.163 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-25T11:24:55.163Z,1740482695.163 [sci2_slowyo_test:Science:D] Running Loop=1
2025-02-25T11:24:55.163Z,1740482695.163 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-25T11:24:55.163Z,1740482695.163 [sci2_slowyo_test:Science:F] Running Loop=1
2025-02-25T11:24:55.163Z,1740482695.163 [sci2_slowyo_test:Science:Read_Oil] Running Loop=1
2025-02-25T11:24:55.164Z,1740482695.164 [sci2_slowyo_test:Science:PeakDetectChl] Running Loop=1
2025-02-25T11:24:55.164Z,1740482695.164 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-25T11:24:55.164Z,1740482695.164 [sci2_slowyo_test:Science:PeakDetectChl:A] Running Loop=1
2025-02-25T11:24:55.164Z,1740482695.164 [sci2_slowyo_test:Science:EdgeDetectChl] Running Loop=1
2025-02-25T11:24:55.164Z,1740482695.164 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-25T11:24:55.164Z,1740482695.164 [sci2_slowyo_test:Science:EdgeDetectChl:A] Running Loop=1
2025-02-25T11:24:55.164Z,1740482695.164 [sci2_slowyo_test:Science:HighestChlPeakReport] Running Loop=1
2025-02-25T11:24:55.164Z,1740482695.164 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-25T11:24:55.164Z,1740482695.164 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-25T11:24:55.165Z,1740482695.165 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-25T11:24:55.181Z,1740482695.181 [sci2_slowyo_test:Science:PeakDetectNO3] Running Loop=1
2025-02-25T11:24:55.181Z,1740482695.181 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-25T11:24:55.181Z,1740482695.181 [sci2_slowyo_test:Science:PeakDetectNO3:A] Running Loop=1
2025-02-25T11:24:55.182Z,1740482695.182 [sci2_slowyo_test:Science:PeakDetectOil] Running Loop=1
2025-02-25T11:24:55.182Z,1740482695.182 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-25T11:24:55.182Z,1740482695.182 [sci2_slowyo_test:Science:PeakDetectOil:A] Running Loop=1
2025-02-25T11:24:55.182Z,1740482695.182 [sci2_slowyo_test:Science:HighestOilPeakReport] Running Loop=1
2025-02-25T11:24:55.182Z,1740482695.182 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-25T11:24:55.182Z,1740482695.182 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-25T11:24:55.182Z,1740482695.182 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-25T11:24:55.183Z,1740482695.183 [sci2_slowyo_test:Science:PeakDetectFDOM] Running Loop=1
2025-02-25T11:24:55.183Z,1740482695.183 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-25T11:24:55.183Z,1740482695.183 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-25T11:24:55.183Z,1740482695.183 [sci2_slowyo_test:Science:PeakDetectSalinity] Running Loop=1
2025-02-25T11:24:55.183Z,1740482695.183 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-25T11:24:55.183Z,1740482695.183 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-25T11:24:55.183Z,1740482695.183 [sci2_slowyo_test:Science:HighestSaltPeakReport] Running Loop=1
2025-02-25T11:24:55.183Z,1740482695.183 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-25T11:24:55.183Z,1740482695.183 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-25T11:24:55.183Z,1740482695.183 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-25T11:24:55.184Z,1740482695.184 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-25T11:24:55.184Z,1740482695.184 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-25T11:24:55.184Z,1740482695.184 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-25T11:24:55.184Z,1740482695.184 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-25T11:24:55.184Z,1740482695.184 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-25T11:24:55.189Z,1740482695.189 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-25T11:24:55.189Z,1740482695.189 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-25T11:24:55.189Z,1740482695.189 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-25T11:24:55.189Z,1740482695.189 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-25T11:24:55.189Z,1740482695.189 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-25T11:24:55.190Z,1740482695.190 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-25T11:24:55.190Z,1740482695.190 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-25T11:24:55.190Z,1740482695.190 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-25T11:24:55.190Z,1740482695.190 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-25T11:24:55.190Z,1740482695.190 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-25T11:24:55.190Z,1740482695.190 [sci2_slowyo_test:Science:ChlThreshTrigger] Running Loop=1
2025-02-25T11:24:55.190Z,1740482695.190 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-25T11:24:55.190Z,1740482695.190 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-25T11:24:55.190Z,1740482695.190 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-25T11:24:55.191Z,1740482695.191 [sci2_slowyo_test:Science:OceanCurrent] Running Loop=1
2025-02-25T11:24:55.191Z,1740482695.191 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:OceanCurrent
2025-02-25T11:24:55.191Z,1740482695.191 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-25T11:24:55.191Z,1740482695.191 [sci2_slowyo_test:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-25T11:24:55.191Z,1740482695.191 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-25T11:24:55.191Z,1740482695.191 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_slowyo_test:StandardEnvelopes
2025-02-25T11:24:55.191Z,1740482695.191 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-25T11:24:55.191Z,1740482695.191 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-25T11:24:55.192Z,1740482695.192 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-25T11:24:55.192Z,1740482695.192 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-25T11:24:55.192Z,1740482695.192 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-25T11:24:55.192Z,1740482695.192 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-25T11:24:55.192Z,1740482695.192 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-25T11:24:55.192Z,1740482695.192 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::initialize sci2_slowyo_test:BackseatDriver
2025-02-25T11:24:55.192Z,1740482695.192 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-25T11:24:55.192Z,1740482695.192 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-25T11:24:55.192Z,1740482695.192 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::initialize sci2_slowyo_test:PowerOnly
2025-02-25T11:24:55.192Z,1740482695.192 [sci2_slowyo_test:PowerOnly:A] Running Loop=1
2025-02-25T11:24:55.192Z,1740482695.192 [sci2_slowyo_test:PowerOnly:B] Running Loop=1
2025-02-25T11:24:55.193Z,1740482695.193 [sci2_slowyo_test:PowerOnly:C] Running Loop=1
2025-02-25T11:24:55.193Z,1740482695.193 [sci2_slowyo_test:PowerOnly:D] Running Loop=1
2025-02-25T11:24:55.194Z,1740482695.194 [sci2_slowyo_test:PowerOnly:E.Wait] Running Loop=1
2025-02-25T11:24:55.194Z,1740482695.194 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-25T11:24:55.194Z,1740482695.194 [sci2_slowyo_test:C] Running Loop=1
2025-02-25T11:24:55.195Z,1740482695.195 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-25T11:24:55.195Z,1740482695.195 [sci2_slowyo_test:PowerOnly:D] Stopped
2025-02-25T11:24:55.196Z,1740482695.196 [sci2_slowyo_test:PowerOnly:C] Stopped
2025-02-25T11:24:55.196Z,1740482695.196 [sci2_slowyo_test:PowerOnly:B] Stopped
2025-02-25T11:24:55.196Z,1740482695.196 [sci2_slowyo_test:PowerOnly:A] Stopped
2025-02-25T11:24:55.196Z,1740482695.196 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-25T11:24:55.196Z,1740482695.196 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-25T11:24:55.201Z,1740482695.201 [BackseatComponent](INFO): Powering up
2025-02-25T11:24:55.208Z,1740482695.208 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-25T11:24:55.243Z,1740482695.243 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-25T11:24:55.243Z,1740482695.243 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-25T11:24:55.243Z,1740482695.243 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-25T11:24:55.244Z,1740482695.244 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-25T11:24:55.244Z,1740482695.244 [sci2_slowyo_test:C] Stopped
2025-02-25T11:24:55.244Z,1740482695.244 [sci2_slowyo_test:E] Running Loop=1
2025-02-25T11:24:55.244Z,1740482695.244 [sci2_slowyo_test:Science] Running Loop=1
2025-02-25T11:24:55.247Z,1740482695.247 [sci2_slowyo_test:Science:ChlThreshTrigger] Stopped
2025-02-25T11:24:55.247Z,1740482695.247 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-25T11:24:55.248Z,1740482695.248 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-25T11:24:55.248Z,1740482695.248 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-25T11:24:55.248Z,1740482695.248 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-25T11:24:55.248Z,1740482695.248 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-25T11:24:55.248Z,1740482695.248 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-25T11:24:55.248Z,1740482695.248 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-25T11:24:55.248Z,1740482695.248 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-25T11:24:55.248Z,1740482695.248 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-25T11:24:55.248Z,1740482695.248 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-25T11:24:55.248Z,1740482695.248 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-25T11:24:55.248Z,1740482695.248 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-25T11:24:55.248Z,1740482695.248 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-25T11:24:55.248Z,1740482695.248 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-25T11:24:55.249Z,1740482695.249 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-25T11:24:55.253Z,1740482695.253 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-25T11:24:55.253Z,1740482695.253 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-25T11:24:55.254Z,1740482695.254 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-25T11:24:55.254Z,1740482695.254 [sci2_slowyo_test:Science:HighestSaltPeakReport] Stopped
2025-02-25T11:24:55.254Z,1740482695.254 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-25T11:24:55.254Z,1740482695.254 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-25T11:24:55.254Z,1740482695.254 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-25T11:24:55.254Z,1740482695.254 [sci2_slowyo_test:Science:PeakDetectSalinity] Stopped
2025-02-25T11:24:55.254Z,1740482695.254 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-25T11:24:55.254Z,1740482695.254 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Stopped
2025-02-25T11:24:55.254Z,1740482695.254 [sci2_slowyo_test:Science:PeakDetectFDOM] Stopped
2025-02-25T11:24:55.254Z,1740482695.254 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-25T11:24:55.254Z,1740482695.254 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Stopped
2025-02-25T11:24:55.254Z,1740482695.254 [sci2_slowyo_test:Science:HighestOilPeakReport] Stopped
2025-02-25T11:24:55.254Z,1740482695.254 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-25T11:24:55.255Z,1740482695.255 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-25T11:24:55.255Z,1740482695.255 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-25T11:24:55.255Z,1740482695.255 [sci2_slowyo_test:Science:PeakDetectOil] Stopped
2025-02-25T11:24:55.255Z,1740482695.255 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-25T11:24:55.255Z,1740482695.255 [sci2_slowyo_test:Science:PeakDetectOil:A] Stopped
2025-02-25T11:24:55.255Z,1740482695.255 [sci2_slowyo_test:Science:PeakDetectNO3] Stopped
2025-02-25T11:24:55.255Z,1740482695.255 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-25T11:24:55.255Z,1740482695.255 [sci2_slowyo_test:Science:PeakDetectNO3:A] Stopped
2025-02-25T11:24:55.255Z,1740482695.255 [sci2_slowyo_test:Science:HighestChlPeakReport] Stopped
2025-02-25T11:24:55.255Z,1740482695.255 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-25T11:24:55.255Z,1740482695.255 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-25T11:24:55.255Z,1740482695.255 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-25T11:24:55.255Z,1740482695.255 [sci2_slowyo_test:Science:EdgeDetectChl] Stopped
2025-02-25T11:24:55.256Z,1740482695.256 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-25T11:24:55.256Z,1740482695.256 [sci2_slowyo_test:Science:EdgeDetectChl:A] Stopped
2025-02-25T11:24:55.256Z,1740482695.256 [sci2_slowyo_test:Science:PeakDetectChl] Stopped
2025-02-25T11:24:55.256Z,1740482695.256 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-25T11:24:55.256Z,1740482695.256 [sci2_slowyo_test:Science:PeakDetectChl:A] Stopped
2025-02-25T11:24:55.256Z,1740482695.256 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-25T11:24:55.256Z,1740482695.256 [sci2_slowyo_test:Science:Read_Oil] Stopped
2025-02-25T11:24:55.256Z,1740482695.256 [sci2_slowyo_test:Science:F] Stopped
2025-02-25T11:24:55.256Z,1740482695.256 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-25T11:24:55.261Z,1740482695.261 [sci2_slowyo_test:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-25T11:24:55.261Z,1740482695.261 [sci2_slowyo_test:Science:D] Stopped
2025-02-25T11:24:55.261Z,1740482695.261 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-25T11:24:55.262Z,1740482695.262 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-25T11:24:55.262Z,1740482695.262 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-25T11:24:55.262Z,1740482695.262 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-25T11:24:55.263Z,1740482695.263 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-25T11:24:55.263Z,1740482695.263 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-25T11:24:55.263Z,1740482695.263 [sci2_slowyo_test:Science:A] Stopped
2025-02-25T11:24:55.589Z,1740482695.589 [sci2_slowyo_test:E] Stopped
2025-02-25T11:24:55.589Z,1740482695.589 [sci2_slowyo_test:F] Running Loop=1
2025-02-25T11:24:55.759Z,1740482695.759 [WetLabsBB2FL](INFO): Powering up
2025-02-25T11:24:55.985Z,1740482695.985 [sci2_slowyo_test:F] Stopped
2025-02-25T11:24:55.985Z,1740482695.985 [sci2_slowyo_test:G] Running Loop=1
2025-02-25T11:24:56.389Z,1740482696.389 [sci2_slowyo_test:G] Stopped
2025-02-25T11:24:56.389Z,1740482696.389 [sci2_slowyo_test:StartingMission] Running Loop=1
2025-02-25T11:24:56.389Z,1740482696.389 [sci2_slowyo_test:StartingMission](DEBUG): Aggregate::initialize sci2_slowyo_test:StartingMission
2025-02-25T11:24:56.796Z,1740482696.796 [sci2_slowyo_test:SurfaceComms] Running Loop=1
2025-02-25T11:24:56.797Z,1740482696.797 [sci2_slowyo_test:SurfaceComms](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms
2025-02-25T11:24:56.797Z,1740482696.797 [sci2_slowyo_test:SurfaceComms:A] Running Loop=1
2025-02-25T11:24:56.797Z,1740482696.797 [sci2_slowyo_test:SurfaceComms:A] Stopped
2025-02-25T11:24:56.797Z,1740482696.797 [sci2_slowyo_test:SurfaceComms:B] Running Loop=1
2025-02-25T11:24:56.797Z,1740482696.797 [sci2_slowyo_test:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:B
2025-02-25T11:24:56.802Z,1740482696.802 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-25T11:24:57.194Z,1740482697.194 [sci2_slowyo_test:NeedComms] Running Loop=1
2025-02-25T11:24:57.194Z,1740482697.194 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::initialize sci2_slowyo_test:NeedComms
2025-02-25T11:24:57.194Z,1740482697.194 [sci2_slowyo_test:NeedComms:B.GoToSurface] Running Loop=1
2025-02-25T11:24:57.194Z,1740482697.194 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T11:24:57.194Z,1740482697.194 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received depth rate setting 0.300000 m/s.
2025-02-25T11:24:57.195Z,1740482697.195 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-25T11:24:57.195Z,1740482697.195 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-25T11:24:57.195Z,1740482697.195 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-25T11:24:57.196Z,1740482697.196 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T11:24:57.196Z,1740482697.196 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T11:24:57.196Z,1740482697.196 [sci2_slowyo_test:NeedComms:A] Running Loop=1
2025-02-25T11:24:57.214Z,1740482697.214 [sci2_slowyo_test:NeedComms:A](INFO): last time_fix was:  1740479652.000000 second since 1970/01/01T00:00:00Z 
2025-02-25T11:24:57.214Z,1740482697.214 [sci2_slowyo_test:NeedComms:A] Stopped
2025-02-25T11:24:57.603Z,1740482697.603 [sci2_slowyo_test:NeedComms:C] Running Loop=1
2025-02-25T11:24:58.010Z,1740482698.010 [sci2_slowyo_test:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-25T11:24:58.491Z,1740482698.491 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-25T11:25:01.786Z,1740482701.786 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T11:25:04.890Z,1740482704.890 [NAL9602](INFO): SBD MO Status=2, MOMSN=13413, MT Status=2, MTMSN=0
2025-02-25T11:25:04.891Z,1740482704.891 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T11:25:32.909Z,1740482732.909 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T11:25:52.186Z,1740482752.186 [NAL9602](INFO): SBD MO Status=2, MOMSN=13413, MT Status=2, MTMSN=0
2025-02-25T11:25:52.186Z,1740482752.186 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T11:25:54.102Z,1740482754.102 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250225T112553
2025-02-25T11:26:00.405Z,1740482760.405 [MassServo](ERROR): getPosition uart error serial timeout
2025-02-25T11:26:00.405Z,1740482760.405 [MassServo](FAULT): Invalid EZ Servo response:"\377"
2025-02-25T11:26:00.405Z,1740482760.405 [MassServo] Communications Fault, FailCount= 2
2025-02-25T11:26:00.405Z,1740482760.405 [MassServo](ERROR): Communications Fault
2025-02-25T11:26:00.414Z,1740482760.414 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-25T11:26:00.730Z,1740482760.730 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-25T11:26:00.730Z,1740482760.730 [MassServo](INFO): Powering down
2025-02-25T11:26:01.530Z,1740482761.530 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-25T11:26:01.654Z,1740482761.654 [MassServo](DEBUG): Initializing MassServo.
2025-02-25T11:26:01.660Z,1740482761.660 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-25T11:26:01.660Z,1740482761.660 [MassServo] No Fault, FailCount= 2
2025-02-25T11:26:04.057Z,1740482764.057 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T11:26:21.566Z,1740482781.566 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003751
2025-02-25T11:26:48.440Z,1740482808.440 [NAL9602](INFO): SBD MO Status=2, MOMSN=13413, MT Status=2, MTMSN=0
2025-02-25T11:26:48.440Z,1740482808.440 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T11:26:55.323Z,1740482815.323 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2126
2025-02-25T11:27:26.644Z,1740482846.644 [NAL9602](INFO): SBD MO Status=0, MOMSN=13413, MT Status=0, MTMSN=0
2025-02-25T11:27:26.644Z,1740482846.644 [NAL9602](INFO): No messages in MT queue
2025-02-25T11:27:27.872Z,1740482847.872 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,112727.00,A,3647.79788,N,12154.03047,W,0.058,297.10,250225,,,D*77
2025-02-25T11:27:27.875Z,1740482847.875 [NAL9602](INFO): GPS fix at 20250225T112727: (36.796631, -121.900508)
2025-02-25T11:27:27.888Z,1740482847.888 [UniversalFixResidualReporter](INFO): Fix residual: 7.6 %DT, over the last 2764.3 m. Residual distance 210.9 m at bearing -85.4 degrees. Fix at (36.7966, -121.9005) with 2410.7 m made good.
2025-02-25T11:27:27.894Z,1740482847.894 [sci2_slowyo_test:NeedComms:C] Stopped
2025-02-25T11:27:27.894Z,1740482847.894 [sci2_slowyo_test:NeedComms:D] Running Loop=1
2025-02-25T11:27:28.322Z,1740482848.322 [sci2_slowyo_test:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-25T11:27:35.968Z,1740482855.968 [DataOverHttps](INFO): Sending 94 bytes from file Logs/20250225T062120/Courier0025.lzma
2025-02-25T11:27:36.971Z,1740482856.971 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Courier0025.lzma.bak
2025-02-25T11:27:36.971Z,1740482856.971 [DataOverHttps](INFO): SBD MOMSN=23975774
2025-02-25T11:28:00.246Z,1740482880.246 [DataOverHttps](INFO): Sending 940 bytes from file Logs/20250225T062120/Express0026.lzma
2025-02-25T11:28:00.291Z,1740482880.291 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T11:28:01.247Z,1740482881.247 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Express0026.lzma.bak
2025-02-25T11:28:01.247Z,1740482881.247 [DataOverHttps](INFO): SBD MOMSN=23975778
2025-02-25T11:28:03.138Z,1740482883.138 [sci2_slowyo_test:NeedComms:D] Stopped
2025-02-25T11:28:03.138Z,1740482883.138 [sci2_slowyo_test:NeedComms:E] Running Loop=1
2025-02-25T11:28:03.558Z,1740482883.558 [sci2_slowyo_test:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-25T11:28:05.136Z,1740482885.136 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,112804.00,A,3647.79722,N,12154.03235,W,0.603,198.50,250225,,,D*7E
2025-02-25T11:28:05.138Z,1740482885.138 [NAL9602](INFO): GPS fix at 20250225T112804: (36.796620, -121.900539)
2025-02-25T11:28:05.186Z,1740482885.186 [sci2_slowyo_test:NeedComms:E] Stopped
2025-02-25T11:28:05.187Z,1740482885.187 [sci2_slowyo_test:NeedComms](INFO): Completed sci2_slowyo_test:NeedComms
2025-02-25T11:28:05.187Z,1740482885.187 [sci2_slowyo_test:NeedComms] Stopped
2025-02-25T11:28:05.187Z,1740482885.187 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:NeedComms
2025-02-25T11:28:05.187Z,1740482885.187 [sci2_slowyo_test:NeedComms:B.GoToSurface] Stopped
2025-02-25T11:28:05.187Z,1740482885.187 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T11:28:05.599Z,1740482885.599 [sci2_slowyo_test:SurfaceComms:B](INFO): Completed sci2_slowyo_test:SurfaceComms:B
2025-02-25T11:28:05.600Z,1740482885.600 [sci2_slowyo_test:SurfaceComms:B] Stopped
2025-02-25T11:28:05.600Z,1740482885.600 [sci2_slowyo_test:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:B
2025-02-25T11:28:05.600Z,1740482885.600 [sci2_slowyo_test:SurfaceComms:setInitial] Running Loop=1
2025-02-25T11:28:05.600Z,1740482885.600 [sci2_slowyo_test:SurfaceComms:setInitial](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:setInitial
2025-02-25T11:28:05.600Z,1740482885.600 [sci2_slowyo_test:SurfaceComms:setInitial:A] Running Loop=1
2025-02-25T11:28:05.978Z,1740482885.978 [sci2_slowyo_test:SurfaceComms:setInitial:A] Stopped
2025-02-25T11:28:05.979Z,1740482885.979 [sci2_slowyo_test:SurfaceComms:setInitial](INFO): Completed sci2_slowyo_test:SurfaceComms:setInitial
2025-02-25T11:28:05.979Z,1740482885.979 [sci2_slowyo_test:SurfaceComms:setInitial] Stopped
2025-02-25T11:28:05.979Z,1740482885.979 [sci2_slowyo_test:SurfaceComms:setInitial](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:setInitial
2025-02-25T11:28:05.979Z,1740482885.979 [sci2_slowyo_test:SurfaceComms:setSink] Running Loop=1
2025-02-25T11:28:05.979Z,1740482885.979 [sci2_slowyo_test:SurfaceComms:setSink](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:setSink
2025-02-25T11:28:05.980Z,1740482885.980 [sci2_slowyo_test:SurfaceComms:setSink:A] Running Loop=1
2025-02-25T11:28:06.391Z,1740482886.391 [sci2_slowyo_test:SurfaceComms:setSink] Stopped
2025-02-25T11:28:06.391Z,1740482886.391 [sci2_slowyo_test:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:setSink
2025-02-25T11:28:06.391Z,1740482886.391 [sci2_slowyo_test:SurfaceComms:setSink:A] Stopped
2025-02-25T11:28:06.391Z,1740482886.391 [sci2_slowyo_test:SurfaceComms](INFO): Completed sci2_slowyo_test:SurfaceComms
2025-02-25T11:28:06.391Z,1740482886.391 [sci2_slowyo_test:SurfaceComms] Stopped
2025-02-25T11:28:06.391Z,1740482886.391 [sci2_slowyo_test:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms
2025-02-25T11:28:06.812Z,1740482886.812 [sci2_slowyo_test:StartingMission](INFO): Completed sci2_slowyo_test:StartingMission
2025-02-25T11:28:06.812Z,1740482886.812 [sci2_slowyo_test:StartingMission] Stopped
2025-02-25T11:28:06.813Z,1740482886.813 [sci2_slowyo_test:StartingMission](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StartingMission
2025-02-25T11:28:06.817Z,1740482886.817 [sci2_slowyo_test:Lap] Running Loop=1
2025-02-25T11:28:06.817Z,1740482886.817 [sci2_slowyo_test:Lap](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap
2025-02-25T11:28:06.817Z,1740482886.817 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-25T11:28:06.817Z,1740482886.817 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive
2025-02-25T11:28:06.817Z,1740482886.817 [sci2_slowyo_test:Lap:Dive:A] Running Loop=1
2025-02-25T11:28:06.818Z,1740482886.818 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive:A
2025-02-25T11:28:06.818Z,1740482886.818 [sci2_slowyo_test:Lap:Wpt1] Running Loop=1
2025-02-25T11:28:06.818Z,1740482886.818 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt1
2025-02-25T11:28:06.818Z,1740482886.818 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-02-25T11:28:06.818Z,1740482886.818 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T11:28:06.819Z,1740482886.819 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.796310,-121.872040
2025-02-25T11:28:07.200Z,1740482887.200 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.796310,-121.872040
2025-02-25T11:28:07.200Z,1740482887.200 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-25T11:28:07.225Z,1740482887.225 [sci2_slowyo_test:DiveCmd] Running Loop=1
2025-02-25T11:28:07.225Z,1740482887.225 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd
2025-02-25T11:28:07.225Z,1740482887.225 [sci2_slowyo_test:DiveCmd:SurfaceSink] Running Loop=1
2025-02-25T11:28:07.225Z,1740482887.225 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-25T11:28:07.225Z,1740482887.225 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-02-25T11:28:07.225Z,1740482887.225 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-25T11:28:07.226Z,1740482887.226 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-25T11:28:07.226Z,1740482887.226 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-25T11:28:07.226Z,1740482887.226 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-02-25T11:28:07.226Z,1740482887.226 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-02-25T11:28:07.226Z,1740482887.226 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-02-25T11:28:07.226Z,1740482887.226 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-02-25T11:28:07.226Z,1740482887.226 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-25T11:28:07.226Z,1740482887.226 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Running Loop=1
2025-02-25T11:28:07.226Z,1740482887.226 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-25T11:28:07.226Z,1740482887.226 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-02-25T11:28:07.226Z,1740482887.226 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Initialize.
2025-02-25T11:28:07.227Z,1740482887.227 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-25T11:28:07.227Z,1740482887.227 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-25T11:28:07.227Z,1740482887.227 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Running Loop=1
2025-02-25T11:28:07.228Z,1740482887.228 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-25T11:28:07.228Z,1740482887.228 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-25T11:28:07.228Z,1740482887.228 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-25T11:28:07.228Z,1740482887.228 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-25T11:28:07.228Z,1740482887.228 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-25T11:28:07.228Z,1740482887.228 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-25T11:28:07.228Z,1740482887.228 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-25T11:28:07.228Z,1740482887.228 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-25T11:28:07.228Z,1740482887.228 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-25T11:28:07.228Z,1740482887.228 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-25T11:28:07.233Z,1740482887.233 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-25T11:28:07.233Z,1740482887.233 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T11:28:07.233Z,1740482887.233 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-25T11:28:07.233Z,1740482887.233 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-25T11:28:07.234Z,1740482887.234 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-25T11:28:07.234Z,1740482887.234 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-25T11:28:07.234Z,1740482887.234 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-25T11:28:07.234Z,1740482887.234 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-25T11:28:07.234Z,1740482887.234 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-25T11:28:07.234Z,1740482887.234 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-25T11:28:07.235Z,1740482887.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-25T11:28:07.235Z,1740482887.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-25T11:28:07.235Z,1740482887.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-25T11:28:07.235Z,1740482887.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-25T11:28:07.235Z,1740482887.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T11:28:07.235Z,1740482887.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-25T11:28:07.235Z,1740482887.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-25T11:28:07.235Z,1740482887.235 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-02-25T11:28:07.235Z,1740482887.235 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C](INFO): Waiting for 1 minute while pumping down to neutral.
2025-02-25T11:28:07.235Z,1740482887.235 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Stopped
2025-02-25T11:28:07.235Z,1740482887.235 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait] Running Loop=1
2025-02-25T11:28:07.235Z,1740482887.235 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Initialize Wait Component.
2025-02-25T11:28:07.236Z,1740482887.236 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-25T11:28:07.236Z,1740482887.236 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-02-25T11:28:07.236Z,1740482887.236 [sci2_slowyo_test:DiveCmd:SurfaceSink] Stopped
2025-02-25T11:28:07.236Z,1740482887.236 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-25T11:28:07.236Z,1740482887.236 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Stopped
2025-02-25T11:28:07.236Z,1740482887.236 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-25T11:28:07.237Z,1740482887.237 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-02-25T11:28:07.241Z,1740482887.241 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-25T11:28:07.241Z,1740482887.241 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-02-25T11:28:07.241Z,1740482887.241 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-02-25T11:28:07.241Z,1740482887.241 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Stopped
2025-02-25T11:28:54.556Z,1740482934.556 [NAL9602](INFO): SBD MO Status=0, MOMSN=13414, MT Status=0, MTMSN=0
2025-02-25T11:28:54.556Z,1740482934.556 [NAL9602](INFO): No messages in MT queue
2025-02-25T11:29:07.875Z,1740482947.875 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](INFO): Done Waiting.
2025-02-25T11:29:07.876Z,1740482947.876 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait] Stopped
2025-02-25T11:29:07.876Z,1740482947.876 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T11:29:07.876Z,1740482947.876 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E] Running Loop=1
2025-02-25T11:29:08.430Z,1740482948.430 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E](INFO): Moving to  10.000000 m 
2025-02-25T11:29:08.430Z,1740482948.430 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E] Stopped
2025-02-25T11:29:08.430Z,1740482948.430 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-02-25T11:29:08.430Z,1740482948.430 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-25T11:29:08.431Z,1740482948.431 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-02-25T11:29:08.431Z,1740482948.431 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-02-25T11:29:08.431Z,1740482948.431 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-02-25T11:29:08.431Z,1740482948.431 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-02-25T11:29:09.027Z,1740482949.027 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-02-25T11:29:25.281Z,1740482965.281 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T11:30:54.854Z,1740483054.854 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2127
2025-02-25T11:31:07.409Z,1740483067.409 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T11:31:14.321Z,1740483074.321 [Radio_Surface](INFO): Powering down
2025-02-25T11:31:38.537Z,1740483098.537 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T11:31:39.541Z,1740483099.541 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-25T11:31:48.188Z,1740483108.188 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-02-25T11:31:48.188Z,1740483108.188 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-25T11:31:48.189Z,1740483108.189 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-02-25T11:31:48.189Z,1740483108.189 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-25T11:31:48.189Z,1740483108.189 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-02-25T11:31:48.189Z,1740483108.189 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-02-25T11:31:48.189Z,1740483108.189 [sci2_slowyo_test:DiveCmd:InitialDive:dive:G] Running Loop=1
2025-02-25T11:31:48.570Z,1740483108.570 [sci2_slowyo_test:DiveCmd:InitialDive:dive:G] Stopped
2025-02-25T11:31:48.570Z,1740483108.570 [sci2_slowyo_test:DiveCmd:InitialDive:dive](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-25T11:31:48.570Z,1740483108.570 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Stopped
2025-02-25T11:31:48.571Z,1740483108.571 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-25T11:31:48.571Z,1740483108.571 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Stopped
2025-02-25T11:31:48.571Z,1740483108.571 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Uninitialize.
2025-02-25T11:31:48.571Z,1740483108.571 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-02-25T11:31:48.571Z,1740483108.571 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-25T11:31:48.571Z,1740483108.571 [sci2_slowyo_test:DiveCmd:InitialDive](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive
2025-02-25T11:31:49.026Z,1740483109.026 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-25T11:31:49.027Z,1740483109.027 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-25T11:31:49.027Z,1740483109.027 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-25T11:31:49.027Z,1740483109.027 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-25T11:31:49.027Z,1740483109.027 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-25T11:31:49.027Z,1740483109.027 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-25T11:31:49.027Z,1740483109.027 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-25T11:31:49.027Z,1740483109.027 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-25T11:31:49.027Z,1740483109.027 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-25T11:31:49.027Z,1740483109.027 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-25T11:31:49.027Z,1740483109.027 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-25T11:31:49.028Z,1740483109.028 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T11:31:49.028Z,1740483109.028 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-25T11:31:49.028Z,1740483109.028 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-25T11:31:49.028Z,1740483109.028 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-25T11:31:49.028Z,1740483109.028 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-25T11:31:49.029Z,1740483109.029 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-25T11:31:49.029Z,1740483109.029 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-25T11:31:49.029Z,1740483109.029 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-25T11:31:53.528Z,1740483113.528 [Sonardyne_Nano](ERROR): Failed to parse response: >VS:2409,HPR45,EXT,TILT,BT1;LI_ION;VLT1.2;IDC-248.0;CAP3.4;T40.0

