2025-02-26T07:40:52.817Z,1740555652.817 [Supervisor](DEBUG): Initializing supervisor.
2025-02-26T07:40:52.821Z,1740555652.821 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-02-26T07:40:52.822Z,1740555652.822 [SyncHandler](INFO): Protected caller Thread ID is 2394
2025-02-26T07:40:52.822Z,1740555652.822 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-02-26T07:40:52.823Z,1740555652.823 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-02-26T07:40:52.823Z,1740555652.823 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2395
2025-02-26T07:40:52.827Z,1740555652.827 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-02-26T07:40:52.844Z,1740555652.844 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-02-26T07:40:52.845Z,1740555652.845 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-02-26T07:40:52.846Z,1740555652.846 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 2396
2025-02-26T07:40:52.850Z,1740555652.850 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-02-26T07:40:52.851Z,1740555652.851 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-02-26T07:40:52.851Z,1740555652.851 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2397
2025-02-26T07:40:52.854Z,1740555652.854 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-02-26T07:40:52.854Z,1740555652.854 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-02-26T07:40:52.855Z,1740555652.855 [logger ThreadHandler](INFO): Protected caller Thread ID is 2398
2025-02-26T07:40:52.858Z,1740555652.858 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-02-26T07:40:52.859Z,1740555652.859 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-02-26T07:40:52.862Z,1740555652.862 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-02-26T07:40:53.169Z,1740555653.169 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-02-26T07:40:53.171Z,1740555653.171 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-02-26T07:40:53.398Z,1740555653.398 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-02-26T07:40:53.400Z,1740555653.400 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-02-26T07:40:53.515Z,1740555653.515 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-02-26T07:40:53.516Z,1740555653.516 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-02-26T07:40:53.714Z,1740555653.714 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-02-26T07:40:53.716Z,1740555653.716 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-02-26T07:40:54.210Z,1740555654.210 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-02-26T07:40:54.212Z,1740555654.211 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-02-26T07:40:54.340Z,1740555654.340 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-02-26T07:40:54.342Z,1740555654.342 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-02-26T07:40:54.627Z,1740555654.627 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-02-26T07:40:54.627Z,1740555654.627 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-02-26T07:40:54.853Z,1740555654.853 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-02-26T07:40:54.854Z,1740555654.854 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-02-26T07:40:55.396Z,1740555655.396 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-02-26T07:40:55.397Z,1740555655.397 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-02-26T07:40:55.819Z,1740555655.819 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-02-26T07:40:55.820Z,1740555655.820 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-02-26T07:40:55.922Z,1740555655.922 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-02-26T07:40:56.313Z,1740555656.313 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-02-26T07:40:56.314Z,1740555656.314 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-02-26T07:40:56.471Z,1740555656.471 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-02-26T07:40:56.471Z,1740555656.471 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-02-26T07:40:57.409Z,1740555657.409 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-02-26T07:40:57.410Z,1740555657.410 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-02-26T07:41:07.537Z,1740555667.537 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-02-26T07:41:08.049Z,1740555668.049 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-02-26T07:41:09.177Z,1740555669.177 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-aku/
2025-02-26T07:41:09.180Z,1740555669.180 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/secure.cfg
2025-02-26T07:41:09.284Z,1740555669.284 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/logger.cfg
2025-02-26T07:41:09.410Z,1740555669.410 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/vehicle.cfg
2025-02-26T07:41:09.536Z,1740555669.536 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/BIT.cfg
2025-02-26T07:41:09.645Z,1740555669.645 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Simulator.cfg
2025-02-26T07:41:09.752Z,1740555669.752 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Servo.cfg
2025-02-26T07:41:09.875Z,1740555669.875 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Science.cfg
2025-02-26T07:41:10.036Z,1740555670.036 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Sensor.cfg
2025-02-26T07:41:10.220Z,1740555670.220 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Control.cfg
2025-02-26T07:41:10.335Z,1740555670.335 [Supervisor](INFO): Opening Config file at: Config/lrauv-aku/Battery.cfg
2025-02-26T07:41:10.619Z,1740555670.619 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-02-26T07:41:10.620Z,1740555670.620 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-aku/root/
2025-02-26T07:41:10.621Z,1740555670.621 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-02-26T07:41:10.643Z,1740555670.643 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-02-26T07:41:11.051Z,1740555671.051 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-02-26T07:41:11.052Z,1740555671.052 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-02-26T07:41:12.308Z,1740555672.308 [AHRS_M2] Loaded
2025-02-26T07:41:12.308Z,1740555672.308 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-02-26T07:41:12.347Z,1740555672.347 [BackseatComponent] Loaded
2025-02-26T07:41:12.347Z,1740555672.347 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-02-26T07:41:12.348Z,1740555672.348 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408AB4E0
2025-02-26T07:41:12.349Z,1740555672.349 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 2477
2025-02-26T07:41:12.351Z,1740555672.351 [LcmUniversalReporter] Loaded
2025-02-26T07:41:12.352Z,1740555672.352 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2025-02-26T07:41:13.148Z,1740555673.148 [BPC1] Loaded
2025-02-26T07:41:13.148Z,1740555673.148 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-02-26T07:41:13.242Z,1740555673.242 [DAT] Loaded
2025-02-26T07:41:13.242Z,1740555673.242 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-02-26T07:41:13.243Z,1740555673.243 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 408DB4E0
2025-02-26T07:41:13.244Z,1740555673.244 [DAT ThreadHandler](INFO): Protected caller Thread ID is 2478
2025-02-26T07:41:13.318Z,1740555673.318 [DataOverHttps] Loaded
2025-02-26T07:41:13.319Z,1740555673.319 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-02-26T07:41:13.320Z,1740555673.320 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4090B4E0
2025-02-26T07:41:13.320Z,1740555673.320 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 2479
2025-02-26T07:41:13.343Z,1740555673.343 [Depth_Keller] Loaded
2025-02-26T07:41:13.343Z,1740555673.343 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-02-26T07:41:13.348Z,1740555673.348 [DropWeight] Loaded
2025-02-26T07:41:13.348Z,1740555673.348 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2025-02-26T07:41:13.411Z,1740555673.411 [NAL9602] Loaded
2025-02-26T07:41:13.412Z,1740555673.412 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-02-26T07:41:13.440Z,1740555673.440 [Onboard] Loaded
2025-02-26T07:41:13.441Z,1740555673.441 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-02-26T07:41:13.442Z,1740555673.442 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4093B4E0
2025-02-26T07:41:13.442Z,1740555673.442 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 2480
2025-02-26T07:41:13.456Z,1740555673.456 [Power24vConverter] Loaded
2025-02-26T07:41:13.456Z,1740555673.456 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-02-26T07:41:13.472Z,1740555673.472 [Radio_Surface] Loaded
2025-02-26T07:41:13.473Z,1740555673.473 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-02-26T07:41:13.474Z,1740555673.474 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4096B4E0
2025-02-26T07:41:13.474Z,1740555673.474 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2481
2025-02-26T07:41:13.489Z,1740555673.489 [Sonardyne_Nano] Loaded
2025-02-26T07:41:13.490Z,1740555673.490 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-02-26T07:41:13.490Z,1740555673.490 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-02-26T07:41:13.491Z,1740555673.491 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-02-26T07:41:15.138Z,1740555675.138 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-02-26T07:41:15.138Z,1740555675.138 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-02-26T07:41:15.205Z,1740555675.205 [VerticalControl](DEBUG): Construct VerticalControl.
2025-02-26T07:41:15.264Z,1740555675.264 [VerticalControl] Loaded
2025-02-26T07:41:15.264Z,1740555675.264 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-02-26T07:41:15.267Z,1740555675.267 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-02-26T07:41:15.315Z,1740555675.315 [HorizontalControl] Loaded
2025-02-26T07:41:15.316Z,1740555675.316 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-02-26T07:41:15.318Z,1740555675.318 [SpeedControl](DEBUG): Construct SpeedControl.
2025-02-26T07:41:15.321Z,1740555675.321 [SpeedControl] Loaded
2025-02-26T07:41:15.322Z,1740555675.322 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-02-26T07:41:15.324Z,1740555675.324 [LoopControl](DEBUG): Construct LoopControl.
2025-02-26T07:41:15.325Z,1740555675.325 [LoopControl] Loaded
2025-02-26T07:41:15.325Z,1740555675.325 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-02-26T07:41:15.326Z,1740555675.326 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-02-26T07:41:15.326Z,1740555675.326 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-02-26T07:41:15.340Z,1740555675.340 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-02-26T07:41:15.341Z,1740555675.341 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-02-26T07:41:15.385Z,1740555675.385 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-02-26T07:41:15.385Z,1740555675.385 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-02-26T07:41:15.520Z,1740555675.520 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-02-26T07:41:15.520Z,1740555675.520 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-02-26T07:41:15.534Z,1740555675.534 [NavChart] Loaded