2025-02-25T11:32:46.822Z,1740483166.822 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.539291
2025-02-25T11:33:35.821Z,1740483215.821 [CTD_Seabird](ERROR): Failed to parse device response: 1,3.80042,2179.47
2025-02-25T11:41:53.789Z,1740483713.789 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-25T11:42:56.122Z,1740483776.122 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T11:42:56.122Z,1740483776.122 [ThrusterHE](INFO): Powering down
2025-02-25T11:42:56.930Z,1740483776.930 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T11:42:57.050Z,1740483777.050 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T12:00:40.636Z,1740484840.636 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T12:00:53.975Z,1740484853.975 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T12:01:07.549Z,1740484867.549 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T12:01:20.516Z,1740484880.516 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T12:01:33.105Z,1740484893.105 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T12:01:46.030Z,1740484906.030 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T12:01:59.099Z,1740484919.099 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T12:03:47.213Z,1740485027.213 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-02-25T12:06:27.027Z,1740485187.027 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-25T12:06:27.028Z,1740485187.028 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-25T12:06:27.028Z,1740485187.028 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-25T12:06:27.028Z,1740485187.028 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T12:06:27.028Z,1740485187.028 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-25T12:06:27.028Z,1740485187.028 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T12:06:27.028Z,1740485187.028 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Running loop #2
2025-02-25T12:06:27.029Z,1740485187.029 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=2
2025-02-25T12:06:27.029Z,1740485187.029 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T12:06:27.029Z,1740485187.029 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-25T12:06:27.029Z,1740485187.029 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-25T12:07:00.003Z,1740485220.003 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-25T12:07:07.703Z,1740485227.703 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4BD0.
2025-02-25T12:07:07.704Z,1740485227.704 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-25T12:07:07.730Z,1740485227.730 [BPC1](INFO): Received data from all battery sticks.
2025-02-25T12:15:27.777Z,1740485727.777 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.796310,-121.872040
2025-02-25T12:15:27.778Z,1740485727.778 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Stopped
2025-02-25T12:15:27.778Z,1740485727.778 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T12:15:27.778Z,1740485727.778 [sci2_slowyo_test:Lap:Wpt1](INFO): Completed sci2_slowyo_test:Lap:Wpt1
2025-02-25T12:15:27.778Z,1740485727.778 [sci2_slowyo_test:Lap:Wpt1] Stopped
2025-02-25T12:15:27.779Z,1740485727.779 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt1
2025-02-25T12:15:27.779Z,1740485727.779 [sci2_slowyo_test:Lap:Wpt2] Running Loop=1
2025-02-25T12:15:27.779Z,1740485727.779 [sci2_slowyo_test:Lap:Wpt2](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt2
2025-02-25T12:15:27.779Z,1740485727.779 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint] Running Loop=1
2025-02-25T12:15:27.779Z,1740485727.779 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T12:15:27.781Z,1740485727.781 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.796360,-121.903008
2025-02-25T12:15:28.211Z,1740485728.211 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](INFO): Navigating to waypoint: 36.796360,-121.903008
2025-02-25T12:23:00.768Z,1740486180.768 [CBIT](IMPORTANT): Beginning ground fault scan
2025-02-25T12:23:01.056Z,1740486181.056 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-25T12:23:01.057Z,1740486181.057 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-25T12:23:02.059Z,1740486182.059 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-25T12:23:02.060Z,1740486182.060 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-25T12:23:03.063Z,1740486183.063 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-25T12:23:03.064Z,1740486183.064 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-25T12:23:04.067Z,1740486184.067 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-25T12:23:04.068Z,1740486184.068 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-25T12:23:05.071Z,1740486185.071 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-25T12:23:05.072Z,1740486185.072 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-25T12:23:06.074Z,1740486186.074 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-25T12:23:06.076Z,1740486186.076 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-25T12:23:07.079Z,1740486187.079 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-25T12:23:07.081Z,1740486187.081 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-25T12:23:08.084Z,1740486188.084 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-25T12:23:08.085Z,1740486188.085 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-25T12:23:09.090Z,1740486189.090 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-25T12:23:09.091Z,1740486189.091 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-25T12:23:10.091Z,1740486190.091 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-25T12:23:10.092Z,1740486190.092 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-25T12:23:11.097Z,1740486191.097 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-25T12:23:11.099Z,1740486191.099 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-25T12:23:11.676Z,1740486191.676 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.000906
CHAN A1 (24V): 0.010192
CHAN A2 (12V): 0.000377
CHAN A3 (5V): -0.001787
CHAN B0 (3.3V): -0.000637
CHAN B1 (3.15aV): -0.001017
CHAN B2 (3.15bV): -0.001473
CHAN B3 (GND): -0.002010
OPEN: 0.005164
Full Scale: +/- 1 mA
2025-02-25T12:28:05.347Z,1740486485.347 [sci2_slowyo_test:NeedComms] Running Loop=1
2025-02-25T12:28:05.347Z,1740486485.347 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::initialize sci2_slowyo_test:NeedComms
2025-02-25T12:28:05.347Z,1740486485.347 [sci2_slowyo_test:NeedComms:B.GoToSurface] Running Loop=1
2025-02-25T12:28:05.347Z,1740486485.347 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T12:28:05.347Z,1740486485.347 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received depth rate setting 0.300000 m/s.
2025-02-25T12:28:05.348Z,1740486485.348 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-25T12:28:05.348Z,1740486485.348 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-25T12:28:05.353Z,1740486485.353 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-25T12:28:05.354Z,1740486485.354 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T12:28:05.354Z,1740486485.354 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T12:28:05.355Z,1740486485.355 [sci2_slowyo_test:NeedComms:A] Running Loop=1
2025-02-25T12:28:05.362Z,1740486485.362 [sci2_slowyo_test:NeedComms:A](INFO): last time_fix was:  1740482884.000000 second since 1970/01/01T00:00:00Z 
2025-02-25T12:28:05.362Z,1740486485.362 [sci2_slowyo_test:NeedComms:A] Stopped
2025-02-25T12:34:32.538Z,1740486872.538 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T12:34:32.538Z,1740486872.538 [ThrusterHE](INFO): Powering down
2025-02-25T12:34:33.330Z,1740486873.330 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T12:34:33.448Z,1740486873.448 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T12:38:09.763Z,1740487089.763 [sci2_slowyo_test:NeedComms:C] Running Loop=1
2025-02-25T12:38:10.233Z,1740487090.233 [Radio_Surface](INFO): Powering up
2025-02-25T12:38:16.021Z,1740487096.021 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-25T12:38:25.102Z,1740487105.102 [NAL9602](INFO): SBD MO Status=0, MOMSN=13415, MT Status=0, MTMSN=0
2025-02-25T12:38:25.102Z,1740487105.102 [NAL9602](INFO): No messages in MT queue
2025-02-25T12:38:26.312Z,1740487106.312 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,123825.00,A,3647.80093,N,12152.84628,W,0.933,292.35,250225,,,A*76
2025-02-25T12:38:26.314Z,1740487106.314 [NAL9602](INFO): GPS fix at 20250225T123825: (36.796682, -121.880771)
2025-02-25T12:38:26.346Z,1740487106.346 [UniversalFixResidualReporter](INFO): Fix residual: 3.1 %DT, over the last 3807.9 m. Residual distance 119.3 m at bearing 104.8 degrees. Fix at (36.7967, -121.8808) with 1760.2 m made good.
2025-02-25T12:38:26.354Z,1740487106.354 [sci2_slowyo_test:NeedComms:C] Stopped
2025-02-25T12:38:26.354Z,1740487106.354 [sci2_slowyo_test:NeedComms:D] Running Loop=1
2025-02-25T12:38:35.331Z,1740487115.331 [NAL9602](INFO): SBD MO Status=1, MOMSN=13416, MT Status=0, MTMSN=0
2025-02-25T12:38:35.385Z,1740487115.385 [NAL9602](INFO): Sent 94 bytes from file Logs/20250225T062120/Courier0028.lzma
2025-02-25T12:38:35.385Z,1740487115.385 [NAL9602](INFO): Packets left to send: 0
2025-02-25T12:38:46.141Z,1740487126.141 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T12:38:51.806Z,1740487131.806 [NAL9602](INFO): SBD MO Status=1, MOMSN=13417, MT Status=0, MTMSN=0
2025-02-25T12:38:51.859Z,1740487131.859 [NAL9602](INFO): Sent 332 bytes from file Logs/20250225T062120/Express0029.lzma
2025-02-25T12:38:51.859Z,1740487131.859 [NAL9602](INFO): Packets left to send: 2
2025-02-25T12:39:00.179Z,1740487140.179 [NAL9602](INFO): SBD MO Status=1, MOMSN=13418, MT Status=0, MTMSN=0
2025-02-25T12:39:00.229Z,1740487140.229 [NAL9602](INFO): Sent 332 bytes from file Logs/20250225T062120/Express0029.lzma
2025-02-25T12:39:00.229Z,1740487140.229 [NAL9602](INFO): Packets left to send: 1
2025-02-25T12:39:08.708Z,1740487148.708 [NAL9602](INFO): SBD MO Status=1, MOMSN=13419, MT Status=0, MTMSN=0
2025-02-25T12:39:08.759Z,1740487148.759 [NAL9602](INFO): Sent 7 bytes from file Logs/20250225T062120/Express0029.lzma
2025-02-25T12:39:08.759Z,1740487148.759 [NAL9602](INFO): Packets left to send: 0
2025-02-25T12:39:17.265Z,1740487157.265 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T12:39:17.966Z,1740487157.966 [NAL9602](INFO): SBD MO Status=0, MOMSN=13420, MT Status=0, MTMSN=0
2025-02-25T12:39:18.063Z,1740487158.063 [sci2_slowyo_test:NeedComms:D] Stopped
2025-02-25T12:39:18.063Z,1740487158.063 [sci2_slowyo_test:NeedComms:E] Running Loop=1
2025-02-25T12:39:20.404Z,1740487160.404 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,123919.00,A,3647.80557,N,12152.85295,W,0.369,332.35,250225,,,A*78
2025-02-25T12:39:20.407Z,1740487160.407 [NAL9602](INFO): GPS fix at 20250225T123919: (36.796760, -121.880882)
2025-02-25T12:39:20.426Z,1740487160.426 [sci2_slowyo_test:NeedComms:E] Stopped
2025-02-25T12:39:20.427Z,1740487160.427 [sci2_slowyo_test:NeedComms](INFO): Completed sci2_slowyo_test:NeedComms
2025-02-25T12:39:20.427Z,1740487160.427 [sci2_slowyo_test:NeedComms] Stopped
2025-02-25T12:39:20.427Z,1740487160.427 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:NeedComms
2025-02-25T12:39:20.427Z,1740487160.427 [sci2_slowyo_test:NeedComms:B.GoToSurface] Stopped
2025-02-25T12:39:20.427Z,1740487160.427 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T12:39:48.397Z,1740487188.397 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T12:39:52.722Z,1740487192.722 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T12:40:19.537Z,1740487219.537 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T12:40:41.090Z,1740487241.090 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003605
2025-02-25T12:41:18.525Z,1740487278.525 [MassServo](FAULT): Mass Shifter stop uart error: serial timeout
2025-02-25T12:41:18.593Z,1740487278.593 [MassServo] Communications Fault, FailCount= 3
2025-02-25T12:41:18.593Z,1740487278.593 [MassServo](ERROR): Communications Fault
2025-02-25T12:41:18.812Z,1740487278.812 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-25T12:41:18.991Z,1740487278.991 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-25T12:41:18.991Z,1740487278.991 [MassServo](INFO): Powering down
2025-02-25T12:41:19.303Z,1740487279.303 [MassServo](FAULT): LCB fault:  Current Limiter Activated.
2025-02-25T12:41:19.303Z,1740487279.303 [MassServo] Hardware Fault, FailCount= 3
2025-02-25T12:41:19.303Z,1740487279.303 [MassServo](ERROR): Hardware Fault
2025-02-25T12:41:19.690Z,1740487279.690 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-25T12:41:19.817Z,1740487279.817 [MassServo](DEBUG): Initializing MassServo.
2025-02-25T12:41:19.995Z,1740487279.995 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-25T12:41:19.995Z,1740487279.995 [MassServo] No Fault, FailCount= 3
2025-02-25T12:42:21.150Z,1740487341.150 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-25T12:42:21.150Z,1740487341.150 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-25T12:42:21.150Z,1740487341.150 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-25T12:42:21.151Z,1740487341.151 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T12:42:21.151Z,1740487341.151 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-25T12:42:21.151Z,1740487341.151 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T12:42:21.151Z,1740487341.151 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Running loop #3
2025-02-25T12:42:21.151Z,1740487341.151 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=3
2025-02-25T12:42:21.151Z,1740487341.151 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T12:42:21.151Z,1740487341.151 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-25T12:42:21.151Z,1740487341.151 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-25T12:44:44.969Z,1740487484.969 [RudderServo](ERROR): getPosition uart error serial timeout
2025-02-25T12:44:44.969Z,1740487484.969 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2025-02-25T12:44:44.969Z,1740487484.969 [RudderServo] Communications Fault, FailCount= 1
2025-02-25T12:44:44.969Z,1740487484.969 [RudderServo](ERROR): Communications Fault
2025-02-25T12:44:45.042Z,1740487485.042 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-02-25T12:44:45.261Z,1740487485.261 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-02-25T12:44:45.262Z,1740487485.262 [RudderServo](INFO): Powering down
2025-02-25T12:44:45.683Z,1740487485.683 [RudderServo](FAULT): LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Current Limiter Activated.
2025-02-25T12:44:45.683Z,1740487485.683 [RudderServo] Hardware Fault, FailCount= 1
2025-02-25T12:44:45.683Z,1740487485.683 [RudderServo](ERROR): Hardware Fault
2025-02-25T12:44:46.110Z,1740487486.110 [RudderServo](DEBUG): Initializing EZServoServo.
2025-02-25T12:44:46.230Z,1740487486.230 [RudderServo](DEBUG): Initializing RudderServo.
2025-02-25T12:44:46.248Z,1740487486.248 [CBIT](INFO): Clearing failed state for component RudderServo
2025-02-25T12:44:46.248Z,1740487486.248 [RudderServo] No Fault, FailCount= 1
2025-02-25T12:45:27.814Z,1740487527.814 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T12:45:52.689Z,1740487552.689 [Radio_Surface](INFO): Powering down
2025-02-25T12:45:58.937Z,1740487558.937 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T12:45:59.942Z,1740487559.942 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-25T12:47:41.366Z,1740487661.366 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.755295
2025-02-25T12:57:50.994Z,1740488270.994 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T12:57:50.994Z,1740488270.994 [ThrusterHE](INFO): Powering down
2025-02-25T12:57:51.818Z,1740488271.818 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T12:57:51.938Z,1740488271.938 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T13:08:14.533Z,1740488894.533 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T13:08:27.860Z,1740488907.860 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T13:08:41.192Z,1740488921.192 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T13:08:54.123Z,1740488934.123 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T13:09:07.454Z,1740488947.454 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T13:09:20.382Z,1740488960.382 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T13:09:32.919Z,1740488972.919 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T13:11:55.575Z,1740489115.575 [Sonardyne_Nano](INFO): Battery at maximum, disabling charging
2025-02-25T13:14:33.284Z,1740489273.284 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-02-25T13:14:38.945Z,1740489278.945 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-25T13:14:41.371Z,1740489281.371 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4BD0.
2025-02-25T13:14:41.371Z,1740489281.371 [BPC1](INFO): Calculating totals. Valid battery stick count: 52. Valid reserve battery stick count: 6.
2025-02-25T13:14:41.374Z,1740489281.374 [BPC1](INFO): Received data from all battery sticks.
2025-02-25T13:14:47.529Z,1740489287.529 [MassServo](ERROR): getPosition uart error serial timeout
2025-02-25T13:14:47.529Z,1740489287.529 [MassServo](FAULT): Invalid EZ Servo response:"\377"
2025-02-25T13:14:47.529Z,1740489287.529 [MassServo] Communications Fault, FailCount= 4
2025-02-25T13:14:47.529Z,1740489287.529 [MassServo](ERROR): Communications Fault
2025-02-25T13:14:47.548Z,1740489287.548 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-25T13:14:47.868Z,1740489287.868 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-25T13:14:47.868Z,1740489287.868 [MassServo](INFO): Powering down
2025-02-25T13:14:48.683Z,1740489288.683 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-25T13:14:48.802Z,1740489288.802 [MassServo](DEBUG): Initializing MassServo.
2025-02-25T13:14:48.873Z,1740489288.873 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-25T13:14:48.874Z,1740489288.874 [MassServo] No Fault, FailCount= 4
2025-02-25T13:15:51.319Z,1740489351.319 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](IMPORTANT): Reached waypoint: 36.796360,-121.903008
2025-02-25T13:15:51.319Z,1740489351.319 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint] Stopped
2025-02-25T13:15:51.319Z,1740489351.319 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T13:15:51.320Z,1740489351.320 [sci2_slowyo_test:Lap:Wpt2](INFO): Completed sci2_slowyo_test:Lap:Wpt2
2025-02-25T13:15:51.320Z,1740489351.320 [sci2_slowyo_test:Lap:Wpt2] Stopped
2025-02-25T13:15:51.320Z,1740489351.320 [sci2_slowyo_test:Lap:Wpt2](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt2
2025-02-25T13:15:51.320Z,1740489351.320 [sci2_slowyo_test:Lap:Wpt3] Running Loop=1
2025-02-25T13:15:51.320Z,1740489351.320 [sci2_slowyo_test:Lap:Wpt3](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt3
2025-02-25T13:15:51.320Z,1740489351.320 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint] Running Loop=1
2025-02-25T13:15:51.320Z,1740489351.320 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T13:16:45.682Z,1740489405.682 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint] Stopped
2025-02-25T13:16:45.682Z,1740489405.682 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T13:16:45.682Z,1740489405.682 [sci2_slowyo_test:Lap:Wpt3](INFO): Completed sci2_slowyo_test:Lap:Wpt3
2025-02-25T13:16:45.682Z,1740489405.682 [sci2_slowyo_test:Lap:Wpt3] Stopped
2025-02-25T13:16:45.683Z,1740489405.683 [sci2_slowyo_test:Lap:Wpt3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt3
2025-02-25T13:16:45.683Z,1740489405.683 [sci2_slowyo_test:Lap:Wpt4] Running Loop=1
2025-02-25T13:16:45.683Z,1740489405.683 [sci2_slowyo_test:Lap:Wpt4](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt4
2025-02-25T13:16:45.683Z,1740489405.683 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint] Running Loop=1
2025-02-25T13:16:45.683Z,1740489405.683 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T13:16:46.085Z,1740489406.085 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint] Stopped
2025-02-25T13:16:46.085Z,1740489406.085 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T13:16:46.085Z,1740489406.085 [sci2_slowyo_test:Lap:Wpt4](INFO): Completed sci2_slowyo_test:Lap:Wpt4
2025-02-25T13:16:46.085Z,1740489406.085 [sci2_slowyo_test:Lap:Wpt4] Stopped
2025-02-25T13:16:46.085Z,1740489406.085 [sci2_slowyo_test:Lap:Wpt4](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt4
2025-02-25T13:16:46.085Z,1740489406.085 [sci2_slowyo_test:Lap:Wpt5] Running Loop=1
2025-02-25T13:16:46.086Z,1740489406.086 [sci2_slowyo_test:Lap:Wpt5](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt5
2025-02-25T13:16:46.086Z,1740489406.086 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint] Running Loop=1
2025-02-25T13:16:46.086Z,1740489406.086 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T13:16:46.480Z,1740489406.480 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint] Stopped
2025-02-25T13:16:46.480Z,1740489406.480 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T13:16:46.480Z,1740489406.480 [sci2_slowyo_test:Lap:Wpt5](INFO): Completed sci2_slowyo_test:Lap:Wpt5
2025-02-25T13:16:46.480Z,1740489406.480 [sci2_slowyo_test:Lap:Wpt5] Stopped
2025-02-25T13:16:46.480Z,1740489406.480 [sci2_slowyo_test:Lap:Wpt5](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt5
2025-02-25T13:16:46.480Z,1740489406.480 [sci2_slowyo_test:Lap:Wpt6] Running Loop=1
2025-02-25T13:16:46.480Z,1740489406.480 [sci2_slowyo_test:Lap:Wpt6](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt6
2025-02-25T13:16:46.481Z,1740489406.481 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint] Running Loop=1
2025-02-25T13:16:46.497Z,1740489406.497 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T13:16:46.882Z,1740489406.882 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint] Stopped
2025-02-25T13:16:46.882Z,1740489406.882 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T13:16:46.883Z,1740489406.883 [sci2_slowyo_test:Lap:Wpt6](INFO): Completed sci2_slowyo_test:Lap:Wpt6
2025-02-25T13:16:46.883Z,1740489406.883 [sci2_slowyo_test:Lap:Wpt6] Stopped
2025-02-25T13:16:46.883Z,1740489406.883 [sci2_slowyo_test:Lap:Wpt6](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt6
2025-02-25T13:16:46.883Z,1740489406.883 [sci2_slowyo_test:Lap:Wpt7] Running Loop=1
2025-02-25T13:16:46.883Z,1740489406.883 [sci2_slowyo_test:Lap:Wpt7](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt7
2025-02-25T13:16:46.883Z,1740489406.883 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint] Running Loop=1
2025-02-25T13:16:46.883Z,1740489406.883 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T13:16:47.297Z,1740489407.297 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint] Stopped
2025-02-25T13:16:47.297Z,1740489407.297 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T13:16:47.298Z,1740489407.298 [sci2_slowyo_test:Lap:Wpt7](INFO): Completed sci2_slowyo_test:Lap:Wpt7
2025-02-25T13:16:47.298Z,1740489407.298 [sci2_slowyo_test:Lap:Wpt7] Stopped
2025-02-25T13:16:47.298Z,1740489407.298 [sci2_slowyo_test:Lap:Wpt7](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt7
2025-02-25T13:16:47.299Z,1740489407.299 [sci2_slowyo_test:Lap](INFO): Completed sci2_slowyo_test:Lap
2025-02-25T13:16:47.299Z,1740489407.299 [sci2_slowyo_test:Lap] Stopped
2025-02-25T13:16:47.299Z,1740489407.299 [sci2_slowyo_test:Lap](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap
2025-02-25T13:16:47.299Z,1740489407.299 [sci2_slowyo_test:Lap:Dive] Stopped
2025-02-25T13:16:47.299Z,1740489407.299 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive
2025-02-25T13:16:47.299Z,1740489407.299 [sci2_slowyo_test:Lap:Dive:A] Stopped
2025-02-25T13:16:47.299Z,1740489407.299 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive:A
2025-02-25T13:16:47.300Z,1740489407.300 [sci2_slowyo_test:Lap](INFO): Running loop #2
2025-02-25T13:16:47.300Z,1740489407.300 [sci2_slowyo_test:Lap] Running Loop=2
2025-02-25T13:16:47.300Z,1740489407.300 [sci2_slowyo_test:Lap](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap
2025-02-25T13:16:47.300Z,1740489407.300 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-25T13:16:47.300Z,1740489407.300 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive
2025-02-25T13:16:47.300Z,1740489407.300 [sci2_slowyo_test:Lap:Dive:A] Running Loop=1
2025-02-25T13:16:47.300Z,1740489407.300 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive:A
2025-02-25T13:16:47.301Z,1740489407.301 [sci2_slowyo_test:Lap:Wpt1] Running Loop=1
2025-02-25T13:16:47.301Z,1740489407.301 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt1
2025-02-25T13:16:47.302Z,1740489407.302 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-02-25T13:16:47.302Z,1740489407.302 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T13:16:47.303Z,1740489407.303 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.796310,-121.872040
2025-02-25T13:19:12.259Z,1740489552.259 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-25T13:19:12.259Z,1740489552.259 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-25T13:19:12.259Z,1740489552.259 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-25T13:19:12.260Z,1740489552.260 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T13:19:12.260Z,1740489552.260 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-25T13:19:12.260Z,1740489552.260 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T13:19:12.261Z,1740489552.261 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-25T13:19:12.663Z,1740489552.663 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-25T13:19:12.663Z,1740489552.663 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-25T13:19:12.663Z,1740489552.663 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-25T13:19:12.663Z,1740489552.663 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-25T13:19:12.663Z,1740489552.663 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-25T13:19:12.663Z,1740489552.663 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-25T13:19:12.663Z,1740489552.663 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-25T13:19:12.663Z,1740489552.663 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-25T13:19:12.664Z,1740489552.664 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-25T13:19:12.664Z,1740489552.664 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T13:19:12.664Z,1740489552.664 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-25T13:19:12.664Z,1740489552.664 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-25T13:33:16.183Z,1740490396.183 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T13:33:16.183Z,1740490396.183 [ThrusterHE](INFO): Powering down
2025-02-25T13:33:16.986Z,1740490396.986 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T13:33:17.112Z,1740490397.112 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T13:35:27.734Z,1740490527.734 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T13:35:27.734Z,1740490527.734 [ThrusterHE](INFO): Powering down
2025-02-25T13:35:28.554Z,1740490528.554 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T13:35:28.674Z,1740490528.674 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T13:39:20.450Z,1740490760.450 [sci2_slowyo_test:NeedComms] Running Loop=1
2025-02-25T13:39:20.450Z,1740490760.450 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::initialize sci2_slowyo_test:NeedComms
2025-02-25T13:39:20.450Z,1740490760.450 [sci2_slowyo_test:NeedComms:B.GoToSurface] Running Loop=1
2025-02-25T13:39:20.450Z,1740490760.450 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T13:39:20.451Z,1740490760.451 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received depth rate setting 0.300000 m/s.
2025-02-25T13:39:20.451Z,1740490760.451 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-25T13:39:20.451Z,1740490760.451 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-25T13:39:20.452Z,1740490760.452 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-25T13:39:20.452Z,1740490760.452 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T13:39:20.452Z,1740490760.452 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T13:39:20.454Z,1740490760.454 [sci2_slowyo_test:NeedComms:A] Running Loop=1
2025-02-25T13:39:20.455Z,1740490760.455 [sci2_slowyo_test:NeedComms:A](INFO): last time_fix was:  1740487159.000000 second since 1970/01/01T00:00:00Z 
2025-02-25T13:39:20.455Z,1740490760.455 [sci2_slowyo_test:NeedComms:A] Stopped
2025-02-25T13:41:05.294Z,1740490865.294 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T13:41:05.294Z,1740490865.294 [ThrusterHE](INFO): Powering down
2025-02-25T13:41:06.075Z,1740490866.075 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T13:41:06.194Z,1740490866.194 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T13:47:47.738Z,1740491267.738 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-25T13:47:47.738Z,1740491267.738 [ThrusterHE](INFO): Powering down
2025-02-25T13:47:48.558Z,1740491268.558 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-25T13:47:48.689Z,1740491268.689 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-25T13:49:47.300Z,1740491387.300 [sci2_slowyo_test:NeedComms:C] Running Loop=1
2025-02-25T13:49:48.069Z,1740491388.069 [Radio_Surface](INFO): Powering up
2025-02-25T13:49:53.745Z,1740491393.745 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-25T13:50:23.881Z,1740491423.881 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T13:50:55.021Z,1740491455.021 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T13:51:26.153Z,1740491486.153 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T13:51:38.867Z,1740491498.867 [NAL9602](INFO): SBD MO Status=2, MOMSN=13421, MT Status=2, MTMSN=0
2025-02-25T13:51:38.867Z,1740491498.867 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T13:51:49.784Z,1740491509.784 [NAL9602](INFO): SBD MO Status=0, MOMSN=13421, MT Status=0, MTMSN=0
2025-02-25T13:51:49.784Z,1740491509.784 [NAL9602](INFO): No messages in MT queue
2025-02-25T13:51:50.987Z,1740491510.987 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135150.00,A,3647.82323,N,12153.27824,W,0.350,91.19,250225,,,A*4A
2025-02-25T13:51:50.989Z,1740491510.989 [NAL9602](INFO): GPS fix at 20250225T135150: (36.797054, -121.887971)
2025-02-25T13:51:51.020Z,1740491511.020 [UniversalFixResidualReporter](INFO): Fix residual: 2.4 %DT, over the last 3888.7 m. Residual distance 93.6 m at bearing -142.6 degrees. Fix at (36.7971, -121.8880) with 632.0 m made good.
2025-02-25T13:51:51.030Z,1740491511.030 [sci2_slowyo_test:NeedComms:C] Stopped
2025-02-25T13:51:51.030Z,1740491511.030 [sci2_slowyo_test:NeedComms:D] Running Loop=1
2025-02-25T13:51:57.286Z,1740491517.286 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T13:52:00.230Z,1740491520.230 [MassServo](ERROR): getPosition uart error serial timeout
2025-02-25T13:52:00.230Z,1740491520.230 [MassServo](FAULT): Invalid EZ Servo response:"\377"
2025-02-25T13:52:00.230Z,1740491520.230 [MassServo] Communications Fault, FailCount= 5
2025-02-25T13:52:00.230Z,1740491520.230 [MassServo](ERROR): Communications Fault
2025-02-25T13:52:00.243Z,1740491520.243 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-25T13:52:00.244Z,1740491520.244 [CBIT](CRITICAL): Communications Fault in component: MassServo
2025-02-25T13:52:00.722Z,1740491520.722 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-25T13:52:00.722Z,1740491520.722 [MassServo](INFO): Powering down
2025-02-25T13:52:00.724Z,1740491520.724 [CommandExec](FAULT): Scheduling is paused
2025-02-25T13:52:00.757Z,1740491520.757 [CBIT](INFO): Critical error at 20250225T135200
2025-02-25T13:52:00.758Z,1740491520.758 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-02-25T13:52:01.123Z,1740491521.123 [MissionManager](INFO): MissionManager is completed.
2025-02-25T13:52:01.123Z,1740491521.123 [MissionManager](INFO): Uninitializing Mission sci2_slowyo_test
2025-02-25T13:52:01.123Z,1740491521.123 [sci2_slowyo_test] Stopped
2025-02-25T13:52:01.123Z,1740491521.123 [sci2_slowyo_test](DEBUG): Aggregate::uninitialize sci2_slowyo_test
2025-02-25T13:52:01.123Z,1740491521.123 [sci2_slowyo_test:Science] Stopped
2025-02-25T13:52:01.123Z,1740491521.123 [sci2_slowyo_test:Science](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science
2025-02-25T13:52:01.123Z,1740491521.123 [sci2_slowyo_test:Science:B] Stopped
2025-02-25T13:52:01.124Z,1740491521.124 [sci2_slowyo_test:Science:C] Stopped
2025-02-25T13:52:01.124Z,1740491521.124 [sci2_slowyo_test:Science:E] Stopped
2025-02-25T13:52:01.124Z,1740491521.124 [sci2_slowyo_test:Science:OceanCurrent] Stopped
2025-02-25T13:52:01.124Z,1740491521.124 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:OceanCurrent
2025-02-25T13:52:01.124Z,1740491521.124 [sci2_slowyo_test:Science:OceanCurrent:A.] Stopped
2025-02-25T13:52:01.124Z,1740491521.124 [sci2_slowyo_test:NeedComms] Stopped
2025-02-25T13:52:01.124Z,1740491521.124 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:NeedComms
2025-02-25T13:52:01.124Z,1740491521.124 [sci2_slowyo_test:NeedComms:B.GoToSurface] Stopped
2025-02-25T13:52:01.124Z,1740491521.124 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T13:52:01.124Z,1740491521.124 [sci2_slowyo_test:NeedComms:D] Stopped
2025-02-25T13:52:01.124Z,1740491521.124 [sci2_slowyo_test:StandardEnvelopes] Stopped
2025-02-25T13:52:01.124Z,1740491521.124 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StandardEnvelopes
2025-02-25T13:52:01.124Z,1740491521.124 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-25T13:52:01.125Z,1740491521.125 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-25T13:52:01.157Z,1740491521.157 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-25T13:52:01.157Z,1740491521.157 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-25T13:52:01.157Z,1740491521.157 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-25T13:52:01.157Z,1740491521.157 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-25T13:52:01.157Z,1740491521.157 [sci2_slowyo_test:BackseatDriver] Stopped
2025-02-25T13:52:01.157Z,1740491521.157 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_slowyo_test:BackseatDriver
2025-02-25T13:52:01.157Z,1740491521.157 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Stopped
2025-02-25T13:52:01.158Z,1740491521.158 [sci2_slowyo_test:PowerOnly] Stopped
2025-02-25T13:52:01.158Z,1740491521.158 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::uninitialize sci2_slowyo_test:PowerOnly
2025-02-25T13:52:01.158Z,1740491521.158 [sci2_slowyo_test:PowerOnly:E.Wait] Stopped
2025-02-25T13:52:01.158Z,1740491521.158 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T13:52:01.158Z,1740491521.158 [sci2_slowyo_test:DiveCmd] Stopped
2025-02-25T13:52:01.158Z,1740491521.158 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd
2025-02-25T13:52:01.158Z,1740491521.158 [sci2_slowyo_test:DiveCmd:InitialDive] Stopped
2025-02-25T13:52:01.158Z,1740491521.158 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-25T13:52:01.158Z,1740491521.158 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-25T13:52:01.158Z,1740491521.158 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-25T13:52:01.158Z,1740491521.158 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-25T13:52:01.158Z,1740491521.158 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-25T13:52:01.159Z,1740491521.159 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-25T13:52:01.159Z,1740491521.159 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-25T13:52:01.159Z,1740491521.159 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-25T13:52:01.159Z,1740491521.159 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-25T13:52:01.159Z,1740491521.159 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-25T13:52:01.159Z,1740491521.159 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-25T13:52:01.159Z,1740491521.159 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T13:52:01.159Z,1740491521.159 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-25T13:52:01.159Z,1740491521.159 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-25T13:52:01.159Z,1740491521.159 [sci2_slowyo_test:Lap] Stopped
2025-02-25T13:52:01.159Z,1740491521.159 [sci2_slowyo_test:Lap](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap
2025-02-25T13:52:01.159Z,1740491521.159 [sci2_slowyo_test:Lap:Dive] Stopped
2025-02-25T13:52:01.160Z,1740491521.160 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive
2025-02-25T13:52:01.160Z,1740491521.160 [sci2_slowyo_test:Lap:Dive:A] Stopped
2025-02-25T13:52:01.160Z,1740491521.160 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive:A
2025-02-25T13:52:01.160Z,1740491521.160 [sci2_slowyo_test:Lap:Wpt1] Stopped
2025-02-25T13:52:01.160Z,1740491521.160 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt1
2025-02-25T13:52:01.160Z,1740491521.160 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Stopped
2025-02-25T13:52:01.160Z,1740491521.160 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T13:52:01.493Z,1740491521.493 [WetLabsBB2FL](INFO): Powering down
2025-02-25T13:52:02.438Z,1740491522.438 [MissionManager](IMPORTANT): Started mission Default
2025-02-25T13:52:02.438Z,1740491522.438 [Default] Running Loop=1
2025-02-25T13:52:02.438Z,1740491522.438 [Default](DEBUG): Aggregate::initialize Default
2025-02-25T13:52:02.439Z,1740491522.439 [Default:B.GoToSurface] Running Loop=1
2025-02-25T13:52:02.439Z,1740491522.439 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T13:52:02.439Z,1740491522.439 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-25T13:52:02.439Z,1740491522.439 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-25T13:52:02.439Z,1740491522.439 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-25T13:52:02.440Z,1740491522.440 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-25T13:52:02.440Z,1740491522.440 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T13:52:02.440Z,1740491522.440 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T13:52:02.479Z,1740491522.479 [Default:A.Wait] Running Loop=1
2025-02-25T13:52:02.479Z,1740491522.479 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-25T13:52:02.566Z,1740491522.566 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-25T13:52:02.702Z,1740491522.702 [MassServo](DEBUG): Initializing MassServo.
2025-02-25T13:52:03.454Z,1740491523.454 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-25T13:52:03.454Z,1740491523.454 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-25T13:52:08.632Z,1740491528.632 [NAL9602](INFO): SBD MO Status=1, MOMSN=13422, MT Status=0, MTMSN=0
2025-02-25T13:52:08.681Z,1740491528.681 [NAL9602](INFO): Sent 94 bytes from file Logs/20250225T062120/Courier0031.lzma
2025-02-25T13:52:08.682Z,1740491528.682 [NAL9602](INFO): Packets left to send: 0
2025-02-25T13:52:13.237Z,1740491533.237 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002917
2025-02-25T13:52:15.882Z,1740491535.882 [Default:A.Wait](INFO): Done Waiting.
2025-02-25T13:52:15.882Z,1740491535.882 [Default:A.Wait] Stopped
2025-02-25T13:52:15.882Z,1740491535.882 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T13:52:16.298Z,1740491536.298 [Default:CheckIn] Running Loop=1
2025-02-25T13:52:16.298Z,1740491536.298 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-25T13:52:16.298Z,1740491536.298 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-25T13:52:18.293Z,1740491538.293 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135217.00,A,3647.82460,N,12153.27975,W,0.408,65.79,250225,,,A*48
2025-02-25T13:52:18.295Z,1740491538.295 [NAL9602](INFO): GPS fix at 20250225T135217: (36.797077, -121.887996)
2025-02-25T13:52:18.327Z,1740491538.327 [Default:CheckIn:Read_GPS] Stopped
2025-02-25T13:52:18.327Z,1740491538.327 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-25T13:52:21.457Z,1740491541.457 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-25T13:52:21.458Z,1740491541.458 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-25T13:52:21.458Z,1740491541.458 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-25T13:52:25.981Z,1740491545.981 [DataOverHttps](INFO): Sending 148 bytes from file Logs/20250225T062120/Courier0034.lzma
2025-02-25T13:52:26.985Z,1740491546.985 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Courier0034.lzma.bak
2025-02-25T13:52:26.985Z,1740491546.985 [DataOverHttps](INFO): SBD MOMSN=23975821
2025-02-25T13:52:42.926Z,1740491562.926 [DataOverHttps](INFO): Sending 740 bytes from file Logs/20250225T062120/Express0032.lzma
2025-02-25T13:52:43.927Z,1740491563.927 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Express0032.lzma.bak
2025-02-25T13:52:43.927Z,1740491563.927 [DataOverHttps](INFO): SBD MOMSN=23975828
2025-02-25T13:52:50.650Z,1740491570.650 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T13:53:07.894Z,1740491587.894 [DataOverHttps](INFO): Sending 194 bytes from file Logs/20250225T062120/Express0035.lzma
2025-02-25T13:53:08.903Z,1740491588.903 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Express0035.lzma.bak
2025-02-25T13:53:08.903Z,1740491588.903 [DataOverHttps](INFO): SBD MOMSN=23975837
2025-02-25T13:53:11.819Z,1740491591.819 [Default:CheckIn:Read_Iridium] Stopped
2025-02-25T13:53:11.819Z,1740491591.819 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-25T13:53:11.819Z,1740491591.819 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-25T13:53:31.294Z,1740491611.294 [DataOverHttps](IMPORTANT): SBD MTMSN=20250225T135330
2025-02-25T13:53:38.981Z,1740491618.981 [DataOverHttps](INFO): Received command: resume; schedule resume
2025-02-25T13:53:39.004Z,1740491619.004 [CommandExec](IMPORTANT): got command resume
2025-02-25T13:53:39.004Z,1740491619.004 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_slowyo_test.tl
2025-02-25T13:53:39.005Z,1740491619.005 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_slowyo_test.tl
2025-02-25T13:53:39.007Z,1740491619.007 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_slowyo_test.tl
2025-02-25T13:53:42.833Z,1740491622.833 [MissionManager](DEBUG): TethyslAPI: ./Missions/Science/sci2_slowyo_test.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sci2_slowyo_test">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsSurfaceDepthRate">
        <Units:meter_per_second />
        <Value>0.3</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lat7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon2">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon3">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon4">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon5">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon6">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon7">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="SlowYoDiveAngle">
        <Units:degree />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1.0</Value>
    </DefineArg>
    <DefineArg Name="SlowYoMinDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SlowYoMaxDepth">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="SlowYoNumYoYos">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SlowYoTurningWindow">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkOffSurface">
        <False />
    </DefineArg>
    <DefineArg Name="SinkDepth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SinkDepthTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectChl">
        <False />
    </DefineArg>
    <DefineArg Name="ShallowBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBoundChl">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTrigger">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThreshold">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThreshold">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="BuoyancyNeutral">
        <Control:VerticalControl.buoyancyNeutral />
    </DefineArg>
    <DefineArg Name="ElevatorDefault">
        <Units:degree />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MassDefault">
        <Control:VerticalControl.massDefault />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineOutput Name="DiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DoingComms">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="SurfaceSink">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="InitialDive">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="SlowYo">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="Science" Filename="Insert/Science.tl">
        <RedefineArg Name="PeakDetectChlActive">
            <Arg Name="PeakDetectChl" />
        </RedefineArg>
        <RedefineArg Name="ShallowBound">
            <Arg Name="ShallowBoundChl" />
        </RedefineArg>
        <RedefineArg Name="DeepBound">
            <Arg Name="DeepBoundChl" />
        </RedefineArg>
        <RedefineArg Name="ChlThreshTriggerActive">
            <Arg Name="ChlThreshTrigger" />
        </RedefineArg>
        <RedefineArg Name="ChlLowerThresh">
            <Arg Name="ChlLowerThreshold" />
        </RedefineArg>
        <RedefineArg Name="ChlUpperThresh">
            <Arg Name="ChlUpperThreshold" />
        </RedefineArg>
        <RedefineArg Name="NumProfilesThresh">
            <Arg Name="NumProfilesThreshold" />
        </RedefineArg>
    </Insert>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:SurfaceDepthRate" />
        <Arg Name="NeedCommsSurfaceDepthRate" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="SurfaceComms">
        <When>
            <Called />
            <Or>
                <Elapsed>
                    <Universal:time_fix />
                </Elapsed>
                <Gt>
                    <Arg Name="NeedCommsTime" />
                </Gt>
            </Or>
        </When>
        <Assign>
            <Sequence />
            <Arg Name="DiveMode" />
            <Arg Name="DoingComms" />
        </Assign>
        <Call RefId="NeedComms" />
        <Aggregate Id="setInitial">
            <Sequence />
            <Break>
                <Arg Name="SinkOffSurface" />
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="InitialDive" />
            </Assign>
        </Aggregate>
        <Aggregate Id="setSink">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="SinkOffSurface" />
                </Not>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="DiveMode" />
                <Arg Name="SurfaceSink" />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="DiveCmd">
        <When>
            <Called />
        </When>
        <Aggregate Id="SurfaceSink">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SurfaceSink" />
                </Eq>
            </While>
            <Aggregate Id="sink">
                <Sequence />
                <Guidance:Buoyancy Id="BuoyancyHold">
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Units:cubic_centimeter />
                        <Value>NaN</Value>
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Syslog Severity="Info">
                    Sinking to 
                    <Arg Name="SinkDepth" />
                    <Units:meter />
                </Syslog>
                <Guidance:Pitch>
                    <Sequence />
                    <Timeout Duration="SinkDepthTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to reach target sink depth at current depth of 
                            <Universal:depth />
                            <Units:meter />
                        </Syslog>
                    </Timeout>
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="SinkDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Aggregate Id="sinkToInit">
                    <Sequence />
                    <Break>
                        <Universal:depth />
                        <Ge>
                            <Arg Name="SlowYoMinDepth" />
                        </Ge>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="InitialDive" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="sinkToYo">
                    <Sequence />
                    <Break>
                        <Universal:depth />
                        <Lt>
                            <Arg Name="SlowYoMinDepth" />
                        </Lt>
                    </Break>
                    <Assign>
                        <Sequence />
                        <Arg Name="DiveMode" />
                        <Arg Name="SlowYo" />
                    </Assign>
                </Aggregate>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="InitialDive">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="InitialDive" />
                </Eq>
            </While>
            <Aggregate Id="dive">
                <Sequence />
                <Guidance:Mass>
                    <Parallel />
                    <Setting>
                        <Guidance:Mass.position />
                        <Arg Name="MassDefault" />
                    </Setting>
                </Guidance:Mass>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Syslog Severity="Info">Waiting for 1 minute while pumping down to neutral.</Syslog>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Units:minute />
                        <Value>1</Value>
                    </Setting>
                </Guidance:Wait>
                <Syslog>
                    Moving to 
                    <Arg Name="SlowYoMinDepth" />
                    <Units:meter />
                </Syslog>
                <Aggregate Id="ApproachDepth">
                    <Sequence />
                    <Guidance:SetSpeed>
                        <Parallel />
                        <Setting>
                            <Guidance:SetSpeed.speed />
                            <Arg Name="Speed" />
                        </Setting>
                    </Guidance:SetSpeed>
                    <Guidance:Pitch>
                        <Sequence />
                        <Timeout Duration="ApproachDepthTimeout">
                            <Syslog Severity="Important">
                                Timed out while trying to reach target depth at current depth of 
                                <Universal:depth />
                                <Units:meter />
                            </Syslog>
                            <Guidance:Execute>
                                <Sequence />
                                <Setting>
                                    <Guidance:Execute.command />
                                    <String>stop</String>
                                </Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="SlowYoMinDepth" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Sequence />
                    <Arg Name="DiveMode" />
                    <Arg Name="SlowYo" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="SlowYoToWaypoint">
            <While>
                <Arg Name="DiveMode" />
                <Eq>
                    <Arg Name="SlowYo" />
                </Eq>
            </While>
            <Aggregate Id="SlowYoTask">
                <Parallel />
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Arg Name="BuoyancyNeutral" />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.elevatorAngle />
                        <Arg Name="ElevatorDefault" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="Speed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Aggregate Id="SlowYoLoop">
                    <Sequence Repeat="Repeat" />
                    <Guidance:SlowYo>
                        <Sequence />
                        <Setting>
                            <Guidance:SlowYo.diveAngle />
                            <Arg Name="SlowYoDiveAngle" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.minDepth />
                            <Arg Name="SlowYoMinDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.maxDepth />
                            <Arg Name="SlowYoMaxDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.turningWindow />
                            <Arg Name="SlowYoTurningWindow" />
                        </Setting>
                        <Setting>
                            <Guidance:SlowYo.numYoYos />
                            <Arg Name="SlowYoNumYoYos" />
                        </Setting>
                    </Guidance:SlowYo>
                </Aggregate>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="StopIfTriggered">
        <When>
            <Arg Name="Science:TriggeredOnChl" />
        </When>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>stop</String>
            </Setting>
        </Guidance:Execute>
    </Aggregate>
    <Call RefId="SurfaceComms" Id="StartingMission" />
    <Aggregate Id="Lap">
        <Sequence Repeat="Repeat" />
        <Aggregate Id="Dive">
            <While>
                <Not>
                    <Arg Name="DiveMode" />
                    <Eq>
                        <Arg Name="DoingComms" />
                    </Eq>
                </Not>
            </While>
            <Call RefId="DiveCmd" />
        </Aggregate>
        <Aggregate Id="Wpt1">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon1" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.captureRadius />
                    <Arg Name="CaptureRadius" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt2">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat2" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon2" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt3">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat3" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon3" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt4">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat4" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon4" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt5">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat5" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon5" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt6">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat6" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon6" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
        <Aggregate Id="Wpt7">
            <Sequence />
            <Guidance:Waypoint>
                <Sequence />
                <Setting>
                    <Guidance:Waypoint.latitude />
                    <Arg Name="Lat7" />
                </Setting>
                <Setting>
                    <Guidance:Waypoint.longitude />
                    <Arg Name="Lon7" />
                </Setting>
            </Guidance:Waypoint>
        </Aggregate>
    </Aggregate>
</Mission>