2025-02-26T07:41:15.534Z,1740555675.534 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-02-26T07:41:15.540Z,1740555675.540 [UniversalFixResidualReporter] Loaded
2025-02-26T07:41:15.540Z,1740555675.540 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-02-26T07:41:15.541Z,1740555675.541 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-02-26T07:41:15.541Z,1740555675.541 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-02-26T07:41:15.712Z,1740555675.712 [SBIT](DEBUG): Construct Startup Built In Test.
2025-02-26T07:41:15.721Z,1740555675.721 [SBIT] Loaded
2025-02-26T07:41:15.721Z,1740555675.721 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-02-26T07:41:15.724Z,1740555675.724 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-02-26T07:41:15.736Z,1740555675.736 [IBIT] Loaded
2025-02-26T07:41:15.737Z,1740555675.737 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-02-26T07:41:15.742Z,1740555675.742 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-02-26T07:41:15.848Z,1740555675.848 [CBIT] Loaded
2025-02-26T07:41:15.848Z,1740555675.848 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-02-26T07:41:15.848Z,1740555675.848 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-02-26T07:41:15.849Z,1740555675.849 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-02-26T07:41:16.059Z,1740555676.059 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-02-26T07:41:16.059Z,1740555676.059 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-02-26T07:41:16.220Z,1740555676.220 [BuoyancyServo] Loaded
2025-02-26T07:41:16.220Z,1740555676.220 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-02-26T07:41:16.242Z,1740555676.242 [MassServo] Loaded
2025-02-26T07:41:16.242Z,1740555676.242 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-02-26T07:41:16.262Z,1740555676.262 [RudderServo] Loaded
2025-02-26T07:41:16.263Z,1740555676.263 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-02-26T07:41:16.280Z,1740555676.280 [ThrusterHE] Loaded
2025-02-26T07:41:16.280Z,1740555676.280 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-02-26T07:41:16.281Z,1740555676.281 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-02-26T07:41:16.281Z,1740555676.281 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-02-26T07:41:16.501Z,1740555676.501 [CTD_Seabird] Loaded
2025-02-26T07:41:16.501Z,1740555676.501 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-02-26T07:41:16.502Z,1740555676.502 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BA14E0
2025-02-26T07:41:16.502Z,1740555676.502 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 2482
2025-02-26T07:41:16.538Z,1740555676.538 [ESPComponent] Loaded
2025-02-26T07:41:16.538Z,1740555676.538 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-02-26T07:41:16.559Z,1740555676.559 [PAR_Licor] Loaded
2025-02-26T07:41:16.560Z,1740555676.560 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-02-26T07:41:16.604Z,1740555676.604 [WetLabsBB2FL] Loaded
2025-02-26T07:41:16.605Z,1740555676.605 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-02-26T07:41:16.606Z,1740555676.606 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BD14E0
2025-02-26T07:41:16.606Z,1740555676.606 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 2483
2025-02-26T07:41:16.607Z,1740555676.607 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-02-26T07:41:16.607Z,1740555676.607 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-02-26T07:41:16.676Z,1740555676.676 [DepthRateCalculator] Loaded
2025-02-26T07:41:16.676Z,1740555676.676 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-02-26T07:41:16.681Z,1740555676.681 [PitchRateCalculator] Loaded
2025-02-26T07:41:16.681Z,1740555676.681 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-02-26T07:41:16.690Z,1740555676.690 [SpeedCalculator] Loaded
2025-02-26T07:41:16.690Z,1740555676.690 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-02-26T07:41:16.695Z,1740555676.695 [YawRateCalculator] Loaded
2025-02-26T07:41:16.695Z,1740555676.695 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-02-26T07:41:16.714Z,1740555676.714 [ElevatorOffsetCalculator] Loaded
2025-02-26T07:41:16.714Z,1740555676.714 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-02-26T07:41:16.715Z,1740555676.715 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-02-26T07:41:16.715Z,1740555676.715 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-02-26T07:41:16.798Z,1740555676.798 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-02-26T07:41:16.804Z,1740555676.804 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-02-26T07:41:16.807Z,1740555676.807 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-02-26T07:41:16.818Z,1740555676.818 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-02-26T07:41:16.819Z,1740555676.819 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C5E4E0
2025-02-26T07:41:16.820Z,1740555676.820 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2484
2025-02-26T07:41:16.824Z,1740555676.824 [Supervisor](INFO): Main Thread ID is 829
2025-02-26T07:41:16.824Z,1740555676.824 [Supervisor](DEBUG): Running supervisor.
2025-02-26T07:41:16.825Z,1740555676.825 [CommandExec ThreadHandler](INFO): Handler Thread ID is 2485
2025-02-26T07:41:16.825Z,1740555676.825 [CommandExec](INFO): Initializing the command executive.
2025-02-26T07:41:16.827Z,1740555676.827 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2486
2025-02-26T07:41:16.830Z,1740555676.830 [controlThread ThreadHandler](INFO): Handler Thread ID is 2487
2025-02-26T07:41:16.830Z,1740555676.830 [controlThread](DEBUG): Initializing ControlThread
2025-02-26T07:41:16.835Z,1740555676.835 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-02-26T07:41:16.836Z,1740555676.836 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-02-26T07:41:16.837Z,1740555676.837 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-02-26T07:41:16.838Z,1740555676.838 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-02-26T07:41:16.838Z,1740555676.838 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-02-26T07:41:16.839Z,1740555676.839 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-02-26T07:41:16.839Z,1740555676.839 [SBIT](INFO): Initialize SBIT Component.
2025-02-26T07:41:16.839Z,1740555676.839 [SBIT](IMPORTANT): git: 2025-02-24
2025-02-26T07:41:16.839Z,1740555676.839 [SBIT](INFO): git hash: a6046a38350dbb557659cdb2136a92a0beb43de0
2025-02-26T07:41:16.840Z,1740555676.840 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-02-26T07:41:16.841Z,1740555676.841 [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
2025-02-26T07:41:16.842Z,1740555676.842 [SBIT](INFO): Beginning SBIT in 66.000000 seconds.
2025-02-26T07:41:16.843Z,1740555676.843 [IBIT](INFO): Initialize IBIT Component.
2025-02-26T07:41:16.844Z,1740555676.844 [CBIT](DEBUG): Initialize CBIT Component.
2025-02-26T07:41:16.845Z,1740555676.845 [logger ThreadHandler](INFO): Handler Thread ID is 2488
2025-02-26T07:41:16.857Z,1740555676.857 [CBIT](DEBUG): Initialized mux pins.
2025-02-26T07:41:16.857Z,1740555676.857 [CBIT](DEBUG): Initializing the watchdog timer.
2025-02-26T07:41:16.865Z,1740555676.865 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 2489
2025-02-26T07:41:16.877Z,1740555676.877 [DAT ThreadHandler](INFO): Handler Thread ID is 2490
2025-02-26T07:41:16.878Z,1740555676.878 [DAT](INFO): Powering up
2025-02-26T07:41:16.878Z,1740555676.878 [DAT](DEBUG): Initializing DAT.
2025-02-26T07:41:16.881Z,1740555676.881 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-02-26T07:41:16.881Z,1740555676.881 [CBIT](DEBUG): Initializing heartbeat.
2025-02-26T07:41:16.883Z,1740555676.883 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 2492
2025-02-26T07:41:16.885Z,1740555676.885 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-02-26T07:41:16.894Z,1740555676.894 [Onboard ThreadHandler](INFO): Handler Thread ID is 2493
2025-02-26T07:41:16.924Z,1740555676.924 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2494
2025-02-26T07:41:16.941Z,1740555676.941 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 2495
2025-02-26T07:41:16.942Z,1740555676.942 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-02-26T07:41:16.946Z,1740555676.946 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 2497
2025-02-26T07:41:16.949Z,1740555676.949 [WetLabsBB2FL](INFO): Powering up
2025-02-26T07:41:16.951Z,1740555676.951 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2499
2025-02-26T07:41:16.954Z,1740555676.954 [CBIT](DEBUG): Deactivating GF circuits.
2025-02-26T07:41:16.954Z,1740555676.954 [CBIT](DEBUG): Deactivating emergency mode.
2025-02-26T07:41:16.957Z,1740555676.957 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-02-26T07:41:16.957Z,1740555676.957 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-02-26T07:41:16.958Z,1740555676.958 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-02-26T07:41:16.958Z,1740555676.958 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-02-26T07:41:16.958Z,1740555676.958 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-02-26T07:41:16.958Z,1740555676.958 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-02-26T07:41:16.958Z,1740555676.958 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-02-26T07:41:16.958Z,1740555676.958 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-02-26T07:41:16.993Z,1740555676.993 [CBIT](DEBUG): Backplane powered.
2025-02-26T07:41:16.997Z,1740555676.997 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-02-26T07:41:16.998Z,1740555676.998 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-02-26T07:41:16.998Z,1740555676.998 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-02-26T07:41:16.998Z,1740555676.998 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-02-26T07:41:17.005Z,1740555677.005 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-02-26T07:41:17.006Z,1740555677.006 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-02-26T07:41:17.007Z,1740555677.007 [MissionManager](INFO): Loading Mission from file: Missions/Startup.tl
2025-02-26T07:41:17.007Z,1740555677.007 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Startup.tl
2025-02-26T07:41:17.018Z,1740555677.018 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Startup.tl
2025-02-26T07:41:17.052Z,1740555677.052 [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>

2025-02-26T07:41:17.073Z,1740555677.073 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T07:41:17.117Z,1740555677.117 [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
    }
  }
}


2025-02-26T07:41:17.118Z,1740555677.118 [MissionManager](INFO): Loading Mission from file: Missions/Default.tl
2025-02-26T07:41:17.118Z,1740555677.118 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Default.tl
2025-02-26T07:41:17.134Z,1740555677.134 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Default.tl
2025-02-26T07:41:17.325Z,1740555677.325 [Radio_Surface](INFO): Powering up
2025-02-26T07:41:17.472Z,1740555677.472 [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>

2025-02-26T07:41:17.483Z,1740555677.483 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2025-02-26T07:41:17.484Z,1740555677.484 [Default:A.Wait](DEBUG): Construct Wait.
2025-02-26T07:41:17.503Z,1740555677.503 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T07:41:17.528Z,1740555677.528 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-02-26T07:41:17.555Z,1740555677.555 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-02-26T07:41:17.561Z,1740555677.561 [Default:E.Execute](DEBUG): Construct Execute.
2025-02-26T07:41:17.580Z,1740555677.580 [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"
  }
}


2025-02-26T07:41:17.584Z,1740555677.584 [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,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2025-02-26T07:41:17.607Z,1740555677.607 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-02-26T07:41:17.685Z,1740555677.685 [Power24vConverter](INFO): Powering up.
2025-02-26T07:41:17.685Z,1740555677.685 [Sonardyne_Nano](INFO): Initializing.
2025-02-26T07:41:17.751Z,1740555677.751 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-02-26T07:41:17.762Z,1740555677.762 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-02-26T07:41:17.763Z,1740555677.763 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-26T07:41:17.769Z,1740555677.769 [MassServo](DEBUG): Initializing MassServo.
2025-02-26T07:41:17.770Z,1740555677.770 [RudderServo](DEBUG): Initializing EZServoServo.
2025-02-26T07:41:17.777Z,1740555677.777 [RudderServo](DEBUG): Initializing RudderServo.
2025-02-26T07:41:17.778Z,1740555677.778 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T07:41:17.785Z,1740555677.785 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T07:41:19.057Z,1740555679.057 [WetLabsBB2FL](INFO): Powering down
2025-02-26T07:41:19.611Z,1740555679.611 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-02-26T07:41:20.903Z,1740555680.903 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2409
2025-02-26T07:41:23.362Z,1740555683.362 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-02-26T07:41:23.973Z,1740555683.973 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2025-02-26T07:41:28.726Z,1740555688.726 [DAT](INFO): DAT read: 

2025-02-26T07:41:28.727Z,1740555688.727 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-02-26T07:41:30.238Z,1740555690.238 [DAT](INFO): DAT read: MF Frequency Band

2025-02-26T07:41:30.239Z,1740555690.239 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-02-26T07:41:30.240Z,1740555690.240 [DAT](INFO): DAT read: Feb 26 2025 07:35:05 

2025-02-26T07:41:31.246Z,1740555691.246 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-02-26T07:41:31.247Z,1740555691.247 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2025-02-26T07:41:31.248Z,1740555691.248 [DAT](INFO): commRate: 800
2025-02-26T07:41:33.313Z,1740555693.313 [DAT](INFO): entering command mode
2025-02-26T07:41:33.514Z,1740555693.514 [DAT](INFO): DAT read: 

2025-02-26T07:41:33.514Z,1740555693.514 [DAT](INFO): DAT read: user:1>

2025-02-26T07:41:33.514Z,1740555693.514 [DAT](INFO): setting verbose to 3
2025-02-26T07:41:33.766Z,1740555693.766 [DAT](INFO): DAT read: user:1>

2025-02-26T07:41:33.767Z,1740555693.767 [DAT](INFO): DAT read: Verbose         | 3           

2025-02-26T07:41:33.767Z,1740555693.767 [DAT](INFO): set verbose to 3
2025-02-26T07:41:33.767Z,1740555693.767 [DAT](INFO): setting DatVerbose to 27440
2025-02-26T07:41:34.018Z,1740555694.018 [DAT](INFO): DAT read: user:2>

2025-02-26T07:41:34.019Z,1740555694.019 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-02-26T07:41:34.019Z,1740555694.019 [DAT](INFO): set DatVerbose to 27440
2025-02-26T07:41:34.019Z,1740555694.019 [DAT](INFO): setting transmit power to 8
2025-02-26T07:41:34.270Z,1740555694.270 [DAT](INFO): DAT read: user:3>

2025-02-26T07:41:34.271Z,1740555694.271 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-02-26T07:41:34.271Z,1740555694.271 [DAT](INFO): set transmit power to 8
2025-02-26T07:41:34.271Z,1740555694.271 [DAT](INFO): setting local address to 2
2025-02-26T07:41:34.522Z,1740555694.522 [DAT](INFO): DAT read: user:4>

2025-02-26T07:41:34.523Z,1740555694.523 [DAT](INFO): DAT read: LocalAddr       | 2           

2025-02-26T07:41:34.523Z,1740555694.523 [DAT](INFO): set local address to 2
2025-02-26T07:41:34.524Z,1740555694.524 [DAT](INFO): Setting time to: 7:41:34 And date to:2/26/2025
2025-02-26T07:41:34.774Z,1740555694.774 [DAT](INFO): DAT read: user:5>

2025-02-26T07:41:34.774Z,1740555694.774 [DAT](INFO): DAT read: Wed Feb 26, 2025  07:41:34  

2025-02-26T07:41:34.775Z,1740555694.775 [DAT](INFO): Local DAT time set to Wed Feb 26, 2025  07:41:34  

2025-02-26T07:41:43.463Z,1740555703.463 [NAL9602](INFO): Powering up NAL9602
2025-02-26T07:41:54.363Z,1740555714.363 [NAL9602](INFO): NAL9602 initialized
2025-02-26T07:42:15.769Z,1740555735.769 [NAL9602](INFO): SBD MO Status=2, MOMSN=13521, MT Status=2, MTMSN=0
2025-02-26T07:42:15.769Z,1740555735.769 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T07:42:23.611Z,1740555743.611 [SBIT](IMPORTANT): Beginning Startup BIT
2025-02-26T07:42:23.615Z,1740555743.615 [CBIT](IMPORTANT): Beginning ground fault scan
2025-02-26T07:42:23.846Z,1740555743.846 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T07:42:30.725Z,1740555750.725 [NAL9602](INFO): SBD MO Status=0, MOMSN=13521, MT Status=0, MTMSN=0
2025-02-26T07:42:30.725Z,1740555750.725 [NAL9602](INFO): No messages in MT queue
2025-02-26T07:42:34.517Z,1740555754.517 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.000503
CHAN A1 (24V): -0.000765
CHAN A2 (12V): 0.000531
CHAN A3 (5V): -0.001718
CHAN B0 (3.3V): -0.001170
CHAN B1 (3.15aV): -0.001394
CHAN B2 (3.15bV): -0.001824
CHAN B3 (GND): -0.002778
OPEN: 0.004025
Full Scale: +/- 1 mA
2025-02-26T07:42:36.999Z,1740555756.999 [SBIT](ERROR): Could not read elevatorAngleReader_.
2025-02-26T07:42:37.182Z,1740555757.182 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T07:42:50.156Z,1740555770.156 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,074246.00,A,3647.76594,N,12154.16863,W,0.525,38.60,260225,,,A*47
2025-02-26T07:42:50.159Z,1740555770.159 [NAL9602](INFO): GPS fix at 20250226T074246: (36.796099, -121.902811)
2025-02-26T07:42:50.516Z,1740555770.516 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T07:43:03.643Z,1740555783.643 [SBIT](ERROR): Could not read elevatorAngleReader_.
2025-02-26T07:43:03.643Z,1740555783.643 [SBIT](FAULT): Control surface position failure.
2025-02-26T07:43:03.848Z,1740555783.848 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T07:43:16.811Z,1740555796.811 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T07:43:17.343Z,1740555797.343 [SBIT](ERROR): Could not read elevatorAngleReader_.
2025-02-26T07:43:17.343Z,1740555797.343 [SBIT](FAULT): Control surface position failure.
2025-02-26T07:43:17.774Z,1740555797.774 [SBIT](CRITICAL): SBIT FAILED
2025-02-26T07:43:17.774Z,1740555797.774 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-02-26T07:43:17.775Z,1740555797.775 [SBIT](IMPORTANT): BioacousticsDataBridge.loadAtStartup=0 bool;