2025-02-25T13:53:42.856Z,1740491622.856 [MissionManager](INFO): DefineArg sci2_slowyo_test.MissionTimeout = 2.000000 h
2025-02-25T13:53:42.859Z,1740491622.859 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsTime = 60.000000 min
2025-02-25T13:53:42.867Z,1740491622.867 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsSurfaceDepthRate = 0.300000 m/s
2025-02-25T13:53:42.870Z,1740491622.870 [MissionManager](INFO): DefineArg sci2_slowyo_test.Repeat = 1.000000 count
2025-02-25T13:53:42.872Z,1740491622.872 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat1 = nan arcdeg
2025-02-25T13:53:42.874Z,1740491622.874 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat2 = nan arcdeg
2025-02-25T13:53:42.876Z,1740491622.876 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat3 = nan arcdeg
2025-02-25T13:53:42.878Z,1740491622.878 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat4 = nan arcdeg
2025-02-25T13:53:42.880Z,1740491622.880 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat5 = nan arcdeg
2025-02-25T13:53:42.883Z,1740491622.883 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat6 = nan arcdeg
2025-02-25T13:53:42.925Z,1740491622.925 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat7 = nan arcdeg
2025-02-25T13:53:42.927Z,1740491622.927 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon1 = nan arcdeg
2025-02-25T13:53:42.933Z,1740491622.933 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon2 = nan arcdeg
2025-02-25T13:53:42.935Z,1740491622.935 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon3 = nan arcdeg
2025-02-25T13:53:42.942Z,1740491622.942 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon4 = nan arcdeg
2025-02-25T13:53:42.944Z,1740491622.944 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon5 = nan arcdeg
2025-02-25T13:53:42.958Z,1740491622.958 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon6 = nan arcdeg
2025-02-25T13:53:42.960Z,1740491622.960 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon7 = nan arcdeg
2025-02-25T13:53:42.976Z,1740491622.976 [MissionManager](INFO): DefineArg sci2_slowyo_test.ApproachDepthTimeout = 15.000000 min
2025-02-25T13:53:42.983Z,1740491622.983 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoDiveAngle = 15.000000 arcdeg
2025-02-25T13:53:42.994Z,1740491622.994 [MissionManager](INFO): DefineArg sci2_slowyo_test.Speed = 1.000000 m/s
2025-02-25T13:53:42.996Z,1740491622.996 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMinDepth = 10.000000 m
2025-02-25T13:53:43.002Z,1740491623.002 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMaxDepth = 40.000000 m
2025-02-25T13:53:43.004Z,1740491623.004 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoNumYoYos = 1.000000 count
2025-02-25T13:53:43.011Z,1740491623.011 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoTurningWindow = 10.000000 m
2025-02-25T13:53:43.021Z,1740491623.021 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkOffSurface = 0 bool
2025-02-25T13:53:43.023Z,1740491623.023 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepth = 10.000000 m
2025-02-25T13:53:43.028Z,1740491623.028 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepthTimeout = 10.000000 min
2025-02-25T13:53:43.047Z,1740491623.047 [MissionManager](INFO): DefineArg sci2_slowyo_test.CaptureRadius = nan m
2025-02-25T13:53:43.048Z,1740491623.048 [MissionManager](INFO): DefineArg sci2_slowyo_test.PeakDetectChl = 0 bool
2025-02-25T13:53:43.055Z,1740491623.055 [MissionManager](INFO): DefineArg sci2_slowyo_test.ShallowBoundChl = nan m
2025-02-25T13:53:43.061Z,1740491623.061 [MissionManager](INFO): DefineArg sci2_slowyo_test.DeepBoundChl = nan m
2025-02-25T13:53:43.063Z,1740491623.063 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlThreshTrigger = 0 bool
2025-02-25T13:53:43.070Z,1740491623.070 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlLowerThreshold = nan ug/l
2025-02-25T13:53:43.072Z,1740491623.072 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlUpperThreshold = nan ug/l
2025-02-25T13:53:43.081Z,1740491623.081 [MissionManager](INFO): DefineArg sci2_slowyo_test.NumProfilesThreshold = 5.000000 count
2025-02-25T13:53:43.084Z,1740491623.084 [MissionManager](INFO): DefineArg sci2_slowyo_test.BuoyancyNeutral = 305.318329 cc
2025-02-25T13:53:43.086Z,1740491623.086 [MissionManager](INFO): DefineArg sci2_slowyo_test.ElevatorDefault = 0.000000 arcdeg
2025-02-25T13:53:43.088Z,1740491623.088 [MissionManager](INFO): DefineArg sci2_slowyo_test.MassDefault = 1.164778 cm
2025-02-25T13:53:43.103Z,1740491623.103 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinAltitude = 7.000000 m
2025-02-25T13:53:43.108Z,1740491623.108 [MissionManager](INFO): DefineArg sci2_slowyo_test.MaxDepth = 60.000000 m
2025-02-25T13:53:43.123Z,1740491623.123 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinOffshore = 2.000000 km
2025-02-25T13:53:43.133Z,1740491623.133 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DiveMode = 0.000000 count
2025-02-25T13:53:43.135Z,1740491623.135 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DoingComms = 0.000000 count
2025-02-25T13:53:43.153Z,1740491623.153 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SurfaceSink = 1.000000 count
2025-02-25T13:53:43.156Z,1740491623.156 [MissionManager](INFO): DefineOutput sci2_slowyo_test.InitialDive = 2.000000 count
2025-02-25T13:53:43.169Z,1740491623.169 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SlowYo = 3.000000 count
2025-02-25T13:53:43.170Z,1740491623.170 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-25T13:53:43.170Z,1740491623.170 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-25T13:53:43.178Z,1740491623.178 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-25T13:53:45.705Z,1740491625.705 [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>