2025-02-26T07:43:17.775Z,1740555797.775 [SBIT](IMPORTANT): CBIT.runNavErrorCritical=0 bool;

2025-02-26T07:43:17.775Z,1740555797.775 [SBIT](IMPORTANT): Courier mostRecent latitude_fix;

2025-02-26T07:43:17.775Z,1740555797.775 [SBIT](IMPORTANT): Courier mostRecent longitude_fix;

2025-02-26T07:43:17.776Z,1740555797.776 [SBIT](IMPORTANT): Courier mostRecent time_fix;

2025-02-26T07:43:17.776Z,1740555797.776 [SBIT](IMPORTANT): DAT.loadAtStartup=1 bool;

2025-02-26T07:43:17.776Z,1740555797.776 [SBIT](IMPORTANT): DATMMP.loadAtStartup=0 bool;

2025-02-26T07:43:17.776Z,1740555797.776 [SBIT](IMPORTANT): DATMMP.simulateHardware=0 bool;

2025-02-26T07:43:17.776Z,1740555797.776 [SBIT](IMPORTANT): ESPComponent.loadAtStartup=1 bool;

2025-02-26T07:43:17.776Z,1740555797.776 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=5 minute;

2025-02-26T07:43:17.776Z,1740555797.776 [SBIT](IMPORTANT): ESPComponent.simulateHardware=1 bool;

2025-02-26T07:43:17.776Z,1740555797.776 [SBIT](IMPORTANT): ElevatorServo.loadAtStartup=0 bool;

2025-02-26T07:43:17.776Z,1740555797.776 [SBIT](IMPORTANT): Express none PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water;

2025-02-26T07:43:17.777Z,1740555797.777 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=20 ampere_hour;

2025-02-26T07:43:17.782Z,1740555797.782 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=12 volt;

2025-02-26T07:43:17.782Z,1740555797.782 [SBIT](IMPORTANT): SpeedControl.rollOptimum=0.950000 m/s;

2025-02-26T07:43:17.782Z,1740555797.782 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=305.318315 cubic_centimeter;

2025-02-26T07:43:17.782Z,1740555797.782 [SBIT](IMPORTANT): VerticalControl.elevDeadband=0.5 degree;

2025-02-26T07:43:17.782Z,1740555797.782 [SBIT](IMPORTANT): VerticalControl.kdPitchMass=0.1 second;

2025-02-26T07:43:17.782Z,1740555797.782 [SBIT](IMPORTANT): VerticalControl.kiPitchMass=0.001 reciprocal_second;

2025-02-26T07:43:17.782Z,1740555797.782 [SBIT](IMPORTANT): VerticalControl.kpDepthBuoy=30 ratio;

2025-02-26T07:43:17.782Z,1740555797.782 [SBIT](IMPORTANT): VerticalControl.kpPitchMass=0.1 none;

2025-02-26T07:43:17.782Z,1740555797.782 [SBIT](IMPORTANT): VerticalControl.massDeadband=0 millimeter;

2025-02-26T07:43:17.783Z,1740555797.783 [SBIT](IMPORTANT): VerticalControl.massDefault=11.647778 millimeter;

2025-02-26T07:43:17.783Z,1740555797.783 [SBIT](IMPORTANT): VerticalControl.massOnlyForceInt=1 bool;

2025-02-26T07:43:17.784Z,1740555797.784 [CommandExec](FAULT): Scheduling is paused
2025-02-26T07:43:17.784Z,1740555797.784 [CBIT](INFO): Critical error at 20250226T074317
2025-02-26T07:43:17.785Z,1740555797.785 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-02-26T07:43:18.023Z,1740555798.023 [MissionManager](IMPORTANT): Started mission Startup
2025-02-26T07:43:18.023Z,1740555798.023 [Startup] Running Loop=1
2025-02-26T07:43:18.023Z,1740555798.023 [Startup](DEBUG): Aggregate::initialize Startup
2025-02-26T07:43:18.023Z,1740555798.023 [Startup:A.GoToSurface] Running Loop=1
2025-02-26T07:43:18.023Z,1740555798.023 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T07:43:18.024Z,1740555798.024 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T07:43:18.024Z,1740555798.024 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T07:43:18.025Z,1740555798.025 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T07:43:18.045Z,1740555798.045 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T07:43:18.046Z,1740555798.046 [Startup:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T07:43:18.046Z,1740555798.046 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T07:43:18.048Z,1740555798.048 [Startup:StartupSatComms] Running Loop=1
2025-02-26T07:43:18.048Z,1740555798.048 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2025-02-26T07:43:18.048Z,1740555798.048 [Startup:StartupSatComms:A] Running Loop=1
2025-02-26T07:43:18.783Z,1740555798.783 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2025-02-26T07:43:20.689Z,1740555800.689 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,074316.00,A,3647.76632,N,12154.17338,W,1.030,357.06,260225,,,A*72
2025-02-26T07:43:20.691Z,1740555800.691 [NAL9602](INFO): GPS fix at 20250226T074316: (36.796105, -121.902890)
2025-02-26T07:43:20.760Z,1740555800.760 [Startup:StartupSatComms:A] Stopped
2025-02-26T07:43:20.760Z,1740555800.760 [Startup:StartupSatComms:B] Running Loop=1
2025-02-26T07:43:21.308Z,1740555801.308 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-26T07:43:30.007Z,1740555810.007 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T07:43:35.030Z,1740555815.030 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.013488
2025-02-26T07:43:44.009Z,1740555824.009 [NAL9602](INFO): SBD MO Status=1, MOMSN=13522, MT Status=0, MTMSN=0
2025-02-26T07:43:44.065Z,1740555824.065 [NAL9602](INFO): Sent 39 bytes from file Logs/20250226T073120/Courier0009.lzma
2025-02-26T07:43:44.065Z,1740555824.065 [NAL9602](INFO): Packets left to send: 0
2025-02-26T07:43:44.121Z,1740555824.121 [Startup:StartupSatComms:B] Stopped
2025-02-26T07:43:44.121Z,1740555824.121 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2025-02-26T07:43:44.121Z,1740555824.121 [Startup:StartupSatComms] Stopped
2025-02-26T07:43:44.122Z,1740555824.122 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2025-02-26T07:43:44.123Z,1740555824.123 [Startup](INFO): Completed Startup
2025-02-26T07:43:44.123Z,1740555824.123 [MissionManager](INFO): Startup is completed.
2025-02-26T07:43:44.123Z,1740555824.123 [MissionManager](INFO): Uninitializing Mission Startup
2025-02-26T07:43:44.123Z,1740555824.123 [Startup] Stopped
2025-02-26T07:43:44.123Z,1740555824.123 [Startup](DEBUG): Aggregate::uninitialize Startup
2025-02-26T07:43:44.123Z,1740555824.123 [Startup:A.GoToSurface] Stopped
2025-02-26T07:43:44.123Z,1740555824.123 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T07:43:44.456Z,1740555824.456 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T07:43:44.487Z,1740555824.487 [Default] Running Loop=1
2025-02-26T07:43:44.487Z,1740555824.487 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T07:43:44.487Z,1740555824.487 [Default:B.GoToSurface] Running Loop=1
2025-02-26T07:43:44.488Z,1740555824.488 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T07:43:44.488Z,1740555824.488 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T07:43:44.488Z,1740555824.488 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T07:43:44.488Z,1740555824.488 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T07:43:44.493Z,1740555824.493 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T07:43:44.493Z,1740555824.493 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T07:43:44.494Z,1740555824.494 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T07:43:44.494Z,1740555824.494 [Default:A.Wait] Running Loop=1
2025-02-26T07:43:44.494Z,1740555824.494 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T07:43:45.669Z,1740555825.669 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T07:43:47.575Z,1740555827.575 [DataOverHttps](IMPORTANT): Could not stat file Logs/20250226T073120/Courier0009.lzma
2025-02-26T07:43:47.575Z,1740555827.575 [DataOverHttps](FAULT): Could not open file Logs/20250226T073120/Courier0009.lzma
2025-02-26T07:43:52.932Z,1740555832.932 [BPC1](ERROR): BPC1B: No match for serial number FFFF in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-02-26T07:43:56.625Z,1740555836.625 [DataOverHttps](IMPORTANT): Could not stat file Logs/20250226T073120/Courier0009.lzma
2025-02-26T07:43:56.638Z,1740555836.638 [DataOverHttps](FAULT): Could not open file Logs/20250226T073120/Courier0009.lzma
2025-02-26T07:43:57.819Z,1740555837.819 [Default:A.Wait](INFO): Done Waiting.
2025-02-26T07:43:57.819Z,1740555837.819 [Default:A.Wait] Stopped
2025-02-26T07:43:57.819Z,1740555837.819 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T07:43:58.195Z,1740555838.195 [Default:CheckIn] Running Loop=1
2025-02-26T07:43:58.195Z,1740555838.195 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T07:43:58.196Z,1740555838.196 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T07:43:58.594Z,1740555838.594 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T07:44:00.208Z,1740555840.208 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,074359.00,A,3647.76823,N,12154.17827,W,1.419,286.62,260225,,,A*72
2025-02-26T07:44:00.215Z,1740555840.215 [NAL9602](INFO): GPS fix at 20250226T074359: (36.796137, -121.902971)
2025-02-26T07:44:00.270Z,1740555840.270 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T07:44:00.270Z,1740555840.270 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T07:44:00.641Z,1740555840.641 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-26T07:44:07.893Z,1740555847.893 [DataOverHttps](INFO): Sending 297 bytes from file Logs/20250226T074052/Courier0000.lzma
2025-02-26T07:44:08.895Z,1740555848.895 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0000.lzma.bak
2025-02-26T07:44:08.895Z,1740555848.895 [DataOverHttps](INFO): SBD MOMSN=23978540
2025-02-26T07:44:28.189Z,1740555868.189 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250226T074052/Courier0004.lzma
2025-02-26T07:44:29.195Z,1740555869.195 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0004.lzma.bak
2025-02-26T07:44:29.195Z,1740555869.195 [DataOverHttps](INFO): SBD MOMSN=23978547
2025-02-26T07:44:32.286Z,1740555872.286 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T07:44:50.889Z,1740555890.889 [DataOverHttps](INFO): Sending 255 bytes from file Logs/20250226T073120/Express0010.lzma
2025-02-26T07:44:51.891Z,1740555891.891 [DataOverHttps](INFO): Moved sent file to Logs/20250226T073120/Express0010.lzma.bak
2025-02-26T07:44:51.891Z,1740555891.891 [DataOverHttps](INFO): SBD MOMSN=23978550
2025-02-26T07:45:12.991Z,1740555912.991 [DataOverHttps](INFO): Sending 1280 bytes from file Logs/20250226T074052/Express0001.lzma
2025-02-26T07:45:13.991Z,1740555913.991 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0001.lzma.bak
2025-02-26T07:45:13.991Z,1740555913.991 [DataOverHttps](INFO): SBD MOMSN=23978556
2025-02-26T07:45:32.093Z,1740555932.093 [DataOverHttps](INFO): Sending 205 bytes from file Logs/20250226T074052/Express0005.lzma
2025-02-26T07:45:33.095Z,1740555933.095 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0005.lzma.bak
2025-02-26T07:45:33.096Z,1740555933.096 [DataOverHttps](IMPORTANT): SBD MOMSN=23978597, MTMSN=20250226T074532
2025-02-26T07:45:35.057Z,1740555935.057 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T07:45:35.057Z,1740555935.057 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T07:45:35.057Z,1740555935.057 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T07:45:41.105Z,1740555941.105 [DataOverHttps](INFO): Received command: ! echo i > /dev/loadA4
2025-02-26T07:45:41.115Z,1740555941.115 [CommandExec](IMPORTANT): got command ! echo i > /dev/loadA4
2025-02-26T07:48:44.513Z,1740556124.513 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T07:48:46.141Z,1740556126.141 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4BD0.
2025-02-26T07:48:46.142Z,1740556126.142 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-26T07:48:46.145Z,1740556126.145 [BPC1](INFO): Received data from all battery sticks.
2025-02-26T07:50:18.114Z,1740556218.114 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T075017
2025-02-26T07:50:25.954Z,1740556225.954 [DataOverHttps](INFO): Received command: configSet IBIT.batteryCapacityThreshold 0.1 ampere_hour persist
2025-02-26T07:50:26.349Z,1740556226.349 [CommandExec](IMPORTANT): got command configSet IBIT.batteryCapacityThreshold 0.1 ampere_hour persist
2025-02-26T07:50:26.955Z,1740556226.955 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T075026
2025-02-26T07:50:35.469Z,1740556235.469 [DataOverHttps](INFO): Received command: sched "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 6 h;set sci2_slowyo_test.NeedCommsTime 3 h;set sci2_slowyo_test.Lat1 36.797 degree;set sci2_slowyo_test.Lon1 -121.847 degree" 2bxrx 1 3
2025-02-26T07:50:35.543Z,1740556235.543 [CommandExec](IMPORTANT): got command schedule "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 6 h;set sci2_slowyo_test.NeedCommsTime 3 h;set sci2_slowyo_test.Lat1 36.797 degree;set sci2_slowyo_test.Lon1 -121.847 degree" 2bxrx 1 3.000000
2025-02-26T07:50:35.543Z,1740556235.543 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=2bxrx
2025-02-26T07:50:35.544Z,1740556235.544 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 3 with id='2bxrx'): "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 6 h;set sci2_slowyo_test.NeedCommsTime 3 h;set sci2_slowyo_test.Lat1 36.797 degree;set sci2_slowyo_test.Lon1 -121.847 degree", AFTER MISSION
2025-02-26T07:50:35.554Z,1740556235.554 [CommandExec](FAULT): Scheduling was paused by an error at 2025-02-26T07:43:17Z
2025-02-26T07:50:35.652Z,1740556235.652 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-26T07:50:35.652Z,1740556235.652 [Default:CheckIn:C.Wait] Stopped
2025-02-26T07:50:35.652Z,1740556235.652 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T07:50:35.652Z,1740556235.652 [Default:CheckIn:D] Running Loop=1
2025-02-26T07:50:36.033Z,1740556236.033 [Default:CheckIn:D] Stopped
2025-02-26T07:50:36.033Z,1740556236.033 [Default:CheckIn:E] Running Loop=1
2025-02-26T07:50:36.437Z,1740556236.437 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.859606 min 
2025-02-26T07:50:36.437Z,1740556236.437 [Default:CheckIn:E] Stopped
2025-02-26T07:50:36.437Z,1740556236.437 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-26T07:50:36.437Z,1740556236.437 [Default:CheckIn] Stopped
2025-02-26T07:50:36.437Z,1740556236.437 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T07:50:36.437Z,1740556236.437 [Default:CheckIn](INFO): Running loop #2
2025-02-26T07:50:36.437Z,1740556236.437 [Default:CheckIn] Running Loop=2
2025-02-26T07:50:36.438Z,1740556236.438 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T07:50:36.438Z,1740556236.438 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T07:50:36.472Z,1740556236.472 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T075035