2025-02-25T13:53:45.788Z,1740491625.788 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectChlActive = 0 bool
2025-02-25T13:53:45.810Z,1740491625.810 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectChlActive = 0 bool
2025-02-25T13:53:45.813Z,1740491625.813 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.TimeWindowPeakReport = nan min
2025-02-25T13:53:45.823Z,1740491625.823 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestChlPeakReportActive = 0 bool
2025-02-25T13:53:45.825Z,1740491625.825 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestSaltPeakReportActive = 0 bool
2025-02-25T13:53:45.826Z,1740491625.826 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestOilPeakReportActive = 0 bool
2025-02-25T13:53:45.828Z,1740491625.828 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PatchTracking = 0 bool
2025-02-25T13:53:45.850Z,1740491625.850 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.FilterWidthHorizontal = 3.000000 count
2025-02-25T13:53:45.852Z,1740491625.852 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-25T13:53:45.855Z,1740491625.855 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-25T13:53:45.856Z,1740491625.856 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectNO3Active = 0 bool
2025-02-25T13:53:45.874Z,1740491625.874 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectOilActive = 0 bool
2025-02-25T13:53:45.876Z,1740491625.876 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectFDOMActive = 0 bool
2025-02-25T13:53:45.878Z,1740491625.878 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectSalinityActive = 0 bool
2025-02-25T13:53:45.879Z,1740491625.879 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-25T13:53:45.903Z,1740491625.903 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-25T13:53:45.905Z,1740491625.905 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-25T13:53:45.907Z,1740491625.907 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-25T13:53:45.919Z,1740491625.919 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-25T13:53:45.921Z,1740491625.921 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-25T13:53:45.923Z,1740491625.923 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledAanderaaO2 = 0 bool
2025-02-25T13:53:45.926Z,1740491625.926 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledNeilBrown = 0 bool
2025-02-25T13:53:45.928Z,1740491625.928 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledSeabird = 1 bool
2025-02-25T13:53:45.945Z,1740491625.945 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-25T13:53:45.947Z,1740491625.947 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-25T13:53:45.950Z,1740491625.950 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsUBAT = 0 bool
2025-02-25T13:53:45.952Z,1740491625.952 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.LowPassWindowLength = 20.000000 count
2025-02-25T13:53:45.966Z,1740491625.966 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.MedianFilterLen = 5.000000 count
2025-02-25T13:53:45.968Z,1740491625.968 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ShallowBound = nan m
2025-02-25T13:53:45.971Z,1740491625.971 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DeepBound = nan m
2025-02-25T13:53:45.973Z,1740491625.973 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-25T13:53:45.975Z,1740491625.975 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionVertical = nan %
2025-02-25T13:53:46.006Z,1740491626.006 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-25T13:53:46.008Z,1740491626.008 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = 0 bool
2025-02-25T13:53:46.010Z,1740491626.010 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlLowerThresh = nan ug/l
2025-02-25T13:53:46.012Z,1740491626.012 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlUpperThresh = nan ug/l
2025-02-25T13:53:46.014Z,1740491626.014 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesThresh = 5.000000 count
2025-02-25T13:53:46.016Z,1740491626.016 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-25T13:53:46.047Z,1740491626.047 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.GoDown = 1 bool
2025-02-25T13:53:46.049Z,1740491626.049 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChl = nan ug/l
2025-02-25T13:53:46.051Z,1740491626.051 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlDepth = nan m
2025-02-25T13:53:46.053Z,1740491626.053 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlTemperature = nan degC
2025-02-25T13:53:46.056Z,1740491626.056 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLatitude = nan arcdeg
2025-02-25T13:53:46.083Z,1740491626.083 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLongitude = nan arcdeg
2025-02-25T13:53:46.085Z,1740491626.085 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChl = nan ug/l
2025-02-25T13:53:46.087Z,1740491626.087 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlDepth = nan m
2025-02-25T13:53:46.089Z,1740491626.089 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlTemperature = nan degC
2025-02-25T13:53:46.091Z,1740491626.091 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLatitude = nan arcdeg
2025-02-25T13:53:46.115Z,1740491626.115 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLongitude = nan arcdeg
2025-02-25T13:53:46.153Z,1740491626.153 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3 = nan umol/l
2025-02-25T13:53:46.156Z,1740491626.156 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Depth = nan m
2025-02-25T13:53:46.170Z,1740491626.170 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Latitude = nan arcdeg
2025-02-25T13:53:46.172Z,1740491626.172 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Longitude = nan arcdeg
2025-02-25T13:53:46.183Z,1740491626.183 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOil = nan kg/m3
2025-02-25T13:53:46.197Z,1740491626.197 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilDepth = nan m
2025-02-25T13:53:46.199Z,1740491626.199 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLatitude = nan arcdeg
2025-02-25T13:53:46.206Z,1740491626.206 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLongitude = nan arcdeg
2025-02-25T13:53:46.208Z,1740491626.208 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOM = nan ppb
2025-02-25T13:53:46.215Z,1740491626.215 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMDepth = nan m
2025-02-25T13:53:46.225Z,1740491626.225 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMTemperature = nan degC
2025-02-25T13:53:46.228Z,1740491626.228 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLatitude = nan arcdeg
2025-02-25T13:53:46.232Z,1740491626.232 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLongitude = nan arcdeg
2025-02-25T13:53:46.251Z,1740491626.251 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSalt = nan psu
2025-02-25T13:53:46.258Z,1740491626.258 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltDepth = nan m
2025-02-25T13:53:46.260Z,1740491626.260 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltTemperature = nan degC
2025-02-25T13:53:46.262Z,1740491626.262 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLatitude = nan arcdeg
2025-02-25T13:53:46.269Z,1740491626.269 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLongitude = nan arcdeg
2025-02-25T13:53:46.271Z,1740491626.271 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-25T13:53:46.275Z,1740491626.275 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-25T13:53:46.290Z,1740491626.290 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-25T13:53:46.292Z,1740491626.292 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-25T13:53:46.299Z,1740491626.299 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-25T13:53:46.306Z,1740491626.306 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-25T13:53:46.308Z,1740491626.308 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-25T13:53:46.315Z,1740491626.315 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-25T13:53:46.322Z,1740491626.322 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-25T13:53:46.324Z,1740491626.324 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-25T13:53:46.331Z,1740491626.331 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-25T13:53:46.337Z,1740491626.337 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-25T13:53:46.339Z,1740491626.339 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-25T13:53:46.354Z,1740491626.354 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-25T13:53:46.356Z,1740491626.356 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-25T13:53:46.363Z,1740491626.363 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-25T13:53:46.377Z,1740491626.377 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-25T13:53:46.380Z,1740491626.380 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-25T13:53:46.387Z,1740491626.387 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-25T13:53:46.397Z,1740491626.397 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-25T13:53:46.400Z,1740491626.400 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-25T13:53:46.404Z,1740491626.404 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-25T13:53:46.419Z,1740491626.419 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-25T13:53:46.426Z,1740491626.426 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-25T13:53:46.428Z,1740491626.428 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-25T13:53:46.430Z,1740491626.430 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChl = nan ug/l
2025-02-25T13:53:46.442Z,1740491626.442 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDepth = nan m
2025-02-25T13:53:46.450Z,1740491626.450 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLatitude = nan arcdeg
2025-02-25T13:53:46.465Z,1740491626.465 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLongitude = nan arcdeg
2025-02-25T13:53:46.467Z,1740491626.467 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDistance = nan m
2025-02-25T13:53:46.474Z,1740491626.474 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSalt = nan psu
2025-02-25T13:53:46.476Z,1740491626.476 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDepth = nan m
2025-02-25T13:53:46.483Z,1740491626.483 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLatitude = nan arcdeg
2025-02-25T13:53:46.489Z,1740491626.489 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLongitude = nan arcdeg
2025-02-25T13:53:46.491Z,1740491626.491 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDistance = nan m
2025-02-25T13:53:46.495Z,1740491626.495 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOil = nan psu
2025-02-25T13:53:46.554Z,1740491626.554 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDepth = nan m
2025-02-25T13:53:46.556Z,1740491626.556 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLatitude = nan arcdeg
2025-02-25T13:53:46.567Z,1740491626.567 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLongitude = nan arcdeg
2025-02-25T13:53:46.577Z,1740491626.577 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDistance = nan m
2025-02-25T13:53:46.579Z,1740491626.579 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.TriggeredOnChl = 0 bool
2025-02-25T13:53:46.594Z,1740491626.594 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.ChlTriggering = nan ug/l
2025-02-25T13:53:46.637Z,1740491626.637 [sci2_slowyo_test:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T13:53:46.656Z,1740491626.656 [sci2_slowyo_test:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-25T13:53:46.722Z,1740491626.722 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-25T13:53:46.764Z,1740491626.764 [sci2_slowyo_test:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T13:53:46.783Z,1740491626.783 [sci2_slowyo_test:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T13:53:46.810Z,1740491626.810 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-25T13:53:46.853Z,1740491626.853 [sci2_slowyo_test:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T13:53:46.885Z,1740491626.885 [sci2_slowyo_test:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T13:53:46.993Z,1740491626.993 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-25T13:53:47.030Z,1740491627.030 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T13:53:47.056Z,1740491627.056 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-25T13:53:47.090Z,1740491627.090 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T13:53:47.102Z,1740491627.102 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T13:53:47.114Z,1740491627.114 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-25T13:53:47.130Z,1740491627.130 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-25T13:53:47.137Z,1740491627.137 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDetectChlActive = reader:sci2_slowyo_test.PeakDetectChl
2025-02-25T13:53:47.139Z,1740491627.139 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ShallowBound = reader:sci2_slowyo_test.ShallowBoundChl
2025-02-25T13:53:47.140Z,1740491627.140 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.DeepBound = reader:sci2_slowyo_test.DeepBoundChl
2025-02-25T13:53:47.142Z,1740491627.142 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = reader:sci2_slowyo_test.ChlThreshTrigger
2025-02-25T13:53:47.143Z,1740491627.143 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlLowerThresh = reader:sci2_slowyo_test.ChlLowerThreshold
2025-02-25T13:53:47.144Z,1740491627.144 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlUpperThresh = reader:sci2_slowyo_test.ChlUpperThreshold
2025-02-25T13:53:47.146Z,1740491627.146 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.NumProfilesThresh = reader:sci2_slowyo_test.NumProfilesThreshold
2025-02-25T13:53:47.146Z,1740491627.146 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-25T13:53:47.147Z,1740491627.147 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-25T13:53:47.148Z,1740491627.148 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-25T13:53:47.411Z,1740491627.411 [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>

2025-02-25T13:53:47.416Z,1740491627.416 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.DiveInterval = 1.000000 h
2025-02-25T13:53:47.418Z,1740491627.418 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-25T13:53:47.420Z,1740491627.420 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-25T13:53:47.422Z,1740491627.422 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceDepthRate = nan m/s
2025-02-25T13:53:47.424Z,1740491627.424 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-25T13:53:47.427Z,1740491627.427 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-25T13:53:47.429Z,1740491627.429 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.GPSTimeout = 7.000000 min
2025-02-25T13:53:47.431Z,1740491627.431 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.CommsTimeout = 30.000000 min
2025-02-25T13:53:47.461Z,1740491627.461 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-25T13:53:47.497Z,1740491627.497 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-25T13:53:47.497Z,1740491627.497 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-25T13:53:47.498Z,1740491627.498 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-25T13:53:47.563Z,1740491627.563 [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>

2025-02-25T13:53:47.567Z,1740491627.567 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-25T13:53:47.570Z,1740491627.570 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-25T13:53:47.572Z,1740491627.572 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-25T13:53:47.574Z,1740491627.574 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-25T13:53:47.575Z,1740491627.575 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-25T13:53:47.581Z,1740491627.581 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-25T13:53:47.587Z,1740491627.587 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-25T13:53:47.623Z,1740491627.623 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-25T13:53:47.623Z,1740491627.623 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-25T13:53:47.624Z,1740491627.624 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-25T13:53:47.655Z,1740491627.655 [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>

2025-02-25T13:53:47.658Z,1740491627.658 [MissionManager](INFO): DefineArg sci2_slowyo_test:BackseatDriver.EnableBackseat = 0 bool
2025-02-25T13:53:47.660Z,1740491627.660 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-25T13:53:47.663Z,1740491627.663 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-25T13:53:47.663Z,1740491627.663 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-25T13:53:47.664Z,1740491627.664 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-25T13:53:47.841Z,1740491627.841 [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>

2025-02-25T13:53:47.844Z,1740491627.844 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleAll = 0 bool
2025-02-25T13:53:47.846Z,1740491627.846 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad1 = 0 bool
2025-02-25T13:53:47.848Z,1740491627.848 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad2 = 0 bool
2025-02-25T13:53:47.868Z,1740491627.868 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad3 = 0 bool
2025-02-25T13:53:47.870Z,1740491627.870 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-25T13:53:47.876Z,1740491627.876 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-25T13:53:47.889Z,1740491627.889 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-25T13:53:47.892Z,1740491627.892 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-02-25T13:53:47.895Z,1740491627.895 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-02-25T13:53:47.926Z,1740491627.926 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Construct.
2025-02-25T13:53:47.928Z,1740491627.928 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-25T13:53:47.931Z,1740491627.931 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Construct Wait.
2025-02-25T13:53:47.934Z,1740491627.934 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-02-25T13:53:47.936Z,1740491627.936 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-02-25T13:53:47.942Z,1740491627.942 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-25T13:53:47.947Z,1740491627.947 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-25T13:53:47.949Z,1740491627.949 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Construct.
2025-02-25T13:53:47.964Z,1740491627.964 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Construct.
2025-02-25T13:53:47.967Z,1740491627.967 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Construct SlowYo.
2025-02-25T13:53:47.974Z,1740491627.974 [sci2_slowyo_test:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-02-25T13:53:47.979Z,1740491627.979 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T13:53:47.985Z,1740491627.985 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T13:53:47.990Z,1740491627.990 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T13:53:47.995Z,1740491627.995 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T13:53:48.000Z,1740491628.000 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T13:53:48.018Z,1740491628.018 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T13:53:48.024Z,1740491628.024 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T13:53:48.083Z,1740491628.083 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    SinkOffSurface = false
      """
      If true, use buoyancy only to decend to SinkDepth before driving to first target depth
      """

    SinkDepth = 10 meter
      """
      Initial depth to decend using only buoyancy before driving
      """

    SinkDepthTimeout = 10 minute
      """
      Max wait time for the vehicle to reach the target depth
      """

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  output {
    DiveMode = 0 count

    DoingComms = 0 count

    SurfaceSink = 1 count

    InitialDive = 2 count

    SlowYo = 3 count
  }

  timeout duration=MissionTimeout

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

    redefineArg PeakDetectChlActive = PeakDetectChl
    redefineArg ShallowBound = ShallowBoundChl
    redefineArg DeepBound = DeepBoundChl
    redefineArg ChlThreshTriggerActive = ChlThreshTrigger
    redefineArg ChlLowerThresh = ChlLowerThreshold
    redefineArg ChlUpperThresh = ChlUpperThreshold
    redefineArg NumProfilesThresh = NumProfilesThreshold
  }

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:SurfaceDepthRate = NeedCommsSurfaceDepthRate

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    assign in sequence DiveMode = DoingComms

    call refId="NeedComms"

    aggregate setInitial {
      run in sequence

      break if ( SinkOffSurface )

      assign in sequence DiveMode = InitialDive
    }

    aggregate setSink {
      run in sequence

      break if ( not SinkOffSurface )

      assign in sequence DiveMode = SurfaceSink
    }
  }

  aggregate DiveCmd {
    run when ( called )

    aggregate SurfaceSink {
      run while ( DiveMode == SurfaceSink )

      aggregate sink {
        run in sequence

        behavior Guidance:Buoyancy id="BuoyancyHold" {
          run in parallel

          set position = NaN cc
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 m/s
        }

        syslog info "Sinking to " + SinkDepth~meter

        behavior Guidance:Pitch {
          run in sequence

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

          set depth = SinkDepth
        }

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

          break if ( Universal:depth >= SlowYoMinDepth )

          assign in sequence DiveMode = InitialDive
        }

        aggregate sinkToYo {
          run in sequence

          break if ( Universal:depth < SlowYoMinDepth )

          assign in sequence DiveMode = SlowYo
        }
      }
    }

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

      run while ( DiveMode == InitialDive )

      aggregate dive {
        run in sequence

        behavior Guidance:Mass {
          run in parallel

          set position = MassDefault
        }

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

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

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

          run in sequence

          set duration = 1 minute
        }

        syslog "Moving to " + SlowYoMinDepth~meter

        aggregate ApproachDepth {
          run in sequence

          behavior Guidance:SetSpeed {
            run in parallel

            set speed = Speed
          }

          behavior Guidance:Pitch {
            run in sequence

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

              behavior Guidance:Execute {
                run in sequence

                set command = "stop"
              }
            }

            set depth = SlowYoMinDepth
          }
        }

        assign in sequence DiveMode = SlowYo
      }
    }

    aggregate SlowYoToWaypoint {
      run while ( DiveMode == SlowYo )

      aggregate SlowYoTask {
        run in parallel

        behavior Guidance:Buoyancy {
          run in parallel

          set position = BuoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set elevatorAngle = ElevatorDefault
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }

        aggregate SlowYoLoop {
          run in sequence repeat=Repeat

          behavior Guidance:SlowYo {
            run in sequence

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

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

    run when ( Science:TriggeredOnChl )

    behavior Guidance:Execute {
      run in sequence

      set command = "stop"
    }
  }

  call id="StartingMission" refId="SurfaceComms"