2025-02-26T07:50:38.444Z,1740556238.444 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,075037.00,A,3647.78110,N,12154.21888,W,0.739,292.24,260225,,,A*78
2025-02-26T07:50:38.447Z,1740556238.447 [NAL9602](INFO): GPS fix at 20250226T075037: (36.796352, -121.903648)
2025-02-26T07:50:38.483Z,1740556238.483 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T07:50:38.483Z,1740556238.483 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T07:50:45.479Z,1740556245.479 [DataOverHttps](INFO): Sending 203 bytes from file Logs/20250226T074052/Courier0007.lzma
2025-02-26T07:50:45.482Z,1740556245.482 [DataOverHttps](INFO): Received command: sched "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;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" 2bxrx 2 3
2025-02-26T07:50:45.516Z,1740556245.516 [CommandExec](IMPORTANT): got command schedule "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;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" 2bxrx 2 3.000000
2025-02-26T07:50:45.516Z,1740556245.516 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=2bxrx
2025-02-26T07:50:45.517Z,1740556245.517 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 3 with id='2bxrx'): "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;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", AFTER MISSION
2025-02-26T07:50:45.518Z,1740556245.518 [CommandExec](FAULT): Scheduling was paused by an error at 2025-02-26T07:43:17Z
2025-02-26T07:50:46.783Z,1740556246.783 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0007.lzma.bak
2025-02-26T07:50:46.783Z,1740556246.783 [DataOverHttps](IMPORTANT): SBD MOMSN=23978609, MTMSN=20250226T075045
2025-02-26T07:50:54.097Z,1740556254.097 [DataOverHttps](INFO): Received command: sched "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 230 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run" 2bxrx 3 3
2025-02-26T07:50:54.115Z,1740556254.115 [CommandExec](IMPORTANT): got command schedule "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 230 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run" 2bxrx 3 3.000000
2025-02-26T07:50:54.115Z,1740556254.115 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=2bxrx
2025-02-26T07:50:54.116Z,1740556254.116 [CommandExec](IMPORTANT): Scheduled #3 (#3 of 3 with id='2bxrx'): "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
2025-02-26T07:50:54.117Z,1740556254.117 [CommandExec](FAULT): Scheduling was paused by an error at 2025-02-26T07:43:17Z
2025-02-26T07:50:54.626Z,1740556254.626 [NAL9602](INFO): SBD MO Status=2, MOMSN=13523, MT Status=2, MTMSN=0
2025-02-26T07:50:54.626Z,1740556254.626 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T07:51:03.289Z,1740556263.289 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250226T074052/Courier0013.lzma
2025-02-26T07:51:04.292Z,1740556264.292 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0013.lzma.bak
2025-02-26T07:51:04.292Z,1740556264.292 [DataOverHttps](INFO): SBD MOMSN=23978614
2025-02-26T07:51:18.936Z,1740556278.936 [NAL9602](INFO): SBD MO Status=0, MOMSN=13523, MT Status=0, MTMSN=0
2025-02-26T07:51:18.936Z,1740556278.936 [NAL9602](INFO): No messages in MT queue
2025-02-26T07:51:25.117Z,1740556285.117 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250226T074052/Courier0016.lzma
2025-02-26T07:51:26.119Z,1740556286.119 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0016.lzma.bak
2025-02-26T07:51:26.119Z,1740556286.119 [DataOverHttps](INFO): SBD MOMSN=23978616
2025-02-26T07:51:42.674Z,1740556302.674 [DataOverHttps](INFO): Sending 548 bytes from file Logs/20250226T074052/Express0008.lzma
2025-02-26T07:51:43.675Z,1740556303.675 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0008.lzma.bak
2025-02-26T07:51:43.675Z,1740556303.675 [DataOverHttps](INFO): SBD MOMSN=23978618
2025-02-26T07:51:49.642Z,1740556309.642 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T07:52:00.244Z,1740556320.244 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250226T074052/Express0011.lzma
2025-02-26T07:52:01.247Z,1740556321.247 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0011.lzma.bak
2025-02-26T07:52:01.247Z,1740556321.247 [DataOverHttps](INFO): SBD MOMSN=23978632
2025-02-26T07:52:17.886Z,1740556337.886 [DataOverHttps](INFO): Sending 339 bytes from file Logs/20250226T074052/Express0014.lzma
2025-02-26T07:52:18.887Z,1740556338.887 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0014.lzma.bak
2025-02-26T07:52:18.887Z,1740556338.887 [DataOverHttps](INFO): SBD MOMSN=23978634
2025-02-26T07:52:27.823Z,1740556347.823 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T075226
2025-02-26T07:52:35.593Z,1740556355.593 [DataOverHttps](INFO): Sending 340 bytes from file Logs/20250226T074052/Express0017.lzma
2025-02-26T07:52:35.596Z,1740556355.596 [DataOverHttps](INFO): Received command: sched "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 6 h;set sci2_slowyo_test.NeedCommsTime 3 h;set sci2_slowyo_test.Lat1 36.806966 degree;set sci2_slowyo_test.Lon1 -121.824326 degree" 2bxvb 1 3
2025-02-26T07:52:35.626Z,1740556355.626 [CommandExec](IMPORTANT): got command schedule "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 6 h;set sci2_slowyo_test.NeedCommsTime 3 h;set sci2_slowyo_test.Lat1 36.806966 degree;set sci2_slowyo_test.Lon1 -121.824326 degree" 2bxvb 1 3.000000
2025-02-26T07:52:35.626Z,1740556355.626 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=2bxvb
2025-02-26T07:52:35.627Z,1740556355.627 [CommandExec](IMPORTANT): Scheduled #4 (#1 of 3 with id='2bxvb'): "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 6 h;set sci2_slowyo_test.NeedCommsTime 3 h;set sci2_slowyo_test.Lat1 36.806966 degree;set sci2_slowyo_test.Lon1 -121.824326 degree", AFTER MISSION
2025-02-26T07:52:35.627Z,1740556355.627 [CommandExec](FAULT): Scheduling was paused by an error at 2025-02-26T07:43:17Z
2025-02-26T07:52:36.821Z,1740556356.821 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0017.lzma.bak
2025-02-26T07:52:36.822Z,1740556356.822 [DataOverHttps](IMPORTANT): SBD MOMSN=23978641, MTMSN=20250226T075235
2025-02-26T07:52:44.330Z,1740556364.330 [DataOverHttps](INFO): Received command: sched "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 20 m;set sci2_slowyo_test.SlowYoTurningWindow 20 m;set sci2_slowyo_test.MassDefault NaN mm" 2bxvb 2 3
2025-02-26T07:52:44.416Z,1740556364.416 [CommandExec](IMPORTANT): got command schedule "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 20 m;set sci2_slowyo_test.SlowYoTurningWindow 20 m;set sci2_slowyo_test.MassDefault NaN mm" 2bxvb 2 3.000000
2025-02-26T07:52:44.417Z,1740556364.417 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=2bxvb
2025-02-26T07:52:44.418Z,1740556364.418 [CommandExec](IMPORTANT): Scheduled #5 (#2 of 3 with id='2bxvb'): "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 20 m;set sci2_slowyo_test.SlowYoTurningWindow 20 m;set sci2_slowyo_test.MassDefault NaN mm", AFTER MISSION
2025-02-26T07:52:44.418Z,1740556364.418 [CommandExec](FAULT): Scheduling was paused by an error at 2025-02-26T07:43:17Z
2025-02-26T07:52:45.593Z,1740556365.593 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T075244
2025-02-26T07:52:53.204Z,1740556373.204 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250226T074052/Courier0019.lzma
2025-02-26T07:52:53.207Z,1740556373.207 [DataOverHttps](INFO): Received command: sched "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 50 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run" 2bxvb 3 3
2025-02-26T07:52:53.270Z,1740556373.270 [CommandExec](IMPORTANT): got command schedule "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 50 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run" 2bxvb 3 3.000000
2025-02-26T07:52:53.271Z,1740556373.271 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=2bxvb
2025-02-26T07:52:53.272Z,1740556373.272 [CommandExec](IMPORTANT): Scheduled #6 (#3 of 3 with id='2bxvb'): "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 50 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run", AFTER MISSION
2025-02-26T07:52:53.272Z,1740556373.272 [CommandExec](FAULT): Scheduling was paused by an error at 2025-02-26T07:43:17Z
2025-02-26T07:52:54.466Z,1740556374.466 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0019.lzma.bak
2025-02-26T07:52:54.467Z,1740556374.467 [DataOverHttps](INFO): SBD MOMSN=23978650
2025-02-26T07:53:18.198Z,1740556398.198 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250226T074052/Courier0022.lzma
2025-02-26T07:53:19.199Z,1740556399.199 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0022.lzma.bak
2025-02-26T07:53:19.199Z,1740556399.199 [DataOverHttps](INFO): SBD MOMSN=23978653
2025-02-26T07:53:36.012Z,1740556416.012 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250226T074052/Courier0025.lzma
2025-02-26T07:53:37.016Z,1740556417.016 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0025.lzma.bak
2025-02-26T07:53:37.016Z,1740556417.016 [DataOverHttps](IMPORTANT): SBD MOMSN=23978656, MTMSN=20250226T075336
2025-02-26T07:53:44.858Z,1740556424.858 [DataOverHttps](INFO): Received command: sched "load Transport/keepstation.tl;set keepstation.MissionTimeout 8 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 20 m" 2bxx7 1 2
2025-02-26T07:53:44.931Z,1740556424.931 [CommandExec](IMPORTANT): got command schedule "load Transport/keepstation.tl;set keepstation.MissionTimeout 8 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 20 m" 2bxx7 1 2.000000
2025-02-26T07:53:44.932Z,1740556424.932 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2bxx7
2025-02-26T07:53:44.932Z,1740556424.932 [CommandExec](IMPORTANT): Scheduled #7 (#1 of 2 with id='2bxx7'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 8 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 20 m", AFTER MISSION
2025-02-26T07:53:44.933Z,1740556424.933 [CommandExec](FAULT): Scheduling was paused by an error at 2025-02-26T07:43:17Z
2025-02-26T07:53:46.168Z,1740556426.168 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T075344
2025-02-26T07:53:55.929Z,1740556435.929 [DataOverHttps](INFO): Sending 363 bytes from file Logs/20250226T074052/Express0020.lzma
2025-02-26T07:53:55.932Z,1740556435.932 [DataOverHttps](INFO): Received command: sched "set keepstation.MaxDepth 35 m;run" 2bxx7 2 2
2025-02-26T07:53:56.009Z,1740556436.009 [CommandExec](IMPORTANT): got command schedule "set keepstation.MaxDepth 35 m;run" 2bxx7 2 2.000000
2025-02-26T07:53:56.009Z,1740556436.009 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2bxx7
2025-02-26T07:53:56.010Z,1740556436.010 [CommandExec](IMPORTANT): Scheduled #8 (#2 of 2 with id='2bxx7'): "set keepstation.MaxDepth 35 m;run", AFTER MISSION
2025-02-26T07:53:56.011Z,1740556436.011 [CommandExec](FAULT): Scheduling was paused by an error at 2025-02-26T07:43:17Z
2025-02-26T07:53:57.272Z,1740556437.272 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0020.lzma.bak
2025-02-26T07:53:57.277Z,1740556437.277 [DataOverHttps](IMPORTANT): SBD MOMSN=23978660, MTMSN=20250226T075356
2025-02-26T07:54:04.233Z,1740556444.233 [DataOverHttps](INFO): Received command: schedule resume
2025-02-26T07:54:04.235Z,1740556444.235 [CommandExec](IMPORTANT): got command schedule resume
2025-02-26T07:54:04.235Z,1740556444.235 [CommandExec](IMPORTANT): Scheduling is resumed
2025-02-26T07:54:04.396Z,1740556444.396 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T07:54:04.396Z,1740556444.396 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T07:54:04.396Z,1740556444.396 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T07:54:04.815Z,1740556444.815 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T07:54:10.163Z,1740556450.163 [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>