  aggregate Lap {
    run in sequence repeat=Repeat

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

      call refId="DiveCmd"
    }

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

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

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

        behavior Guidance:Waypoint {
          run in sequence

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


2025-02-25T13:53:48.091Z,1740491628.091 [MissionManager](IMPORTANT): Resuming from info in Logs/20250225T062120/Science_sci2_slowyo_test_tl.state
2025-02-25T13:53:48.135Z,1740491628.135 [MissionManager](INFO): Default->Default:CheckIn/0
2025-02-25T13:53:48.136Z,1740491628.136 [MissionManager](INFO): Default:A.Wait->null/0
2025-02-25T13:53:48.136Z,1740491628.136 [MissionManager](INFO): Default:B.GoToSurface->null/0
2025-02-25T13:53:48.136Z,1740491628.136 [MissionManager](INFO): Default:CheckIn->Default:CheckIn:C.Wait/0
2025-02-25T13:53:48.169Z,1740491628.169 [MissionManager](INFO): Default:CheckIn:Read_GPS->null/0
2025-02-25T13:53:48.169Z,1740491628.169 [MissionManager](INFO): Default:CheckIn:Read_Iridium->null/0
2025-02-25T13:53:48.170Z,1740491628.170 [MissionManager](INFO): Default:CheckIn:C.Wait->null/0
2025-02-25T13:53:48.170Z,1740491628.170 [MissionManager](INFO): sci2_slowyo_test->sci2_slowyo_test:Lap/0
2025-02-25T13:53:48.171Z,1740491628.171 [MissionManager](INFO): sci2_slowyo_test:Science->sci2_slowyo_test:Science:OceanCurrent/0
2025-02-25T13:53:48.171Z,1740491628.171 [MissionManager](INFO): sci2_slowyo_test:Science:OceanCurrent->null/0
2025-02-25T13:53:48.171Z,1740491628.171 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectChl->sci2_slowyo_test:Science:PeakDetectChl:A/0
2025-02-25T13:53:48.172Z,1740491628.172 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectChl:A->null/0
2025-02-25T13:53:48.172Z,1740491628.172 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectChl->sci2_slowyo_test:Science:EdgeDetectChl:A/0
2025-02-25T13:53:48.172Z,1740491628.172 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectChl:A->null/0
2025-02-25T13:53:48.178Z,1740491628.178 [MissionManager](INFO): sci2_slowyo_test:Science:HighestChlPeakReport->sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal/0
2025-02-25T13:53:48.178Z,1740491628.178 [MissionManager](INFO): sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal->null/0
2025-02-25T13:53:48.178Z,1740491628.178 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectNO3->sci2_slowyo_test:Science:PeakDetectNO3:A/0
2025-02-25T13:53:48.179Z,1740491628.179 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectNO3:A->null/0
2025-02-25T13:53:48.179Z,1740491628.179 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectOil->sci2_slowyo_test:Science:PeakDetectOil:A/0
2025-02-25T13:53:48.179Z,1740491628.179 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectOil:A->null/0
2025-02-25T13:53:48.180Z,1740491628.180 [MissionManager](INFO): sci2_slowyo_test:Science:HighestOilPeakReport->sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal/0
2025-02-25T13:53:48.180Z,1740491628.180 [MissionManager](INFO): sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal->null/0
2025-02-25T13:53:48.181Z,1740491628.181 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectFDOM->sci2_slowyo_test:Science:PeakDetectFDOM:A/0
2025-02-25T13:53:48.205Z,1740491628.205 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectFDOM:A->null/0
2025-02-25T13:53:48.206Z,1740491628.206 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectSalinity->sci2_slowyo_test:Science:PeakDetectSalinity:A/0
2025-02-25T13:53:48.206Z,1740491628.206 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectSalinity:A->null/0
2025-02-25T13:53:48.206Z,1740491628.206 [MissionManager](INFO): sci2_slowyo_test:Science:HighestSaltPeakReport->sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal/0
2025-02-25T13:53:48.207Z,1740491628.207 [MissionManager](INFO): sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal->null/0
2025-02-25T13:53:48.207Z,1740491628.207 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI->sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A/0
2025-02-25T13:53:48.208Z,1740491628.208 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A->null/0
2025-02-25T13:53:48.208Z,1740491628.208 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI->sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A/0
2025-02-25T13:53:48.208Z,1740491628.208 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A->null/0
2025-02-25T13:53:48.217Z,1740491628.217 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI->sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A/0
2025-02-25T13:53:48.217Z,1740491628.217 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A->null/0
2025-02-25T13:53:48.218Z,1740491628.218 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms->sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A/0
2025-02-25T13:53:48.218Z,1740491628.218 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A->null/0
2025-02-25T13:53:48.218Z,1740491628.218 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates->sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A/0
2025-02-25T13:53:48.219Z,1740491628.219 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A->null/0
2025-02-25T13:53:48.219Z,1740491628.219 [MissionManager](INFO): sci2_slowyo_test:Science:ChlThreshTrigger->sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect/0
2025-02-25T13:53:48.220Z,1740491628.220 [MissionManager](INFO): sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect->null/0
2025-02-25T13:53:48.220Z,1740491628.220 [MissionManager](INFO): sci2_slowyo_test:NeedComms->sci2_slowyo_test:NeedComms:D/0
2025-02-25T13:53:48.220Z,1740491628.220 [MissionManager](INFO): sci2_slowyo_test:NeedComms:A->null/0
2025-02-25T13:53:48.225Z,1740491628.225 [MissionManager](INFO): sci2_slowyo_test:NeedComms:B.GoToSurface->null/0
2025-02-25T13:53:48.225Z,1740491628.225 [MissionManager](INFO): sci2_slowyo_test:NeedComms:C->null/0
2025-02-25T13:53:48.226Z,1740491628.226 [MissionManager](INFO): sci2_slowyo_test:NeedComms:D->null/0
2025-02-25T13:53:48.226Z,1740491628.226 [MissionManager](INFO): sci2_slowyo_test:NeedComms:E->null/0
2025-02-25T13:53:48.226Z,1740491628.226 [MissionManager](INFO): sci2_slowyo_test:C->null/0
2025-02-25T13:53:48.227Z,1740491628.227 [MissionManager](INFO): sci2_slowyo_test:E->null/0
2025-02-25T13:53:48.227Z,1740491628.227 [MissionManager](INFO): sci2_slowyo_test:F->null/0
2025-02-25T13:53:48.227Z,1740491628.227 [MissionManager](INFO): sci2_slowyo_test:G->null/0
2025-02-25T13:53:48.228Z,1740491628.228 [MissionManager](INFO): sci2_slowyo_test:BackseatDriver->sci2_slowyo_test:BackseatDriver:A.BackseatDriver/0
2025-02-25T13:53:48.228Z,1740491628.228 [MissionManager](INFO): sci2_slowyo_test:BackseatDriver:A.BackseatDriver->null/0
2025-02-25T13:53:48.229Z,1740491628.229 [MissionManager](INFO): sci2_slowyo_test:PowerOnly->sci2_slowyo_test:PowerOnly:E.Wait/0
2025-02-25T13:53:48.242Z,1740491628.242 [MissionManager](INFO): sci2_slowyo_test:PowerOnly:E.Wait->null/0
2025-02-25T13:53:48.242Z,1740491628.242 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms->null/0
2025-02-25T13:53:48.242Z,1740491628.242 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:A->null/0
2025-02-25T13:53:48.243Z,1740491628.243 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:B->null/0
2025-02-25T13:53:48.243Z,1740491628.243 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setInitial->null/0
2025-02-25T13:53:48.243Z,1740491628.243 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setInitial:A->null/0
2025-02-25T13:53:48.244Z,1740491628.244 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setSink->sci2_slowyo_test:SurfaceComms:setSink:A/0
2025-02-25T13:53:48.244Z,1740491628.244 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setSink:A->null/0
2025-02-25T13:53:48.245Z,1740491628.245 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink->sci2_slowyo_test:DiveCmd:SurfaceSink:sink/0
2025-02-25T13:53:48.249Z,1740491628.249 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink:sink->sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C/0
2025-02-25T13:53:48.250Z,1740491628.250 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C->null/0
2025-02-25T13:53:48.250Z,1740491628.250 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive->null/0
2025-02-25T13:53:48.250Z,1740491628.250 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive->null/0
2025-02-25T13:53:48.251Z,1740491628.251 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:C->null/0
2025-02-25T13:53:48.251Z,1740491628.251 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait->null/0
2025-02-25T13:53:48.251Z,1740491628.251 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:E->null/0
2025-02-25T13:53:48.252Z,1740491628.252 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth->null/0
2025-02-25T13:53:48.252Z,1740491628.252 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch->null/0
2025-02-25T13:53:48.253Z,1740491628.253 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:G->null/0
2025-02-25T13:53:48.253Z,1740491628.253 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask->sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop/0
2025-02-25T13:53:48.254Z,1740491628.254 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop->sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo/0
2025-02-25T13:53:48.254Z,1740491628.254 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo->null/0
2025-02-25T13:53:48.254Z,1740491628.254 [MissionManager](INFO): sci2_slowyo_test:StartingMission->null/0
2025-02-25T13:53:48.255Z,1740491628.255 [MissionManager](INFO): sci2_slowyo_test:Lap->sci2_slowyo_test:Lap:Wpt1/1
2025-02-25T13:53:48.255Z,1740491628.255 [MissionManager](INFO): sci2_slowyo_test:Lap:Dive->sci2_slowyo_test:Lap:Dive:A/0
2025-02-25T13:53:48.256Z,1740491628.256 [MissionManager](INFO): sci2_slowyo_test:Lap:Dive:A->null/0
2025-02-25T13:53:48.256Z,1740491628.256 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt1->sci2_slowyo_test:Lap:Wpt1:A.Waypoint/0
2025-02-25T13:53:48.256Z,1740491628.256 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt1:A.Waypoint->null/0
2025-02-25T13:53:48.261Z,1740491628.261 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt2->null/0
2025-02-25T13:53:48.261Z,1740491628.261 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt2:A.Waypoint->null/0
2025-02-25T13:53:48.262Z,1740491628.262 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt3->null/0
2025-02-25T13:53:48.262Z,1740491628.262 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt3:A.Waypoint->null/0
2025-02-25T13:53:48.262Z,1740491628.262 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt4->null/0
2025-02-25T13:53:48.263Z,1740491628.263 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt4:A.Waypoint->null/0
2025-02-25T13:53:48.263Z,1740491628.263 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt5->null/0
2025-02-25T13:53:48.263Z,1740491628.263 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt5:A.Waypoint->null/0
2025-02-25T13:53:48.264Z,1740491628.264 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt6->null/0
2025-02-25T13:53:48.264Z,1740491628.264 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt6:A.Waypoint->null/0
2025-02-25T13:53:48.264Z,1740491628.264 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt7->null/0
2025-02-25T13:53:48.273Z,1740491628.273 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt7:A.Waypoint->null/0
2025-02-25T13:53:48.273Z,1740491628.273 [CommandExec](IMPORTANT): Resuming mission and schedule
2025-02-25T13:53:48.273Z,1740491628.273 [CommandExec](IMPORTANT): Scheduling is resumed
2025-02-25T13:53:48.274Z,1740491628.274 [CommandExec](IMPORTANT): got command schedule resume
2025-02-25T13:53:48.601Z,1740491628.601 [Default] Stopped
2025-02-25T13:53:48.601Z,1740491628.601 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-25T13:53:48.602Z,1740491628.602 [Default:B.GoToSurface] Stopped
2025-02-25T13:53:48.602Z,1740491628.602 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T13:53:48.602Z,1740491628.602 [Default:CheckIn] Stopped
2025-02-25T13:53:48.602Z,1740491628.602 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-25T13:53:48.602Z,1740491628.602 [Default:CheckIn:C.Wait] Stopped
2025-02-25T13:53:48.602Z,1740491628.602 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T13:53:48.602Z,1740491628.602 [MissionManager](IMPORTANT): Started mission sci2_slowyo_test
2025-02-25T13:53:48.602Z,1740491628.602 [sci2_slowyo_test] Running Loop=1
2025-02-25T13:53:48.602Z,1740491628.602 [sci2_slowyo_test](DEBUG): Aggregate::initialize sci2_slowyo_test
2025-02-25T13:53:48.603Z,1740491628.603 [sci2_slowyo_test:Science] Running Loop=1
2025-02-25T13:53:48.603Z,1740491628.603 [sci2_slowyo_test:Science](DEBUG): Aggregate::initialize sci2_slowyo_test:Science
2025-02-25T13:53:48.603Z,1740491628.603 [sci2_slowyo_test:Science:A] Running Loop=1
2025-02-25T13:53:48.603Z,1740491628.603 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-25T13:53:48.603Z,1740491628.603 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-25T13:53:48.603Z,1740491628.603 [sci2_slowyo_test:Science:D] Running Loop=1
2025-02-25T13:53:48.603Z,1740491628.603 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-25T13:53:48.603Z,1740491628.603 [sci2_slowyo_test:Science:F] Running Loop=1
2025-02-25T13:53:48.603Z,1740491628.603 [sci2_slowyo_test:Science:Read_Oil] Running Loop=1
2025-02-25T13:53:48.603Z,1740491628.603 [sci2_slowyo_test:Science:PeakDetectChl] Running Loop=1
2025-02-25T13:53:48.603Z,1740491628.603 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-25T13:53:48.603Z,1740491628.603 [sci2_slowyo_test:Science:PeakDetectChl:A] Running Loop=1
2025-02-25T13:53:48.604Z,1740491628.604 [sci2_slowyo_test:Science:EdgeDetectChl] Running Loop=1
2025-02-25T13:53:48.604Z,1740491628.604 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-25T13:53:48.604Z,1740491628.604 [sci2_slowyo_test:Science:EdgeDetectChl:A] Running Loop=1
2025-02-25T13:53:48.604Z,1740491628.604 [sci2_slowyo_test:Science:HighestChlPeakReport] Running Loop=1
2025-02-25T13:53:48.604Z,1740491628.604 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-25T13:53:48.604Z,1740491628.604 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-25T13:53:48.604Z,1740491628.604 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-25T13:53:48.604Z,1740491628.604 [sci2_slowyo_test:Science:PeakDetectNO3] Running Loop=1
2025-02-25T13:53:48.605Z,1740491628.605 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-25T13:53:48.609Z,1740491628.609 [sci2_slowyo_test:Science:PeakDetectNO3:A] Running Loop=1
2025-02-25T13:53:48.609Z,1740491628.609 [sci2_slowyo_test:Science:PeakDetectOil] Running Loop=1
2025-02-25T13:53:48.609Z,1740491628.609 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-25T13:53:48.609Z,1740491628.609 [sci2_slowyo_test:Science:PeakDetectOil:A] Running Loop=1
2025-02-25T13:53:48.609Z,1740491628.609 [sci2_slowyo_test:Science:HighestOilPeakReport] Running Loop=1
2025-02-25T13:53:48.609Z,1740491628.609 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-25T13:53:48.610Z,1740491628.610 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-25T13:53:48.610Z,1740491628.610 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-25T13:53:48.610Z,1740491628.610 [sci2_slowyo_test:Science:PeakDetectFDOM] Running Loop=1
2025-02-25T13:53:48.610Z,1740491628.610 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-25T13:53:48.610Z,1740491628.610 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-25T13:53:48.610Z,1740491628.610 [sci2_slowyo_test:Science:PeakDetectSalinity] Running Loop=1
2025-02-25T13:53:48.610Z,1740491628.610 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-25T13:53:48.610Z,1740491628.610 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-25T13:53:48.611Z,1740491628.611 [sci2_slowyo_test:Science:HighestSaltPeakReport] Running Loop=1
2025-02-25T13:53:48.611Z,1740491628.611 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-25T13:53:48.611Z,1740491628.611 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-25T13:53:48.611Z,1740491628.611 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-25T13:53:48.611Z,1740491628.611 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-25T13:53:48.611Z,1740491628.611 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-25T13:53:48.611Z,1740491628.611 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-25T13:53:48.611Z,1740491628.611 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-25T13:53:48.612Z,1740491628.612 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-25T13:53:48.612Z,1740491628.612 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-25T13:53:48.612Z,1740491628.612 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-25T13:53:48.612Z,1740491628.612 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-25T13:53:48.612Z,1740491628.612 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-25T13:53:48.612Z,1740491628.612 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-25T13:53:48.612Z,1740491628.612 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-25T13:53:48.612Z,1740491628.612 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-25T13:53:48.612Z,1740491628.612 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-25T13:53:48.612Z,1740491628.612 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-25T13:53:48.612Z,1740491628.612 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-25T13:53:48.612Z,1740491628.612 [sci2_slowyo_test:Science:ChlThreshTrigger] Running Loop=1
2025-02-25T13:53:48.621Z,1740491628.621 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-25T13:53:48.621Z,1740491628.621 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-25T13:53:48.621Z,1740491628.621 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-25T13:53:48.621Z,1740491628.621 [sci2_slowyo_test:Science:OceanCurrent] Running Loop=1
2025-02-25T13:53:48.622Z,1740491628.622 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:OceanCurrent
2025-02-25T13:53:48.622Z,1740491628.622 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-25T13:53:48.622Z,1740491628.622 [sci2_slowyo_test:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-25T13:53:48.622Z,1740491628.622 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-25T13:53:48.622Z,1740491628.622 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_slowyo_test:StandardEnvelopes
2025-02-25T13:53:48.622Z,1740491628.622 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-25T13:53:48.622Z,1740491628.622 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-25T13:53:48.622Z,1740491628.622 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-25T13:53:48.622Z,1740491628.622 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-25T13:53:48.623Z,1740491628.623 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-25T13:53:48.623Z,1740491628.623 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-25T13:53:48.623Z,1740491628.623 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-25T13:53:48.623Z,1740491628.623 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::initialize sci2_slowyo_test:BackseatDriver
2025-02-25T13:53:48.623Z,1740491628.623 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-25T13:53:48.623Z,1740491628.623 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-25T13:53:48.623Z,1740491628.623 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::initialize sci2_slowyo_test:PowerOnly
2025-02-25T13:53:48.623Z,1740491628.623 [sci2_slowyo_test:PowerOnly:A] Running Loop=1
2025-02-25T13:53:48.623Z,1740491628.623 [sci2_slowyo_test:PowerOnly:B] Running Loop=1
2025-02-25T13:53:48.623Z,1740491628.623 [sci2_slowyo_test:PowerOnly:C] Running Loop=1
2025-02-25T13:53:48.623Z,1740491628.623 [sci2_slowyo_test:PowerOnly:D] Running Loop=1
2025-02-25T13:53:48.623Z,1740491628.623 [sci2_slowyo_test:PowerOnly:E.Wait] Running Loop=1
2025-02-25T13:53:48.623Z,1740491628.623 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-25T13:53:48.624Z,1740491628.624 [sci2_slowyo_test:Lap] Running Loop=2
2025-02-25T13:53:48.624Z,1740491628.624 [sci2_slowyo_test:Lap](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap
2025-02-25T13:53:48.624Z,1740491628.624 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-25T13:53:48.624Z,1740491628.624 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive
2025-02-25T13:53:48.624Z,1740491628.624 [sci2_slowyo_test:Lap:Dive:A] Running Loop=1
2025-02-25T13:53:48.624Z,1740491628.624 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive:A
2025-02-25T13:53:48.624Z,1740491628.624 [sci2_slowyo_test:Lap:Wpt1] Running Loop=1
2025-02-25T13:53:48.624Z,1740491628.624 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt1
2025-02-25T13:53:48.624Z,1740491628.624 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-02-25T13:53:48.624Z,1740491628.624 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T13:53:48.630Z,1740491628.630 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.796309,-121.872035
2025-02-25T13:53:48.632Z,1740491628.632 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.796309,-121.872035
2025-02-25T13:53:48.632Z,1740491628.632 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-25T13:53:48.632Z,1740491628.632 [sci2_slowyo_test:DiveCmd] Running Loop=1
2025-02-25T13:53:48.632Z,1740491628.632 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd
2025-02-25T13:53:48.633Z,1740491628.633 [sci2_slowyo_test:DiveCmd:SurfaceSink] Running Loop=1
2025-02-25T13:53:48.649Z,1740491628.649 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-25T13:53:48.650Z,1740491628.650 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-02-25T13:53:48.650Z,1740491628.650 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-25T13:53:48.650Z,1740491628.650 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-25T13:53:48.650Z,1740491628.650 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-25T13:53:48.650Z,1740491628.650 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-02-25T13:53:48.650Z,1740491628.650 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-02-25T13:53:48.650Z,1740491628.650 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-02-25T13:53:48.650Z,1740491628.650 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-02-25T13:53:48.650Z,1740491628.650 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-25T13:53:48.650Z,1740491628.650 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Running Loop=1
2025-02-25T13:53:48.650Z,1740491628.650 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-25T13:53:48.651Z,1740491628.651 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-02-25T13:53:48.651Z,1740491628.651 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Initialize.
2025-02-25T13:53:48.651Z,1740491628.651 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-25T13:53:48.651Z,1740491628.651 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-25T13:53:48.651Z,1740491628.651 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Running Loop=1
2025-02-25T13:53:48.651Z,1740491628.651 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-25T13:53:48.651Z,1740491628.651 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-25T13:53:48.651Z,1740491628.651 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-25T13:53:48.651Z,1740491628.651 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-25T13:53:48.651Z,1740491628.651 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-25T13:53:48.651Z,1740491628.651 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-25T13:53:48.652Z,1740491628.652 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-25T13:53:48.652Z,1740491628.652 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-25T13:53:48.652Z,1740491628.652 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-25T13:53:48.652Z,1740491628.652 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-25T13:53:48.652Z,1740491628.652 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-25T13:53:48.652Z,1740491628.652 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T13:53:48.652Z,1740491628.652 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-25T13:53:48.652Z,1740491628.652 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-25T13:53:48.658Z,1740491628.658 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-25T13:53:48.658Z,1740491628.658 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-25T13:53:48.659Z,1740491628.659 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-25T13:53:48.659Z,1740491628.659 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-25T13:53:48.659Z,1740491628.659 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-25T13:53:48.660Z,1740491628.660 [sci2_slowyo_test:DiveCmd:InitialDive] Stopped
2025-02-25T13:53:48.660Z,1740491628.660 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-25T13:53:48.660Z,1740491628.660 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Stopped
2025-02-25T13:53:48.660Z,1740491628.660 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-25T13:53:48.660Z,1740491628.660 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Stopped
2025-02-25T13:53:48.660Z,1740491628.660 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Uninitialize.
2025-02-25T13:53:48.660Z,1740491628.660 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-02-25T13:53:48.660Z,1740491628.660 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-25T13:53:48.660Z,1740491628.660 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Stopped
2025-02-25T13:53:48.660Z,1740491628.660 [sci2_slowyo_test:DiveCmd:SurfaceSink] Stopped
2025-02-25T13:53:48.661Z,1740491628.661 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-25T13:53:48.661Z,1740491628.661 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Stopped
2025-02-25T13:53:48.661Z,1740491628.661 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-25T13:53:48.661Z,1740491628.661 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-02-25T13:53:48.661Z,1740491628.661 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-25T13:53:48.661Z,1740491628.661 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-02-25T13:53:48.661Z,1740491628.661 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-02-25T13:53:48.661Z,1740491628.661 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Stopped
2025-02-25T13:53:48.661Z,1740491628.661 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-25T13:53:48.662Z,1740491628.662 [sci2_slowyo_test:PowerOnly:D] Stopped
2025-02-25T13:53:48.662Z,1740491628.662 [sci2_slowyo_test:PowerOnly:C] Stopped
2025-02-25T13:53:48.662Z,1740491628.662 [sci2_slowyo_test:PowerOnly:B] Stopped
2025-02-25T13:53:48.662Z,1740491628.662 [sci2_slowyo_test:PowerOnly:A] Stopped
2025-02-25T13:53:48.662Z,1740491628.662 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-25T13:53:48.662Z,1740491628.662 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-25T13:53:48.711Z,1740491628.711 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-25T13:53:48.711Z,1740491628.711 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-25T13:53:48.712Z,1740491628.712 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-25T13:53:48.712Z,1740491628.712 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-25T13:53:48.712Z,1740491628.712 [sci2_slowyo_test:Science] Running Loop=1
2025-02-25T13:53:48.719Z,1740491628.719 [sci2_slowyo_test:Science:ChlThreshTrigger] Stopped
2025-02-25T13:53:48.719Z,1740491628.719 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-25T13:53:48.719Z,1740491628.719 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-25T13:53:48.719Z,1740491628.719 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-25T13:53:48.720Z,1740491628.720 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-25T13:53:48.720Z,1740491628.720 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-25T13:53:48.720Z,1740491628.720 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-25T13:53:48.720Z,1740491628.720 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-25T13:53:48.720Z,1740491628.720 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-25T13:53:48.720Z,1740491628.720 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-25T13:53:48.720Z,1740491628.720 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-25T13:53:48.720Z,1740491628.720 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-25T13:53:48.720Z,1740491628.720 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-25T13:53:48.720Z,1740491628.720 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-25T13:53:48.720Z,1740491628.720 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-25T13:53:48.720Z,1740491628.720 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-25T13:53:48.720Z,1740491628.720 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-25T13:53:48.725Z,1740491628.725 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-25T13:53:48.725Z,1740491628.725 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-25T13:53:48.725Z,1740491628.725 [sci2_slowyo_test:Science:HighestSaltPeakReport] Stopped
2025-02-25T13:53:48.725Z,1740491628.725 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-25T13:53:48.725Z,1740491628.725 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-25T13:53:48.725Z,1740491628.725 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-25T13:53:48.725Z,1740491628.725 [sci2_slowyo_test:Science:PeakDetectSalinity] Stopped
2025-02-25T13:53:48.725Z,1740491628.725 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-25T13:53:48.726Z,1740491628.726 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Stopped
2025-02-25T13:53:48.726Z,1740491628.726 [sci2_slowyo_test:Science:PeakDetectFDOM] Stopped
2025-02-25T13:53:48.726Z,1740491628.726 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-25T13:53:48.726Z,1740491628.726 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Stopped
2025-02-25T13:53:48.726Z,1740491628.726 [sci2_slowyo_test:Science:HighestOilPeakReport] Stopped
2025-02-25T13:53:48.726Z,1740491628.726 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-25T13:53:48.726Z,1740491628.726 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-25T13:53:48.726Z,1740491628.726 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-25T13:53:48.726Z,1740491628.726 [sci2_slowyo_test:Science:PeakDetectOil] Stopped
2025-02-25T13:53:48.726Z,1740491628.726 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-25T13:53:48.726Z,1740491628.726 [sci2_slowyo_test:Science:PeakDetectOil:A] Stopped
2025-02-25T13:53:48.726Z,1740491628.726 [sci2_slowyo_test:Science:PeakDetectNO3] Stopped
2025-02-25T13:53:48.726Z,1740491628.726 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-25T13:53:48.727Z,1740491628.727 [sci2_slowyo_test:Science:PeakDetectNO3:A] Stopped
2025-02-25T13:53:48.727Z,1740491628.727 [sci2_slowyo_test:Science:HighestChlPeakReport] Stopped
2025-02-25T13:53:48.727Z,1740491628.727 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-25T13:53:48.727Z,1740491628.727 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-25T13:53:48.727Z,1740491628.727 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-25T13:53:48.727Z,1740491628.727 [sci2_slowyo_test:Science:EdgeDetectChl] Stopped
2025-02-25T13:53:48.727Z,1740491628.727 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-25T13:53:48.727Z,1740491628.727 [sci2_slowyo_test:Science:EdgeDetectChl:A] Stopped
2025-02-25T13:53:48.727Z,1740491628.727 [sci2_slowyo_test:Science:PeakDetectChl] Stopped
2025-02-25T13:53:48.727Z,1740491628.727 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-25T13:53:48.727Z,1740491628.727 [sci2_slowyo_test:Science:PeakDetectChl:A] Stopped
2025-02-25T13:53:48.727Z,1740491628.727 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-25T13:53:48.728Z,1740491628.728 [sci2_slowyo_test:Science:Read_Oil] Stopped
2025-02-25T13:53:48.728Z,1740491628.728 [sci2_slowyo_test:Science:F] Stopped
2025-02-25T13:53:48.728Z,1740491628.728 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-25T13:53:48.728Z,1740491628.728 [sci2_slowyo_test:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-25T13:53:48.728Z,1740491628.728 [sci2_slowyo_test:Science:D] Stopped
2025-02-25T13:53:48.728Z,1740491628.728 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-25T13:53:48.732Z,1740491628.732 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-25T13:53:48.733Z,1740491628.733 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-25T13:53:48.733Z,1740491628.733 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-25T13:53:48.734Z,1740491628.734 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-25T13:53:48.734Z,1740491628.734 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-25T13:53:48.734Z,1740491628.734 [sci2_slowyo_test:Science:A] Stopped
2025-02-25T13:53:48.827Z,1740491628.827 [WetLabsBB2FL](INFO): Powering up
2025-02-25T13:53:48.853Z,1740491628.853 [BackseatComponent](INFO): Powering up
2025-02-25T13:53:48.854Z,1740491628.854 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-25T13:53:50.194Z,1740491630.194 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-25T13:53:51.934Z,1740491631.934 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-25T13:54:42.740Z,1740491682.740 [VerticalControl](CRITICAL): Excessive depth excursion=12.535573 m, failToGoUpDepth_=1.074162 m, depthRate=0.419752 m/s, pitch=-31.192942 deg.
2025-02-25T13:54:42.822Z,1740491682.822 [CommandExec](FAULT): Scheduling is paused
2025-02-25T13:54:42.823Z,1740491682.823 [CBIT](INFO): Critical error at 20250225T135442
2025-02-25T13:54:42.823Z,1740491682.823 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-02-25T13:54:43.116Z,1740491683.116 [MissionManager](INFO): MissionManager is completed.
2025-02-25T13:54:43.116Z,1740491683.116 [MissionManager](INFO): Uninitializing Mission sci2_slowyo_test
2025-02-25T13:54:43.116Z,1740491683.116 [sci2_slowyo_test] Stopped
2025-02-25T13:54:43.116Z,1740491683.116 [sci2_slowyo_test](DEBUG): Aggregate::uninitialize sci2_slowyo_test
2025-02-25T13:54:43.116Z,1740491683.116 [sci2_slowyo_test:Science] Stopped
2025-02-25T13:54:43.116Z,1740491683.116 [sci2_slowyo_test:Science](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science
2025-02-25T13:54:43.116Z,1740491683.116 [sci2_slowyo_test:Science:B] Stopped
2025-02-25T13:54:43.116Z,1740491683.116 [sci2_slowyo_test:Science:C] Stopped
2025-02-25T13:54:43.116Z,1740491683.116 [sci2_slowyo_test:Science:E] Stopped
2025-02-25T13:54:43.116Z,1740491683.116 [sci2_slowyo_test:Science:OceanCurrent] Stopped
2025-02-25T13:54:43.116Z,1740491683.116 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:OceanCurrent
2025-02-25T13:54:43.117Z,1740491683.117 [sci2_slowyo_test:Science:OceanCurrent:A.] Stopped
2025-02-25T13:54:43.117Z,1740491683.117 [sci2_slowyo_test:StandardEnvelopes] Stopped
2025-02-25T13:54:43.117Z,1740491683.117 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StandardEnvelopes
2025-02-25T13:54:43.117Z,1740491683.117 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-25T13:54:43.117Z,1740491683.117 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-25T13:54:43.117Z,1740491683.117 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-25T13:54:43.117Z,1740491683.117 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-25T13:54:43.117Z,1740491683.117 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-25T13:54:43.117Z,1740491683.117 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-25T13:54:43.117Z,1740491683.117 [sci2_slowyo_test:BackseatDriver] Stopped
2025-02-25T13:54:43.118Z,1740491683.118 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_slowyo_test:BackseatDriver
2025-02-25T13:54:43.118Z,1740491683.118 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Stopped
2025-02-25T13:54:43.118Z,1740491683.118 [sci2_slowyo_test:PowerOnly] Stopped
2025-02-25T13:54:43.118Z,1740491683.118 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::uninitialize sci2_slowyo_test:PowerOnly
2025-02-25T13:54:43.118Z,1740491683.118 [sci2_slowyo_test:PowerOnly:E.Wait] Stopped
2025-02-25T13:54:43.118Z,1740491683.118 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T13:54:43.118Z,1740491683.118 [sci2_slowyo_test:DiveCmd] Stopped
2025-02-25T13:54:43.118Z,1740491683.118 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd
2025-02-25T13:54:43.118Z,1740491683.118 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-25T13:54:43.118Z,1740491683.118 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-25T13:54:43.118Z,1740491683.118 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-25T13:54:43.119Z,1740491683.119 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-25T13:54:43.119Z,1740491683.119 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-25T13:54:43.119Z,1740491683.119 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-25T13:54:43.119Z,1740491683.119 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-25T13:54:43.119Z,1740491683.119 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-25T13:54:43.119Z,1740491683.119 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-25T13:54:43.119Z,1740491683.119 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-25T13:54:43.119Z,1740491683.119 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-25T13:54:43.119Z,1740491683.119 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-25T13:54:43.119Z,1740491683.119 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-25T13:54:43.119Z,1740491683.119 [sci2_slowyo_test:Lap] Stopped
2025-02-25T13:54:43.119Z,1740491683.119 [sci2_slowyo_test:Lap](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap
2025-02-25T13:54:43.119Z,1740491683.119 [sci2_slowyo_test:Lap:Dive] Stopped
2025-02-25T13:54:43.120Z,1740491683.120 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive
2025-02-25T13:54:43.120Z,1740491683.120 [sci2_slowyo_test:Lap:Dive:A] Stopped
2025-02-25T13:54:43.120Z,1740491683.120 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive:A
2025-02-25T13:54:43.120Z,1740491683.120 [sci2_slowyo_test:Lap:Wpt1] Stopped
2025-02-25T13:54:43.120Z,1740491683.120 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt1
2025-02-25T13:54:43.120Z,1740491683.120 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Stopped
2025-02-25T13:54:43.120Z,1740491683.120 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T13:54:43.369Z,1740491683.369 [WetLabsBB2FL](INFO): Powering down
2025-02-25T13:54:43.537Z,1740491683.537 [MissionManager](IMPORTANT): Started mission Default
2025-02-25T13:54:43.537Z,1740491683.537 [Default] Running Loop=1
2025-02-25T13:54:43.538Z,1740491683.538 [Default](DEBUG): Aggregate::initialize Default
2025-02-25T13:54:43.538Z,1740491683.538 [Default:B.GoToSurface] Running Loop=1
2025-02-25T13:54:43.538Z,1740491683.538 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T13:54:43.538Z,1740491683.538 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-25T13:54:43.538Z,1740491683.538 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-25T13:54:43.539Z,1740491683.539 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-25T13:54:43.539Z,1740491683.539 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-25T13:54:43.539Z,1740491683.539 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T13:54:43.540Z,1740491683.540 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T13:54:43.540Z,1740491683.540 [Default:A.Wait] Running Loop=1
2025-02-25T13:54:43.540Z,1740491683.540 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-25T13:54:44.950Z,1740491684.950 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-25T13:54:44.950Z,1740491684.950 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-25T13:54:56.846Z,1740491696.846 [Default:A.Wait](INFO): Done Waiting.
2025-02-25T13:54:56.846Z,1740491696.846 [Default:A.Wait] Stopped
2025-02-25T13:54:56.846Z,1740491696.846 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T13:55:02.974Z,1740491702.974 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-25T13:55:02.975Z,1740491702.975 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-25T13:55:02.975Z,1740491702.975 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-25T13:55:03.586Z,1740491703.586 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T13:55:33.215Z,1740491733.215 [Default:CheckIn] Running Loop=1
2025-02-25T13:55:33.215Z,1740491733.215 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-25T13:55:33.215Z,1740491733.215 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-25T13:55:34.713Z,1740491734.713 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T13:55:55.418Z,1740491755.418 [NAL9602](INFO): SBD MO Status=2, MOMSN=13423, MT Status=2, MTMSN=0
2025-02-25T13:55:55.419Z,1740491755.419 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T13:56:36.989Z,1740491796.989 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T13:56:55.611Z,1740491815.611 [NAL9602](INFO): SBD MO Status=2, MOMSN=13423, MT Status=2, MTMSN=0
2025-02-25T13:56:55.611Z,1740491815.611 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T13:57:00.560Z,1740491820.560 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-25T13:57:00.560Z,1740491820.560 [MassServo] No Fault, FailCount= 5
2025-02-25T13:57:08.113Z,1740491828.113 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T13:57:12.130Z,1740491832.130 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.750198
2025-02-25T13:57:48.188Z,1740491868.188 [NAL9602](INFO): SBD MO Status=0, MOMSN=13423, MT Status=0, MTMSN=0
2025-02-25T13:57:48.188Z,1740491868.188 [NAL9602](INFO): No messages in MT queue
2025-02-25T13:57:49.404Z,1740491869.404 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135748.00,A,3647.78951,N,12153.23508,W,0.622,185.03,250225,,,A*77
2025-02-25T13:57:49.407Z,1740491869.407 [NAL9602](INFO): GPS fix at 20250225T135748: (36.796492, -121.887251)
2025-02-25T13:57:49.418Z,1740491869.418 [Default:CheckIn:Read_GPS] Stopped
2025-02-25T13:57:49.418Z,1740491869.418 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-25T13:58:07.906Z,1740491887.906 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003316
2025-02-25T13:58:08.208Z,1740491888.208 [NAL9602](INFO): SBD MO Status=1, MOMSN=13424, MT Status=0, MTMSN=0
2025-02-25T13:58:08.257Z,1740491888.257 [NAL9602](INFO): Sent 215 bytes from file Logs/20250225T062120/Courier0037.lzma
2025-02-25T13:58:08.257Z,1740491888.257 [NAL9602](INFO): Packets left to send: 0
2025-02-25T13:58:15.884Z,1740491895.884 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250225T062120/Courier0040.lzma
2025-02-25T13:58:16.887Z,1740491896.887 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Courier0040.lzma.bak
2025-02-25T13:58:16.887Z,1740491896.887 [DataOverHttps](INFO): SBD MOMSN=23975845
2025-02-25T13:58:33.665Z,1740491913.665 [DataOverHttps](INFO): Sending 419 bytes from file Logs/20250225T062120/Express0038.lzma
2025-02-25T13:58:34.667Z,1740491914.667 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Express0038.lzma.bak
2025-02-25T13:58:34.667Z,1740491914.667 [DataOverHttps](INFO): SBD MOMSN=23975847
2025-02-25T13:58:38.906Z,1740491918.906 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T13:58:51.465Z,1740491931.465 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250225T062120/Express0041.lzma
2025-02-25T13:58:52.467Z,1740491932.467 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Express0041.lzma.bak
2025-02-25T13:58:52.467Z,1740491932.467 [DataOverHttps](INFO): SBD MOMSN=23975864
2025-02-25T13:58:54.277Z,1740491934.277 [Default:CheckIn:Read_Iridium] Stopped
2025-02-25T13:58:54.278Z,1740491934.278 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-25T13:58:54.278Z,1740491934.278 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-25T14:00:02.823Z,1740492002.823 [DataOverHttps](IMPORTANT): SBD MTMSN=20250225T140001
2025-02-25T14:00:10.549Z,1740492010.549 [DataOverHttps](INFO): Received command: load Transport/keepstation.tl;set keepstation.NeedCommsTime 30 min;run
2025-02-25T14:00:11.148Z,1740492011.148 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-25T14:00:11.149Z,1740492011.149 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-25T14:00:11.149Z,1740492011.149 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-25T14:00:11.154Z,1740492011.154 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-25T14:00:11.943Z,1740492011.943 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/keepstation.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="keepstation">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepth">
        <Units:meter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>0.75</Value>
    </DefineArg>
    <DefineArg Name="Radius">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Call RefId="NeedComms" Id="StartingMission" />
    <Aggregate Id="TransitToStation">
        <Sequence />
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="ApproachDepth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
        </Guidance:Waypoint>
    </Aggregate>
    <Call RefId="NeedComms" Id="OnStation" />
    <Aggregate Id="KeepStation">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:KeepStation>
            <Parallel />
            <Setting>
                <Guidance:KeepStation.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.radius />
                <Arg Name="Radius" />
            </Setting>
            <Setting>
                <Guidance:KeepStation.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:KeepStation>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="MissionTimeout" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
</Mission>

2025-02-25T14:00:11.950Z,1740492011.950 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-25T14:00:11.954Z,1740492011.954 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-25T14:00:11.957Z,1740492011.957 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-25T14:00:11.960Z,1740492011.960 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-25T14:00:11.963Z,1740492011.963 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-25T14:00:11.967Z,1740492011.967 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-25T14:00:11.970Z,1740492011.970 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-25T14:00:11.973Z,1740492011.973 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-25T14:00:11.976Z,1740492011.976 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-25T14:00:11.000Z,1740492012.000 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-25T14:00:12.008Z,1740492012.008 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-25T14:00:12.008Z,1740492012.008 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-25T14:00:12.008Z,1740492012.008 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-25T14:00:12.020Z,1740492012.020 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-25T14:00:12.369Z,1740492012.369 [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>

2025-02-25T14:00:12.375Z,1740492012.375 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-25T14:00:12.378Z,1740492012.378 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-25T14:00:12.382Z,1740492012.382 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-25T14:00:12.385Z,1740492012.385 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-25T14:00:12.388Z,1740492012.388 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-25T14:00:12.391Z,1740492012.391 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-25T14:00:12.395Z,1740492012.395 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-25T14:00:12.398Z,1740492012.398 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-25T14:00:12.408Z,1740492012.408 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-25T14:00:12.491Z,1740492012.491 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-25T14:00:12.491Z,1740492012.491 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-25T14:00:12.492Z,1740492012.492 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-25T14:00:12.634Z,1740492012.634 [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>

2025-02-25T14:00:12.671Z,1740492012.671 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-25T14:00:12.680Z,1740492012.680 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-25T14:00:12.696Z,1740492012.696 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-25T14:00:12.708Z,1740492012.708 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-25T14:00:12.718Z,1740492012.718 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-25T14:00:12.736Z,1740492012.736 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-25T14:00:12.762Z,1740492012.762 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-25T14:00:12.781Z,1740492012.781 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-25T14:00:12.785Z,1740492012.785 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-25T14:00:12.786Z,1740492012.786 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-25T14:00:12.846Z,1740492012.846 [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>

2025-02-25T14:00:12.863Z,1740492012.863 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-25T14:00:12.870Z,1740492012.870 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-25T14:00:12.872Z,1740492012.872 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-25T14:00:12.877Z,1740492012.877 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-25T14:00:12.878Z,1740492012.878 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-25T14:00:13.135Z,1740492013.135 [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>