2025-02-26T07:54:10.198Z,1740556450.198 [MissionManager](INFO): DefineArg sci2_slowyo_test.MissionTimeout = 2.000000 h
2025-02-26T07:54:10.229Z,1740556450.229 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsTime = 60.000000 min
2025-02-26T07:54:10.232Z,1740556450.232 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsSurfaceDepthRate = 0.300000 m/s
2025-02-26T07:54:10.239Z,1740556450.239 [MissionManager](INFO): DefineArg sci2_slowyo_test.Repeat = 1.000000 count
2025-02-26T07:54:10.246Z,1740556450.246 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat1 = nan arcdeg
2025-02-26T07:54:10.248Z,1740556450.248 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat2 = nan arcdeg
2025-02-26T07:54:10.295Z,1740556450.295 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat3 = nan arcdeg
2025-02-26T07:54:10.302Z,1740556450.302 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat4 = nan arcdeg
2025-02-26T07:54:10.325Z,1740556450.325 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat5 = nan arcdeg
2025-02-26T07:54:10.328Z,1740556450.328 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat6 = nan arcdeg
2025-02-26T07:54:10.343Z,1740556450.343 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat7 = nan arcdeg
2025-02-26T07:54:10.355Z,1740556450.355 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon1 = nan arcdeg
2025-02-26T07:54:10.375Z,1740556450.375 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon2 = nan arcdeg
2025-02-26T07:54:10.386Z,1740556450.386 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon3 = nan arcdeg
2025-02-26T07:54:10.397Z,1740556450.397 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon4 = nan arcdeg
2025-02-26T07:54:10.400Z,1740556450.400 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon5 = nan arcdeg
2025-02-26T07:54:10.430Z,1740556450.430 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon6 = nan arcdeg
2025-02-26T07:54:10.432Z,1740556450.432 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon7 = nan arcdeg
2025-02-26T07:54:10.444Z,1740556450.444 [MissionManager](INFO): DefineArg sci2_slowyo_test.ApproachDepthTimeout = 15.000000 min
2025-02-26T07:54:10.455Z,1740556450.455 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoDiveAngle = 15.000000 arcdeg
2025-02-26T07:54:10.466Z,1740556450.466 [MissionManager](INFO): DefineArg sci2_slowyo_test.Speed = 1.000000 m/s
2025-02-26T07:54:10.469Z,1740556450.469 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMinDepth = 10.000000 m
2025-02-26T07:54:10.472Z,1740556450.472 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMaxDepth = 40.000000 m
2025-02-26T07:54:10.512Z,1740556450.512 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoNumYoYos = 1.000000 count
2025-02-26T07:54:10.523Z,1740556450.523 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoTurningWindow = 10.000000 m
2025-02-26T07:54:10.530Z,1740556450.530 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkOffSurface = 0 bool
2025-02-26T07:54:10.549Z,1740556450.549 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepth = 10.000000 m
2025-02-26T07:54:10.552Z,1740556450.552 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepthTimeout = 10.000000 min
2025-02-26T07:54:10.563Z,1740556450.563 [MissionManager](INFO): DefineArg sci2_slowyo_test.CaptureRadius = nan m
2025-02-26T07:54:10.572Z,1740556450.572 [MissionManager](INFO): DefineArg sci2_slowyo_test.PeakDetectChl = 0 bool
2025-02-26T07:54:10.606Z,1740556450.606 [MissionManager](INFO): DefineArg sci2_slowyo_test.ShallowBoundChl = nan m
2025-02-26T07:54:10.617Z,1740556450.617 [MissionManager](INFO): DefineArg sci2_slowyo_test.DeepBoundChl = nan m
2025-02-26T07:54:10.620Z,1740556450.620 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlThreshTrigger = 0 bool
2025-02-26T07:54:10.635Z,1740556450.635 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlLowerThreshold = nan ug/l
2025-02-26T07:54:10.645Z,1740556450.645 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlUpperThreshold = nan ug/l
2025-02-26T07:54:10.648Z,1740556450.648 [MissionManager](INFO): DefineArg sci2_slowyo_test.NumProfilesThreshold = 5.000000 count
2025-02-26T07:54:10.680Z,1740556450.680 [MissionManager](INFO): DefineArg sci2_slowyo_test.BuoyancyNeutral = 305.318329 cc
2025-02-26T07:54:10.699Z,1740556450.699 [MissionManager](INFO): DefineArg sci2_slowyo_test.ElevatorDefault = 0.000000 arcdeg
2025-02-26T07:54:10.715Z,1740556450.715 [MissionManager](INFO): DefineArg sci2_slowyo_test.MassDefault = 1.164778 cm
2025-02-26T07:54:10.738Z,1740556450.738 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinAltitude = 7.000000 m
2025-02-26T07:54:10.758Z,1740556450.758 [MissionManager](INFO): DefineArg sci2_slowyo_test.MaxDepth = 60.000000 m
2025-02-26T07:54:10.767Z,1740556450.767 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinOffshore = 2.000000 km
2025-02-26T07:54:10.775Z,1740556450.775 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DiveMode = 0.000000 count
2025-02-26T07:54:10.787Z,1740556450.787 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DoingComms = 0.000000 count
2025-02-26T07:54:10.794Z,1740556450.794 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SurfaceSink = 1.000000 count
2025-02-26T07:54:10.815Z,1740556450.815 [MissionManager](INFO): DefineOutput sci2_slowyo_test.InitialDive = 2.000000 count
2025-02-26T07:54:10.827Z,1740556450.827 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SlowYo = 3.000000 count
2025-02-26T07:54:10.827Z,1740556450.827 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-26T07:54:10.827Z,1740556450.827 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-26T07:54:10.854Z,1740556450.854 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-26T07:54:16.830Z,1740556456.830 [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>