2025-02-25T14:00:13.144Z,1740492013.144 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-25T14:00:13.152Z,1740492013.152 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-25T14:00:13.155Z,1740492013.155 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-25T14:00:13.166Z,1740492013.166 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-25T14:00:13.170Z,1740492013.170 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-25T14:00:13.190Z,1740492013.190 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-25T14:00:13.192Z,1740492013.192 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-25T14:00:13.208Z,1740492013.208 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-25T14:00:13.216Z,1740492013.216 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-25T14:00:13.251Z,1740492013.251 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-25T14:00:13.271Z,1740492013.271 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-25T14:00:13.297Z,1740492013.297 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-25T14:00:13.307Z,1740492013.307 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-25T14:00:13.327Z,1740492013.327 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-25T14:00:13.350Z,1740492013.350 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  call id="StartingMission" refId="NeedComms"

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

    run in sequence

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = ApproachDepth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

      set latitude = Latitude
      set longitude = Longitude
    }
  }

  call id="OnStation" refId="NeedComms"

  aggregate KeepStation {
    run in sequence

    assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:KeepStation {
      run in parallel

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

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

      run in sequence

      set duration = MissionTimeout
    }
  }
}


2025-02-25T14:00:13.351Z,1740492013.351 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-25T14:00:17.629Z,1740492017.629 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 30 minute
2025-02-25T14:00:17.630Z,1740492017.630 [CommandExec](IMPORTANT): got command run
2025-02-25T14:00:17.632Z,1740492017.632 [CommandExec](IMPORTANT): Running 
2025-02-25T14:00:17.920Z,1740492017.920 [Default] Stopped
2025-02-25T14:00:17.920Z,1740492017.920 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-25T14:00:17.920Z,1740492017.920 [Default:B.GoToSurface] Stopped
2025-02-25T14:00:17.920Z,1740492017.920 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T14:00:17.920Z,1740492017.920 [Default:CheckIn] Stopped
2025-02-25T14:00:17.920Z,1740492017.920 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-25T14:00:17.920Z,1740492017.920 [Default:CheckIn:C.Wait] Stopped
2025-02-25T14:00:17.920Z,1740492017.920 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T14:00:17.920Z,1740492017.920 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-25T14:00:17.921Z,1740492017.921 [keepstation] Running Loop=1
2025-02-25T14:00:17.921Z,1740492017.921 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-25T14:00:17.921Z,1740492017.921 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-25T14:00:17.921Z,1740492017.921 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-25T14:00:17.921Z,1740492017.921 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-25T14:00:17.921Z,1740492017.921 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-25T14:00:17.921Z,1740492017.921 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-25T14:00:17.922Z,1740492017.922 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-25T14:00:17.922Z,1740492017.922 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-25T14:00:17.922Z,1740492017.922 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-25T14:00:17.922Z,1740492017.922 [keepstation:BackseatDriver] Running Loop=1
2025-02-25T14:00:17.922Z,1740492017.922 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-25T14:00:17.922Z,1740492017.922 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-25T14:00:17.922Z,1740492017.922 [keepstation:PowerOnly] Running Loop=1
2025-02-25T14:00:17.922Z,1740492017.922 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-25T14:00:17.922Z,1740492017.922 [keepstation:PowerOnly:A] Running Loop=1
2025-02-25T14:00:17.922Z,1740492017.922 [keepstation:PowerOnly:B] Running Loop=1
2025-02-25T14:00:17.923Z,1740492017.923 [keepstation:PowerOnly:C] Running Loop=1
2025-02-25T14:00:17.923Z,1740492017.923 [keepstation:PowerOnly:D] Running Loop=1
2025-02-25T14:00:17.923Z,1740492017.923 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-25T14:00:17.923Z,1740492017.923 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-25T14:00:17.923Z,1740492017.923 [keepstation:H.Pitch] Running Loop=1
2025-02-25T14:00:17.923Z,1740492017.923 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-25T14:00:17.923Z,1740492017.923 [keepstation:B] Running Loop=1
2025-02-25T14:00:17.924Z,1740492017.924 [keepstation:H.Pitch] Running Loop=1
2025-02-25T14:00:17.924Z,1740492017.924 [keepstation:PowerOnly] Running Loop=1
2025-02-25T14:00:17.924Z,1740492017.924 [keepstation:PowerOnly:D] Stopped
2025-02-25T14:00:17.924Z,1740492017.924 [keepstation:PowerOnly:C] Stopped
2025-02-25T14:00:17.924Z,1740492017.924 [keepstation:PowerOnly:B] Stopped
2025-02-25T14:00:17.925Z,1740492017.925 [keepstation:PowerOnly:A] Stopped
2025-02-25T14:00:17.925Z,1740492017.925 [keepstation:BackseatDriver] Running Loop=1
2025-02-25T14:00:17.925Z,1740492017.925 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-25T14:00:17.925Z,1740492017.925 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-25T14:00:17.925Z,1740492017.925 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-25T14:00:17.926Z,1740492017.926 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-25T14:00:17.926Z,1740492017.926 [keepstation:B] Stopped
2025-02-25T14:00:17.926Z,1740492017.926 [keepstation:D] Running Loop=1
2025-02-25T14:00:18.325Z,1740492018.325 [keepstation:D] Stopped
2025-02-25T14:00:18.325Z,1740492018.325 [keepstation:E] Running Loop=1
2025-02-25T14:00:18.730Z,1740492018.730 [keepstation:E] Stopped
2025-02-25T14:00:18.731Z,1740492018.731 [keepstation:StartingMission] Running Loop=1
2025-02-25T14:00:18.731Z,1740492018.731 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-25T14:00:19.144Z,1740492019.144 [keepstation:NeedComms] Running Loop=1
2025-02-25T14:00:19.145Z,1740492019.145 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-25T14:00:19.145Z,1740492019.145 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-25T14:00:19.145Z,1740492019.145 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T14:00:19.145Z,1740492019.145 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-25T14:00:19.146Z,1740492019.146 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-25T14:00:19.146Z,1740492019.146 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-25T14:00:19.146Z,1740492019.146 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-25T14:00:19.147Z,1740492019.147 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T14:00:19.147Z,1740492019.147 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T14:00:19.147Z,1740492019.147 [keepstation:NeedComms:A] Running Loop=1
2025-02-25T14:00:19.149Z,1740492019.149 [keepstation:NeedComms:A](INFO): last time_fix was:  1740491868.000000 second since 1970/01/01T00:00:00Z 
2025-02-25T14:00:19.149Z,1740492019.149 [keepstation:NeedComms:A] Stopped
2025-02-25T14:00:19.542Z,1740492019.542 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-25T14:00:19.543Z,1740492019.543 [keepstation:NeedComms:C] Running Loop=1
2025-02-25T14:00:19.943Z,1740492019.943 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-25T14:00:21.547Z,1740492021.547 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,140020.00,A,3647.78660,N,12153.24523,W,0.719,282.80,250225,,,A*79
2025-02-25T14:00:21.549Z,1740492021.549 [NAL9602](INFO): GPS fix at 20250225T140020: (36.796443, -121.887421)
2025-02-25T14:00:21.562Z,1740492021.562 [keepstation:NeedComms:C] Stopped
2025-02-25T14:00:21.562Z,1740492021.562 [keepstation:NeedComms:D] Running Loop=1
2025-02-25T14:00:21.988Z,1740492021.988 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-25T14:00:29.713Z,1740492029.713 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250225T062120/Courier0043.lzma
2025-02-25T14:00:30.715Z,1740492030.715 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Courier0043.lzma.bak
2025-02-25T14:00:30.715Z,1740492030.715 [DataOverHttps](INFO): SBD MOMSN=23975868
2025-02-25T14:00:48.433Z,1740492048.433 [DataOverHttps](INFO): Sending 255 bytes from file Logs/20250225T062120/Express0044.lzma
2025-02-25T14:00:49.435Z,1740492049.435 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Express0044.lzma.bak
2025-02-25T14:00:49.435Z,1740492049.435 [DataOverHttps](INFO): SBD MOMSN=23975871
2025-02-25T14:01:09.018Z,1740492069.018 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250225T062120/Express0047.lzma
2025-02-25T14:01:10.029Z,1740492070.029 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Express0047.lzma.bak
2025-02-25T14:01:10.030Z,1740492070.030 [DataOverHttps](INFO): SBD MOMSN=23975880
2025-02-25T14:01:10.804Z,1740492070.804 [NAL9602](INFO): SBD MO Status=2, MOMSN=13425, MT Status=2, MTMSN=0
2025-02-25T14:01:10.804Z,1740492070.804 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T14:01:12.499Z,1740492072.499 [keepstation:NeedComms:D] Stopped
2025-02-25T14:01:12.499Z,1740492072.499 [keepstation:NeedComms:E] Running Loop=1
2025-02-25T14:01:12.933Z,1740492072.933 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-25T14:01:25.908Z,1740492085.908 [NAL9602](INFO): SBD MO Status=2, MOMSN=13425, MT Status=2, MTMSN=0
2025-02-25T14:01:25.908Z,1740492085.908 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T14:01:53.824Z,1740492113.824 [NAL9602](INFO): SBD MO Status=2, MOMSN=13425, MT Status=2, MTMSN=0
2025-02-25T14:01:53.824Z,1740492113.824 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T14:02:18.466Z,1740492138.466 [NAL9602](INFO): SBD MO Status=2, MOMSN=13425, MT Status=2, MTMSN=0
2025-02-25T14:02:18.467Z,1740492138.467 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T14:03:38.868Z,1740492218.868 [NAL9602](INFO): SBD MO Status=2, MOMSN=13425, MT Status=2, MTMSN=0
2025-02-25T14:03:38.868Z,1740492218.868 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T14:04:47.956Z,1740492287.956 [NAL9602](INFO): SBD MO Status=2, MOMSN=13425, MT Status=2, MTMSN=0
2025-02-25T14:04:47.956Z,1740492287.956 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T14:05:10.172Z,1740492310.172 [NAL9602](INFO): SBD MO Status=0, MOMSN=13425, MT Status=0, MTMSN=0
2025-02-25T14:05:10.172Z,1740492310.172 [NAL9602](INFO): No messages in MT queue
2025-02-25T14:05:11.384Z,1740492311.384 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,140510.00,A,3647.79896,N,12153.26636,W,1.516,285.80,250225,,,D*72
2025-02-25T14:05:11.386Z,1740492311.386 [NAL9602](INFO): GPS fix at 20250225T140510: (36.796649, -121.887773)
2025-02-25T14:05:11.443Z,1740492311.443 [keepstation:NeedComms:E] Stopped
2025-02-25T14:05:11.444Z,1740492311.444 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-25T14:05:11.444Z,1740492311.444 [keepstation:NeedComms] Stopped
2025-02-25T14:05:11.449Z,1740492311.449 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-25T14:05:11.449Z,1740492311.449 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-25T14:05:11.449Z,1740492311.449 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T14:05:11.826Z,1740492311.826 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-25T14:05:11.826Z,1740492311.826 [keepstation:StartingMission] Stopped
2025-02-25T14:05:11.826Z,1740492311.826 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-25T14:05:11.827Z,1740492311.827 [keepstation:TransitToStation] Running Loop=1
2025-02-25T14:05:11.827Z,1740492311.827 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-25T14:05:11.827Z,1740492311.827 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-25T14:05:11.827Z,1740492311.827 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-25T14:05:11.827Z,1740492311.827 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-25T14:05:11.827Z,1740492311.827 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-25T14:05:11.827Z,1740492311.827 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-25T14:05:11.827Z,1740492311.827 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-25T14:05:11.827Z,1740492311.827 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-25T14:05:11.828Z,1740492311.828 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-25T14:05:12.218Z,1740492312.218 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-25T14:05:12.219Z,1740492312.219 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-25T14:05:12.219Z,1740492312.219 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-25T14:05:17.158Z,1740492317.158 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-25T14:05:17.158Z,1740492317.158 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-25T14:05:17.160Z,1740492317.160 [keepstation:TransitToStation](INFO): Completed keepstation:TransitToStation
2025-02-25T14:05:17.160Z,1740492317.160 [keepstation:TransitToStation] Stopped
2025-02-25T14:05:17.160Z,1740492317.160 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-25T14:05:17.160Z,1740492317.160 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-25T14:05:17.160Z,1740492317.160 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-25T14:05:17.160Z,1740492317.160 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-25T14:05:17.160Z,1740492317.160 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-25T14:05:17.160Z,1740492317.160 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-25T14:05:17.160Z,1740492317.160 [keepstation:OnStation] Running Loop=1
2025-02-25T14:05:17.160Z,1740492317.160 [keepstation:OnStation](DEBUG): Aggregate::initialize keepstation:OnStation
2025-02-25T14:05:17.554Z,1740492317.554 [keepstation:NeedComms] Running Loop=1
2025-02-25T14:05:17.554Z,1740492317.554 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-25T14:05:17.554Z,1740492317.554 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-25T14:05:17.554Z,1740492317.554 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T14:05:17.555Z,1740492317.555 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-25T14:05:17.555Z,1740492317.555 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-25T14:05:17.556Z,1740492317.556 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-25T14:05:17.556Z,1740492317.556 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-25T14:05:17.556Z,1740492317.556 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T14:05:17.557Z,1740492317.557 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T14:05:17.573Z,1740492317.573 [keepstation:NeedComms:A] Running Loop=1
2025-02-25T14:05:17.574Z,1740492317.574 [keepstation:NeedComms:A](INFO): last time_fix was:  1740492310.000000 second since 1970/01/01T00:00:00Z 
2025-02-25T14:05:17.574Z,1740492317.574 [keepstation:NeedComms:A] Stopped
2025-02-25T14:05:17.975Z,1740492317.975 [keepstation:NeedComms:C] Running Loop=1
2025-02-25T14:05:20.029Z,1740492320.029 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,140519.00,A,3647.79923,N,12153.26672,W,1.788,284.76,250225,,,D*79
2025-02-25T14:05:20.031Z,1740492320.031 [NAL9602](INFO): GPS fix at 20250225T140519: (36.796654, -121.887779)
2025-02-25T14:05:20.053Z,1740492320.053 [keepstation:NeedComms:C] Stopped
2025-02-25T14:05:20.053Z,1740492320.053 [keepstation:NeedComms:D] Running Loop=1
2025-02-25T14:05:27.745Z,1740492327.745 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250225T062120/Courier0049.lzma
2025-02-25T14:05:28.747Z,1740492328.747 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Courier0049.lzma.bak
2025-02-25T14:05:28.747Z,1740492328.747 [DataOverHttps](INFO): SBD MOMSN=23975883
2025-02-25T14:05:45.036Z,1740492345.036 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250225T062120/Express0050.lzma
2025-02-25T14:05:46.039Z,1740492346.039 [DataOverHttps](INFO): Moved sent file to Logs/20250225T062120/Express0050.lzma.bak
2025-02-25T14:05:46.039Z,1740492346.039 [DataOverHttps](INFO): SBD MOMSN=23975886
2025-02-25T14:05:47.938Z,1740492347.938 [keepstation:NeedComms:D] Stopped
2025-02-25T14:05:47.939Z,1740492347.939 [keepstation:NeedComms:E] Running Loop=1
2025-02-25T14:05:49.948Z,1740492349.948 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,140549.00,A,3647.80023,N,12153.26819,W,0.408,281.06,250225,,,D*78
2025-02-25T14:05:49.957Z,1740492349.957 [NAL9602](INFO): GPS fix at 20250225T140549: (36.796670, -121.887803)
2025-02-25T14:05:49.980Z,1740492349.980 [keepstation:NeedComms:E] Stopped
2025-02-25T14:05:49.985Z,1740492349.985 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-25T14:05:49.985Z,1740492349.985 [keepstation:NeedComms] Stopped
2025-02-25T14:05:49.986Z,1740492349.986 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-25T14:05:49.986Z,1740492349.986 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-25T14:05:49.986Z,1740492349.986 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T14:05:50.387Z,1740492350.387 [keepstation:OnStation](INFO): Completed keepstation:OnStation
2025-02-25T14:05:50.387Z,1740492350.387 [keepstation:OnStation] Stopped
2025-02-25T14:05:50.387Z,1740492350.387 [keepstation:OnStation](DEBUG): Aggregate::uninitialize keepstation:OnStation
2025-02-25T14:05:50.387Z,1740492350.387 [keepstation:KeepStation] Running Loop=1
2025-02-25T14:05:50.387Z,1740492350.387 [keepstation:KeepStation](DEBUG): Aggregate::initialize keepstation:KeepStation
2025-02-25T14:05:50.387Z,1740492350.387 [keepstation:KeepStation:A] Running Loop=1
2025-02-25T14:05:50.387Z,1740492350.387 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-25T14:05:50.387Z,1740492350.387 [keepstation:KeepStation:B.Pitch](DEBUG): Initialize.
2025-02-25T14:05:50.387Z,1740492350.387 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-25T14:05:50.388Z,1740492350.388 [keepstation:KeepStation:C.KeepStation](DEBUG): Initialize KeepStationComponent.
2025-02-25T14:05:50.388Z,1740492350.388 [keepstation:KeepStation:D.Wait] Running Loop=1
2025-02-25T14:05:50.388Z,1740492350.388 [keepstation:KeepStation:D.Wait](DEBUG): Initialize Wait Component.
2025-02-25T14:05:50.802Z,1740492350.802 [keepstation:KeepStation:C.KeepStation] Running Loop=1
2025-02-25T14:05:50.803Z,1740492350.803 [keepstation:KeepStation:B.Pitch] Running Loop=1
2025-02-25T14:05:50.803Z,1740492350.803 [keepstation:KeepStation:A] Running Loop=1
2025-02-25T14:06:22.754Z,1740492382.754 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T14:07:51.029Z,1740492471.029 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T14:08:13.953Z,1740492493.953 [Radio_Surface](INFO): Powering down
2025-02-25T14:08:22.165Z,1740492502.165 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T14:08:23.169Z,1740492503.169 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-25T14:09:26.424Z,1740492566.424 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.548615
2025-02-25T14:15:48.763Z,1740492948.763 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T14:16:01.677Z,1740492961.677 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T14:16:15.008Z,1740492975.008 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T14:16:27.936Z,1740492987.936 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T14:16:40.863Z,1740493000.863 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T14:16:54.257Z,1740493014.257 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T14:17:06.720Z,1740493026.720 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T14:18:29.138Z,1740493109.138 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-02-25T14:22:11.735Z,1740493331.735 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-25T14:22:15.379Z,1740493335.379 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-25T14:22:15.380Z,1740493335.380 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-25T14:22:15.382Z,1740493335.382 [BPC1](INFO): Received data from all battery sticks.
2025-02-25T14:45:50.219Z,1740494750.219 [keepstation:NeedComms] Running Loop=1
2025-02-25T14:45:50.220Z,1740494750.220 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-25T14:45:50.220Z,1740494750.220 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-25T14:45:50.220Z,1740494750.220 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T14:45:50.220Z,1740494750.220 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-25T14:45:50.221Z,1740494750.221 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-25T14:45:50.221Z,1740494750.221 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-25T14:45:50.222Z,1740494750.222 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-25T14:45:50.222Z,1740494750.222 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T14:45:50.222Z,1740494750.222 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T14:45:50.223Z,1740494750.223 [keepstation:NeedComms:A] Running Loop=1
2025-02-25T14:45:50.224Z,1740494750.224 [keepstation:NeedComms:A](INFO): last time_fix was:  1740492349.000000 second since 1970/01/01T00:00:00Z 
2025-02-25T14:45:50.224Z,1740494750.224 [keepstation:NeedComms:A] Stopped
2025-02-25T14:47:17.958Z,1740494837.958 [keepstation:NeedComms:C] Running Loop=1
2025-02-25T14:47:18.454Z,1740494838.454 [Radio_Surface](INFO): Powering up
2025-02-25T14:47:23.857Z,1740494843.857 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-25T14:47:45.031Z,1740494865.031 [NAL9602](INFO): SBD MO Status=0, MOMSN=13426, MT Status=0, MTMSN=0
2025-02-25T14:47:45.032Z,1740494865.032 [NAL9602](INFO): No messages in MT queue
2025-02-25T14:47:46.235Z,1740494866.235 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144745.00,A,3647.89467,N,12153.22088,W,1.749,113.13,250225,,,A*75
2025-02-25T14:47:46.237Z,1740494866.237 [NAL9602](INFO): GPS fix at 20250225T144745: (36.798245, -121.887015)
2025-02-25T14:47:46.252Z,1740494866.252 [keepstation:NeedComms:C] Stopped
2025-02-25T14:47:46.252Z,1740494866.252 [keepstation:NeedComms:D] Running Loop=1
2025-02-25T14:47:53.986Z,1740494873.986 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T14:47:59.580Z,1740494879.580 [NAL9602](INFO): SBD MO Status=1, MOMSN=13427, MT Status=0, MTMSN=0
2025-02-25T14:47:59.629Z,1740494879.629 [NAL9602](INFO): Sent 84 bytes from file Logs/20250225T062120/Courier0052.lzma
2025-02-25T14:47:59.629Z,1740494879.629 [NAL9602](INFO): Packets left to send: 0
2025-02-25T14:48:11.608Z,1740494891.608 [NAL9602](INFO): SBD MO Status=1, MOMSN=13428, MT Status=0, MTMSN=0
2025-02-25T14:48:11.661Z,1740494891.661 [NAL9602](INFO): Sent 178 bytes from file Logs/20250225T062120/Express0053.lzma
2025-02-25T14:48:11.661Z,1740494891.661 [NAL9602](INFO): Packets left to send: 0
2025-02-25T14:48:18.428Z,1740494898.428 [NAL9602](INFO): SBD MO Status=0, MOMSN=13429, MT Status=0, MTMSN=0
2025-02-25T14:48:18.528Z,1740494898.528 [keepstation:NeedComms:D] Stopped
2025-02-25T14:48:18.528Z,1740494898.528 [keepstation:NeedComms:E] Running Loop=1
2025-02-25T14:48:20.840Z,1740494900.840 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144820.00,A,3647.89334,N,12153.21960,W,1.108,106.22,250225,,,D*74
2025-02-25T14:48:20.843Z,1740494900.843 [NAL9602](INFO): GPS fix at 20250225T144820: (36.798222, -121.886993)
2025-02-25T14:48:20.877Z,1740494900.877 [keepstation:NeedComms:E] Stopped
2025-02-25T14:48:20.878Z,1740494900.878 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-25T14:48:20.879Z,1740494900.879 [keepstation:NeedComms] Stopped
2025-02-25T14:48:20.879Z,1740494900.879 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-25T14:48:20.879Z,1740494900.879 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-25T14:48:20.879Z,1740494900.879 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T14:48:25.109Z,1740494905.109 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T14:48:53.566Z,1740494933.566 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T14:48:56.237Z,1740494936.237 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T14:49:27.361Z,1740494967.361 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T14:49:58.497Z,1740494998.497 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T14:50:20.661Z,1740495020.661 [Radio_Surface](INFO): Powering down
2025-02-25T14:50:29.621Z,1740495029.621 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T14:50:30.625Z,1740495030.625 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-25T15:23:22.048Z,1740497002.048 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T15:23:34.976Z,1740497014.976 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T15:23:47.500Z,1740497027.500 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T15:24:00.832Z,1740497040.832 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T15:24:13.357Z,1740497053.357 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T15:24:26.692Z,1740497066.692 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T15:24:40.024Z,1740497080.024 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T15:28:21.052Z,1740497301.052 [keepstation:NeedComms] Running Loop=1
2025-02-25T15:28:21.052Z,1740497301.052 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-25T15:28:21.052Z,1740497301.052 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-25T15:28:21.052Z,1740497301.052 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T15:28:21.053Z,1740497301.053 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-25T15:28:21.053Z,1740497301.053 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-25T15:28:21.054Z,1740497301.054 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-25T15:28:21.054Z,1740497301.054 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-25T15:28:21.054Z,1740497301.054 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T15:28:21.055Z,1740497301.055 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T15:28:21.055Z,1740497301.055 [keepstation:NeedComms:A] Running Loop=1
2025-02-25T15:28:21.057Z,1740497301.057 [keepstation:NeedComms:A](INFO): last time_fix was:  1740494900.000000 second since 1970/01/01T00:00:00Z 
2025-02-25T15:28:21.058Z,1740497301.058 [keepstation:NeedComms:A] Stopped
2025-02-25T15:29:40.598Z,1740497380.598 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-25T15:29:47.875Z,1740497387.875 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-25T15:29:47.875Z,1740497387.875 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-25T15:29:47.894Z,1740497387.894 [BPC1](INFO): Received data from all battery sticks.
2025-02-25T15:29:58.894Z,1740497398.894 [keepstation:NeedComms:C] Running Loop=1
2025-02-25T15:29:59.469Z,1740497399.469 [Radio_Surface](INFO): Powering up
2025-02-25T15:30:05.511Z,1740497405.511 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-25T15:30:12.216Z,1740497412.216 [NAL9602](INFO): SBD MO Status=0, MOMSN=13430, MT Status=0, MTMSN=0
2025-02-25T15:30:12.216Z,1740497412.216 [NAL9602](INFO): No messages in MT queue
2025-02-25T15:30:13.419Z,1740497413.419 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153012.00,A,3647.99139,N,12153.22307,W,1.866,282.46,250225,,,A*74
2025-02-25T15:30:13.421Z,1740497413.421 [NAL9602](INFO): GPS fix at 20250225T153012: (36.799856, -121.887051)
2025-02-25T15:30:13.434Z,1740497413.434 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-02-25T15:30:13.437Z,1740497413.437 [keepstation:NeedComms:C] Stopped
2025-02-25T15:30:13.438Z,1740497413.438 [keepstation:NeedComms:D] Running Loop=1
2025-02-25T15:30:29.373Z,1740497429.373 [NAL9602](INFO): SBD MO Status=1, MOMSN=13431, MT Status=0, MTMSN=0
2025-02-25T15:30:29.433Z,1740497429.433 [NAL9602](INFO): Sent 83 bytes from file Logs/20250225T062120/Courier0055.lzma
2025-02-25T15:30:29.433Z,1740497429.433 [NAL9602](INFO): Packets left to send: 0
2025-02-25T15:30:35.629Z,1740497435.629 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T15:30:38.094Z,1740497438.094 [NAL9602](INFO): SBD MO Status=1, MOMSN=13432, MT Status=0, MTMSN=0
2025-02-25T15:30:38.141Z,1740497438.141 [NAL9602](INFO): Sent 157 bytes from file Logs/20250225T062120/Express0056.lzma
2025-02-25T15:30:38.141Z,1740497438.141 [NAL9602](INFO): Packets left to send: 0
2025-02-25T15:30:47.311Z,1740497447.311 [NAL9602](INFO): SBD MO Status=0, MOMSN=13433, MT Status=0, MTMSN=0
2025-02-25T15:30:47.400Z,1740497447.400 [keepstation:NeedComms:D] Stopped
2025-02-25T15:30:47.401Z,1740497447.401 [keepstation:NeedComms:E] Running Loop=1
2025-02-25T15:30:49.736Z,1740497449.736 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153049.00,A,3647.99497,N,12153.23196,W,0.253,294.29,250225,,,A*73
2025-02-25T15:30:49.738Z,1740497449.738 [NAL9602](INFO): GPS fix at 20250225T153049: (36.799916, -121.887199)
2025-02-25T15:30:49.753Z,1740497449.753 [keepstation:NeedComms:E] Stopped
2025-02-25T15:30:49.754Z,1740497449.754 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-25T15:30:49.754Z,1740497449.754 [keepstation:NeedComms] Stopped
2025-02-25T15:30:49.755Z,1740497449.755 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-25T15:30:49.755Z,1740497449.755 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-25T15:30:49.755Z,1740497449.755 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T15:31:06.753Z,1740497466.753 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T15:31:22.379Z,1740497482.379 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T15:31:22.784Z,1740497482.784 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.75 m/s, pitch 20.00 deg, mass-position 11.65 mm (2 active estimators).
2025-02-25T15:31:37.890Z,1740497497.890 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T15:32:09.013Z,1740497529.013 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T15:32:23.353Z,1740497543.353 [Radio_Surface](INFO): Powering down
2025-02-25T15:32:40.137Z,1740497560.137 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T15:32:41.141Z,1740497561.141 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-25T15:43:09.633Z,1740498189.633 [keepstation:KeepStation:C.KeepStation](INFO): Waypoint->Rest
2025-02-25T15:43:10.032Z,1740498190.032 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm.
2025-02-25T16:10:50.138Z,1740499850.138 [keepstation:NeedComms] Running Loop=1
2025-02-25T16:10:50.138Z,1740499850.138 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-25T16:10:50.138Z,1740499850.138 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-25T16:10:50.138Z,1740499850.138 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T16:10:50.138Z,1740499850.138 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-25T16:10:50.139Z,1740499850.139 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-25T16:10:50.139Z,1740499850.139 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-25T16:10:50.139Z,1740499850.139 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-25T16:10:50.140Z,1740499850.140 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T16:10:50.140Z,1740499850.140 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T16:10:50.141Z,1740499850.141 [keepstation:NeedComms:A] Running Loop=1
2025-02-25T16:10:50.142Z,1740499850.142 [keepstation:NeedComms:A](INFO): last time_fix was:  1740497449.000000 second since 1970/01/01T00:00:00Z 
2025-02-25T16:10:50.142Z,1740499850.142 [keepstation:NeedComms:A] Stopped
2025-02-25T16:12:07.781Z,1740499927.781 [keepstation:NeedComms:C] Running Loop=1
2025-02-25T16:12:08.469Z,1740499928.469 [Radio_Surface](INFO): Powering up
2025-02-25T16:12:13.905Z,1740499933.905 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-25T16:12:28.803Z,1740499948.803 [NAL9602](INFO): SBD MO Status=2, MOMSN=13434, MT Status=2, MTMSN=0
2025-02-25T16:12:28.803Z,1740499948.803 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T16:12:51.015Z,1740499971.015 [NAL9602](INFO): SBD MO Status=2, MOMSN=13434, MT Status=2, MTMSN=0
2025-02-25T16:12:51.015Z,1740499971.015 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T16:13:11.216Z,1740499991.216 [NAL9602](INFO): SBD MO Status=0, MOMSN=13434, MT Status=0, MTMSN=0
2025-02-25T16:13:11.216Z,1740499991.216 [NAL9602](INFO): No messages in MT queue
2025-02-25T16:13:12.428Z,1740499992.428 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,161311.00,A,3647.81218,N,12153.26961,W,0.486,292.23,250225,,,A*73
2025-02-25T16:13:12.437Z,1740499992.437 [NAL9602](INFO): GPS fix at 20250225T161311: (36.796870, -121.887827)
2025-02-25T16:13:12.455Z,1740499992.455 [UniversalFixResidualReporter](INFO): Fix residual: 35.7 %DT, over the last 599.4 m. Residual distance 213.8 m at bearing -159.1 degrees. Fix at (36.7969, -121.8878) with 343.3 m made good.
2025-02-25T16:13:12.459Z,1740499992.459 [keepstation:NeedComms:C] Stopped
2025-02-25T16:13:12.459Z,1740499992.459 [keepstation:NeedComms:D] Running Loop=1
2025-02-25T16:13:21.768Z,1740500001.768 [NAL9602](INFO): SBD MO Status=1, MOMSN=13435, MT Status=0, MTMSN=0
2025-02-25T16:13:21.825Z,1740500001.825 [NAL9602](INFO): Sent 82 bytes from file Logs/20250225T062120/Courier0058.lzma
2025-02-25T16:13:21.825Z,1740500001.825 [NAL9602](INFO): Packets left to send: 0
2025-02-25T16:13:36.172Z,1740500016.172 [NAL9602](INFO): SBD MO Status=1, MOMSN=13436, MT Status=0, MTMSN=0
2025-02-25T16:13:36.229Z,1740500016.229 [NAL9602](INFO): Sent 182 bytes from file Logs/20250225T062120/Express0059.lzma
2025-02-25T16:13:36.229Z,1740500016.229 [NAL9602](INFO): Packets left to send: 0
2025-02-25T16:13:47.011Z,1740500027.011 [NAL9602](INFO): SBD MO Status=0, MOMSN=13437, MT Status=0, MTMSN=0
2025-02-25T16:13:47.097Z,1740500027.097 [keepstation:NeedComms:D] Stopped
2025-02-25T16:13:47.097Z,1740500027.097 [keepstation:NeedComms:E] Running Loop=1
2025-02-25T16:13:49.432Z,1740500029.432 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,161348.00,A,3647.81445,N,12153.27457,W,0.661,298.77,250225,,,A*78
2025-02-25T16:13:49.434Z,1740500029.434 [NAL9602](INFO): GPS fix at 20250225T161348: (36.796908, -121.887910)
2025-02-25T16:13:49.448Z,1740500029.448 [keepstation:NeedComms:E] Stopped
2025-02-25T16:13:49.450Z,1740500029.450 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-25T16:13:49.450Z,1740500029.450 [keepstation:NeedComms] Stopped
2025-02-25T16:13:49.450Z,1740500029.450 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-25T16:13:49.450Z,1740500029.450 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-25T16:13:49.450Z,1740500029.450 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T16:14:19.682Z,1740500059.682 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.007738
2025-02-25T16:14:21.059Z,1740500061.059 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T16:15:39.642Z,1740500139.642 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T16:16:10.793Z,1740500170.793 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T16:16:22.005Z,1740500182.005 [Radio_Surface](INFO): Powering down
2025-02-25T16:16:41.949Z,1740500201.949 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T16:16:42.954Z,1740500202.954 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-25T16:17:47.229Z,1740500267.229 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.803238
2025-02-25T16:30:54.976Z,1740501054.976 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T16:31:08.309Z,1740501068.309 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T16:31:21.235Z,1740501081.235 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T16:31:33.760Z,1740501093.760 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T16:31:47.092Z,1740501107.092 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T16:31:59.620Z,1740501119.620 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T16:32:12.544Z,1740501132.544 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T16:37:13.128Z,1740501433.128 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-25T16:37:21.217Z,1740501441.217 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-25T16:37:21.218Z,1740501441.218 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-25T16:37:21.220Z,1740501441.220 [BPC1](INFO): Received data from all battery sticks.
2025-02-25T16:53:49.819Z,1740502429.819 [keepstation:NeedComms] Running Loop=1
2025-02-25T16:53:49.819Z,1740502429.819 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-25T16:53:49.819Z,1740502429.819 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-25T16:53:49.819Z,1740502429.819 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T16:53:49.820Z,1740502429.820 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-25T16:53:49.820Z,1740502429.820 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-25T16:53:49.820Z,1740502429.820 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-25T16:53:49.821Z,1740502429.821 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-25T16:53:49.821Z,1740502429.821 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T16:53:49.822Z,1740502429.822 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T16:53:49.822Z,1740502429.822 [keepstation:NeedComms:A] Running Loop=1
2025-02-25T16:53:49.824Z,1740502429.824 [keepstation:NeedComms:A](INFO): last time_fix was:  1740500028.000000 second since 1970/01/01T00:00:00Z 
2025-02-25T16:53:49.824Z,1740502429.824 [keepstation:NeedComms:A] Stopped
2025-02-25T16:55:26.686Z,1740502526.686 [keepstation:NeedComms:C] Running Loop=1
2025-02-25T16:55:27.457Z,1740502527.457 [Radio_Surface](INFO): Powering up
2025-02-25T16:55:33.645Z,1740502533.645 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-25T16:55:39.219Z,1740502539.219 [NAL9602](INFO): SBD MO Status=0, MOMSN=13438, MT Status=0, MTMSN=0
2025-02-25T16:55:39.219Z,1740502539.219 [NAL9602](INFO): No messages in MT queue
2025-02-25T16:55:40.428Z,1740502540.428 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165539.00,A,3647.87744,N,12153.27311,W,0.214,49.20,250225,,,A*47
2025-02-25T16:55:40.431Z,1740502540.431 [NAL9602](INFO): GPS fix at 20250225T165539: (36.797957, -121.887885)
2025-02-25T16:55:40.446Z,1740502540.446 [keepstation:NeedComms:C] Stopped
2025-02-25T16:55:40.446Z,1740502540.446 [keepstation:NeedComms:D] Running Loop=1
2025-02-25T16:55:55.195Z,1740502555.195 [NAL9602](INFO): SBD MO Status=1, MOMSN=13439, MT Status=0, MTMSN=0
2025-02-25T16:55:55.245Z,1740502555.245 [NAL9602](INFO): Sent 85 bytes from file Logs/20250225T062120/Courier0061.lzma
2025-02-25T16:55:55.246Z,1740502555.246 [NAL9602](INFO): Packets left to send: 0
2025-02-25T16:56:03.773Z,1740502563.773 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T16:56:04.606Z,1740502564.606 [NAL9602](INFO): SBD MO Status=1, MOMSN=13440, MT Status=0, MTMSN=0
2025-02-25T16:56:04.657Z,1740502564.657 [NAL9602](INFO): Sent 175 bytes from file Logs/20250225T062120/Express0062.lzma
2025-02-25T16:56:04.657Z,1740502564.657 [NAL9602](INFO): Packets left to send: 0
2025-02-25T16:56:16.358Z,1740502576.358 [NAL9602](INFO): SBD MO Status=0, MOMSN=13441, MT Status=0, MTMSN=0
2025-02-25T16:56:16.445Z,1740502576.445 [keepstation:NeedComms:D] Stopped
2025-02-25T16:56:16.445Z,1740502576.445 [keepstation:NeedComms:E] Running Loop=1
2025-02-25T16:56:18.777Z,1740502578.777 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165618.00,A,3647.88048,N,12153.28110,W,1.166,344.86,250225,,,A*7A
2025-02-25T16:56:18.780Z,1740502578.780 [NAL9602](INFO): GPS fix at 20250225T165618: (36.798008, -121.888018)
2025-02-25T16:56:18.794Z,1740502578.794 [keepstation:NeedComms:E] Stopped
2025-02-25T16:56:18.795Z,1740502578.795 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-25T16:56:18.795Z,1740502578.795 [keepstation:NeedComms] Stopped
2025-02-25T16:56:18.795Z,1740502578.795 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-25T16:56:18.795Z,1740502578.795 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-25T16:56:18.795Z,1740502578.795 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T16:56:34.897Z,1740502594.897 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T16:56:51.504Z,1740502611.504 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T16:57:06.021Z,1740502626.021 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T16:57:37.145Z,1740502657.145 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T16:57:49.397Z,1740502669.397 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003154
2025-02-25T16:58:38.597Z,1740502718.597 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T16:59:09.737Z,1740502749.737 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T16:59:12.673Z,1740502752.673 [Radio_Surface](INFO): Powering down
2025-02-25T16:59:40.898Z,1740502780.898 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T16:59:41.901Z,1740502781.901 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-25T17:00:50.181Z,1740502850.181 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.787262
2025-02-25T17:36:19.024Z,1740504979.024 [keepstation:NeedComms] Running Loop=1
2025-02-25T17:36:19.024Z,1740504979.024 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-25T17:36:19.024Z,1740504979.024 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-25T17:36:19.024Z,1740504979.024 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T17:36:19.024Z,1740504979.024 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-25T17:36:19.041Z,1740504979.041 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-25T17:36:19.041Z,1740504979.041 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-25T17:36:19.042Z,1740504979.042 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-25T17:36:19.042Z,1740504979.042 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T17:36:19.042Z,1740504979.042 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T17:36:19.043Z,1740504979.043 [keepstation:NeedComms:A] Running Loop=1
2025-02-25T17:36:19.044Z,1740504979.044 [keepstation:NeedComms:A](INFO): last time_fix was:  1740502578.000000 second since 1970/01/01T00:00:00Z 
2025-02-25T17:36:19.044Z,1740504979.044 [keepstation:NeedComms:A] Stopped
2025-02-25T17:37:34.725Z,1740505054.725 [keepstation:KeepStation:C.KeepStation](INFO): Rest->Waypoint
2025-02-25T17:37:45.650Z,1740505065.650 [keepstation:NeedComms:C] Running Loop=1
2025-02-25T17:37:46.393Z,1740505066.393 [Radio_Surface](INFO): Powering up
2025-02-25T17:37:52.357Z,1740505072.357 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-25T17:38:03.916Z,1740505083.916 [NAL9602](INFO): SBD MO Status=2, MOMSN=13442, MT Status=2, MTMSN=0
2025-02-25T17:38:03.916Z,1740505083.916 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T17:38:22.490Z,1740505102.490 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T17:38:24.111Z,1740505104.111 [NAL9602](INFO): SBD MO Status=2, MOMSN=13442, MT Status=2, MTMSN=0
2025-02-25T17:38:24.111Z,1740505104.111 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T17:38:28.555Z,1740505108.555 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T17:38:36.639Z,1740505116.639 [NAL9602](INFO): SBD MO Status=2, MOMSN=13442, MT Status=2, MTMSN=0
2025-02-25T17:38:36.640Z,1740505116.640 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T17:38:41.075Z,1740505121.075 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T17:38:46.735Z,1740505126.735 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=13442, MT Status=1, MTMSN=287
2025-02-25T17:38:46.735Z,1740505126.735 [NAL9602](INFO): Data available in MT queue
2025-02-25T17:38:47.237Z,1740505127.237 [NAL9602](INFO): Received command: stop
2025-02-25T17:38:47.294Z,1740505127.294 [CommandExec](IMPORTANT): got command stop
2025-02-25T17:38:47.294Z,1740505127.294 [CommandExec](IMPORTANT): Scheduling is paused
2025-02-25T17:38:47.295Z,1740505127.295 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-02-25T17:38:47.567Z,1740505127.567 [MissionManager](INFO): MissionManager is completed.
2025-02-25T17:38:47.568Z,1740505127.568 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-25T17:38:47.568Z,1740505127.568 [keepstation] Stopped
2025-02-25T17:38:47.568Z,1740505127.568 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-25T17:38:47.568Z,1740505127.568 [keepstation:NeedComms] Stopped
2025-02-25T17:38:47.568Z,1740505127.568 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-25T17:38:47.568Z,1740505127.568 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-25T17:38:47.568Z,1740505127.568 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-25T17:38:47.568Z,1740505127.568 [keepstation:NeedComms:C] Stopped
2025-02-25T17:38:47.568Z,1740505127.568 [keepstation:StandardEnvelopes] Stopped
2025-02-25T17:38:47.568Z,1740505127.568 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-25T17:38:47.568Z,1740505127.568 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-25T17:38:47.568Z,1740505127.568 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-25T17:38:47.569Z,1740505127.569 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-25T17:38:47.569Z,1740505127.569 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-25T17:38:47.569Z,1740505127.569 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-25T17:38:47.569Z,1740505127.569 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-25T17:38:47.569Z,1740505127.569 [keepstation:BackseatDriver] Stopped
2025-02-25T17:38:47.569Z,1740505127.569 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-25T17:38:47.569Z,1740505127.569 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-25T17:38:47.569Z,1740505127.569 [keepstation:PowerOnly] Stopped
2025-02-25T17:38:47.569Z,1740505127.569 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-25T17:38:47.570Z,1740505127.570 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-25T17:38:47.570Z,1740505127.570 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T17:38:47.570Z,1740505127.570 [keepstation:H.Pitch] Stopped
2025-02-25T17:38:47.570Z,1740505127.570 [keepstation:KeepStation] Stopped
2025-02-25T17:38:47.570Z,1740505127.570 [keepstation:KeepStation](DEBUG): Aggregate::uninitialize keepstation:KeepStation
2025-02-25T17:38:47.570Z,1740505127.570 [keepstation:KeepStation:A] Stopped
2025-02-25T17:38:47.570Z,1740505127.570 [keepstation:KeepStation:B.Pitch] Stopped
2025-02-25T17:38:47.570Z,1740505127.570 [keepstation:KeepStation:C.KeepStation] Stopped
2025-02-25T17:38:47.570Z,1740505127.570 [keepstation:KeepStation:C.KeepStation](DEBUG): Uninitialize KeepStationComponent.
2025-02-25T17:38:47.570Z,1740505127.570 [keepstation:KeepStation:D.Wait] Stopped
2025-02-25T17:38:47.570Z,1740505127.570 [keepstation:KeepStation:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T17:38:47.979Z,1740505127.979 [MissionManager](IMPORTANT): Started mission Default
2025-02-25T17:38:47.979Z,1740505127.979 [Default] Running Loop=1
2025-02-25T17:38:47.979Z,1740505127.979 [Default](DEBUG): Aggregate::initialize Default
2025-02-25T17:38:47.979Z,1740505127.979 [Default:B.GoToSurface] Running Loop=1
2025-02-25T17:38:47.979Z,1740505127.979 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-25T17:38:47.980Z,1740505127.980 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-25T17:38:47.980Z,1740505127.980 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-25T17:38:47.980Z,1740505127.980 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-25T17:38:47.981Z,1740505127.981 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-25T17:38:47.981Z,1740505127.981 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-25T17:38:47.982Z,1740505127.982 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-25T17:38:47.983Z,1740505127.983 [Default:A.Wait] Running Loop=1
2025-02-25T17:38:47.983Z,1740505127.983 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-25T17:38:48.351Z,1740505128.351 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,173847.00,A,3647.97520,N,12153.25020,W,0.369,310.42,250225,,,A*76
2025-02-25T17:38:48.354Z,1740505128.354 [NAL9602](INFO): GPS fix at 20250225T173847: (36.799587, -121.887503)
2025-02-25T17:38:53.625Z,1740505133.625 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T17:38:54.004Z,1740505134.004 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T17:39:01.289Z,1740505141.289 [Default:A.Wait](INFO): Done Waiting.
2025-02-25T17:39:01.289Z,1740505141.289 [Default:A.Wait] Stopped
2025-02-25T17:39:01.289Z,1740505141.289 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-25T17:39:01.694Z,1740505141.694 [Default:CheckIn] Running Loop=1
2025-02-25T17:39:01.694Z,1740505141.694 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-25T17:39:01.694Z,1740505141.694 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-25T17:39:03.704Z,1740505143.704 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,173902.00,A,3647.97664,N,12153.25044,W,2.177,32.89,250225,,,A*4C
2025-02-25T17:39:03.707Z,1740505143.707 [NAL9602](INFO): GPS fix at 20250225T173902: (36.799611, -121.887507)
2025-02-25T17:39:03.718Z,1740505143.718 [Default:CheckIn:Read_GPS] Stopped
2025-02-25T17:39:03.718Z,1740505143.718 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-25T17:39:07.336Z,1740505147.336 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T17:39:19.776Z,1740505159.776 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T17:39:24.770Z,1740505164.770 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T17:39:31.096Z,1740505171.096 [NAL9602](INFO): SBD MO Status=2, MOMSN=13443, MT Status=2, MTMSN=0
2025-02-25T17:39:31.096Z,1740505171.096 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-25T17:39:32.704Z,1740505172.704 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T17:39:44.860Z,1740505184.860 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-25T17:39:49.315Z,1740505189.315 [NAL9602](INFO): SBD MO Status=1, MOMSN=13443, MT Status=0, MTMSN=0
2025-02-25T17:39:49.373Z,1740505189.373 [NAL9602](INFO): Sent 73 bytes from file Logs/20250225T062120/Courier0064.lzma
2025-02-25T17:39:49.373Z,1740505189.373 [NAL9602](INFO): Packets left to send: 0
2025-02-25T17:39:55.901Z,1740505195.901 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-25T17:40:06.591Z,1740505206.591 [NAL9602](INFO): SBD MO Status=1, MOMSN=13444, MT Status=0, MTMSN=0
2025-02-25T17:40:06.645Z,1740505206.645 [NAL9602](INFO): Sent 254 bytes from file Logs/20250225T062120/Express0065.lzma
2025-02-25T17:40:06.645Z,1740505206.645 [NAL9602](INFO): Packets left to send: 0
2025-02-25T17:40:08.138Z,1740505208.138 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003379
2025-02-25T17:40:09.886Z,1740505209.886 [Default:CheckIn:Read_Iridium] Stopped
2025-02-25T17:40:09.887Z,1740505209.887 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-25T17:40:09.887Z,1740505209.887 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-25T17:40:17.156Z,1740505217.156 [NAL9602](INFO): SBD MO Status=0, MOMSN=13445, MT Status=0, MTMSN=0
2025-02-25T17:40:48.450Z,1740505248.450 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-25T17:42:18.582Z,1740505338.582 [DataOverHttps](IMPORTANT): SBD MTMSN=20250225T174217
2025-02-25T17:42:26.361Z,1740505346.361 [DataOverHttps](INFO): Received command: restart logs