2025-02-26T07:54:16.863Z,1740556456.863 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectChlActive = 0 bool
2025-02-26T07:54:16.866Z,1740556456.866 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectChlActive = 0 bool
2025-02-26T07:54:16.869Z,1740556456.869 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.TimeWindowPeakReport = nan min
2025-02-26T07:54:16.871Z,1740556456.871 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestChlPeakReportActive = 0 bool
2025-02-26T07:54:16.874Z,1740556456.874 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestSaltPeakReportActive = 0 bool
2025-02-26T07:54:16.877Z,1740556456.877 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestOilPeakReportActive = 0 bool
2025-02-26T07:54:16.879Z,1740556456.879 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PatchTracking = 0 bool
2025-02-26T07:54:16.882Z,1740556456.882 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.FilterWidthHorizontal = 3.000000 count
2025-02-26T07:54:16.885Z,1740556456.885 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-26T07:54:16.888Z,1740556456.888 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-26T07:54:16.891Z,1740556456.891 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectNO3Active = 0 bool
2025-02-26T07:54:16.898Z,1740556456.898 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectOilActive = 0 bool
2025-02-26T07:54:16.919Z,1740556456.919 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectFDOMActive = 0 bool
2025-02-26T07:54:16.930Z,1740556456.930 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectSalinityActive = 0 bool
2025-02-26T07:54:16.937Z,1740556456.937 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T07:54:16.943Z,1740556456.943 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T07:54:16.946Z,1740556456.946 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-26T07:54:16.948Z,1740556456.948 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-26T07:54:16.955Z,1740556456.955 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-26T07:54:16.969Z,1740556456.969 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-26T07:54:16.972Z,1740556456.972 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledAanderaaO2 = 0 bool
2025-02-26T07:54:16.980Z,1740556456.980 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledNeilBrown = 0 bool
2025-02-26T07:54:16.984Z,1740556456.984 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledSeabird = 1 bool
2025-02-26T07:54:16.992Z,1740556456.992 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-26T07:54:17.004Z,1740556457.004 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-26T07:54:17.008Z,1740556457.008 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsUBAT = 0 bool
2025-02-26T07:54:17.024Z,1740556457.024 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.LowPassWindowLength = 20.000000 count
2025-02-26T07:54:17.042Z,1740556457.042 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.MedianFilterLen = 5.000000 count
2025-02-26T07:54:17.049Z,1740556457.049 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ShallowBound = nan m
2025-02-26T07:54:17.052Z,1740556457.052 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DeepBound = nan m
2025-02-26T07:54:17.059Z,1740556457.059 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-26T07:54:17.063Z,1740556457.063 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionVertical = nan %
2025-02-26T07:54:17.074Z,1740556457.074 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-26T07:54:17.076Z,1740556457.076 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = 0 bool
2025-02-26T07:54:17.084Z,1740556457.084 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlLowerThresh = nan ug/l
2025-02-26T07:54:17.091Z,1740556457.091 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlUpperThresh = nan ug/l
2025-02-26T07:54:17.094Z,1740556457.094 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesThresh = 5.000000 count
2025-02-26T07:54:17.105Z,1740556457.105 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-26T07:54:17.108Z,1740556457.108 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.GoDown = 1 bool
2025-02-26T07:54:17.116Z,1740556457.116 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChl = nan ug/l
2025-02-26T07:54:17.162Z,1740556457.162 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlDepth = nan m
2025-02-26T07:54:17.186Z,1740556457.186 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlTemperature = nan degC
2025-02-26T07:54:17.188Z,1740556457.188 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLatitude = nan arcdeg
2025-02-26T07:54:17.211Z,1740556457.211 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLongitude = nan arcdeg
2025-02-26T07:54:17.219Z,1740556457.219 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChl = nan ug/l
2025-02-26T07:54:17.226Z,1740556457.226 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlDepth = nan m
2025-02-26T07:54:17.233Z,1740556457.233 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlTemperature = nan degC
2025-02-26T07:54:17.241Z,1740556457.241 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLatitude = nan arcdeg
2025-02-26T07:54:17.248Z,1740556457.248 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLongitude = nan arcdeg
2025-02-26T07:54:17.251Z,1740556457.251 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3 = nan umol/l
2025-02-26T07:54:17.255Z,1740556457.255 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Depth = nan m
2025-02-26T07:54:17.266Z,1740556457.266 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Latitude = nan arcdeg
2025-02-26T07:54:17.273Z,1740556457.273 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Longitude = nan arcdeg
2025-02-26T07:54:17.278Z,1740556457.278 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOil = nan kg/m3
2025-02-26T07:54:17.282Z,1740556457.282 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilDepth = nan m
2025-02-26T07:54:17.284Z,1740556457.284 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLatitude = nan arcdeg
2025-02-26T07:54:17.313Z,1740556457.313 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLongitude = nan arcdeg
2025-02-26T07:54:17.316Z,1740556457.316 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOM = nan ppb
2025-02-26T07:54:17.336Z,1740556457.336 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMDepth = nan m
2025-02-26T07:54:17.365Z,1740556457.365 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMTemperature = nan degC
2025-02-26T07:54:17.368Z,1740556457.368 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLatitude = nan arcdeg
2025-02-26T07:54:17.380Z,1740556457.380 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLongitude = nan arcdeg
2025-02-26T07:54:17.389Z,1740556457.389 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSalt = nan psu
2025-02-26T07:54:17.408Z,1740556457.408 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltDepth = nan m
2025-02-26T07:54:17.419Z,1740556457.419 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltTemperature = nan degC
2025-02-26T07:54:17.431Z,1740556457.431 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLatitude = nan arcdeg
2025-02-26T07:54:17.438Z,1740556457.438 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLongitude = nan arcdeg
2025-02-26T07:54:17.459Z,1740556457.459 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-26T07:54:17.470Z,1740556457.470 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-26T07:54:17.501Z,1740556457.501 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-26T07:54:17.504Z,1740556457.504 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T07:54:17.516Z,1740556457.516 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T07:54:17.543Z,1740556457.543 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-26T07:54:17.566Z,1740556457.566 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-26T07:54:17.618Z,1740556457.618 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-26T07:54:17.635Z,1740556457.635 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T07:54:17.648Z,1740556457.648 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T07:54:17.666Z,1740556457.666 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-26T07:54:17.670Z,1740556457.670 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-26T07:54:17.673Z,1740556457.673 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-26T07:54:17.684Z,1740556457.684 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-26T07:54:17.695Z,1740556457.695 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-26T07:54:17.703Z,1740556457.703 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-26T07:54:17.722Z,1740556457.722 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-26T07:54:17.734Z,1740556457.734 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-26T07:54:17.758Z,1740556457.758 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-26T07:54:17.780Z,1740556457.780 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250226T074052/Courier0028.lzma
2025-02-26T07:54:17.789Z,1740556457.789 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-26T07:54:17.801Z,1740556457.801 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-26T07:54:17.812Z,1740556457.812 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-26T07:54:17.828Z,1740556457.828 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-26T07:54:17.865Z,1740556457.865 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-26T07:54:17.868Z,1740556457.868 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-26T07:54:17.876Z,1740556457.876 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChl = nan ug/l
2025-02-26T07:54:17.888Z,1740556457.888 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDepth = nan m
2025-02-26T07:54:17.896Z,1740556457.896 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLatitude = nan arcdeg
2025-02-26T07:54:17.915Z,1740556457.915 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLongitude = nan arcdeg
2025-02-26T07:54:17.923Z,1740556457.923 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDistance = nan m
2025-02-26T07:54:17.962Z,1740556457.962 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSalt = nan psu
2025-02-26T07:54:17.977Z,1740556457.977 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDepth = nan m
2025-02-26T07:54:17.987Z,1740556457.987 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLatitude = nan arcdeg
2025-02-26T07:54:18.026Z,1740556458.026 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLongitude = nan arcdeg
2025-02-26T07:54:18.053Z,1740556458.053 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDistance = nan m
2025-02-26T07:54:18.056Z,1740556458.056 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOil = nan psu
2025-02-26T07:54:18.068Z,1740556458.068 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDepth = nan m
2025-02-26T07:54:18.084Z,1740556458.084 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLatitude = nan arcdeg
2025-02-26T07:54:18.091Z,1740556458.091 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLongitude = nan arcdeg
2025-02-26T07:54:18.107Z,1740556458.107 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDistance = nan m
2025-02-26T07:54:18.115Z,1740556458.115 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.TriggeredOnChl = 0 bool
2025-02-26T07:54:18.151Z,1740556458.151 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.ChlTriggering = nan ug/l
2025-02-26T07:54:18.239Z,1740556458.239 [sci2_slowyo_test:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T07:54:18.296Z,1740556458.296 [sci2_slowyo_test:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T07:54:18.434Z,1740556458.434 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T07:54:18.487Z,1740556458.487 [sci2_slowyo_test:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T07:54:18.544Z,1740556458.544 [sci2_slowyo_test:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T07:54:18.612Z,1740556458.612 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T07:54:18.662Z,1740556458.662 [sci2_slowyo_test:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T07:54:18.695Z,1740556458.695 [sci2_slowyo_test:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T07:54:18.734Z,1740556458.734 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T07:54:18.783Z,1740556458.783 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0028.lzma.bak
2025-02-26T07:54:18.783Z,1740556458.783 [DataOverHttps](INFO): SBD MOMSN=23978669
2025-02-26T07:54:18.857Z,1740556458.857 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T07:54:18.900Z,1740556458.900 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T07:54:18.995Z,1740556458.995 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T07:54:19.071Z,1740556459.071 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T07:54:19.119Z,1740556459.119 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T07:54:19.211Z,1740556459.211 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-26T07:54:19.244Z,1740556459.244 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDetectChlActive = reader:sci2_slowyo_test.PeakDetectChl
2025-02-26T07:54:19.263Z,1740556459.263 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ShallowBound = reader:sci2_slowyo_test.ShallowBoundChl
2025-02-26T07:54:19.269Z,1740556459.269 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.DeepBound = reader:sci2_slowyo_test.DeepBoundChl
2025-02-26T07:54:19.271Z,1740556459.271 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = reader:sci2_slowyo_test.ChlThreshTrigger
2025-02-26T07:54:19.285Z,1740556459.285 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlLowerThresh = reader:sci2_slowyo_test.ChlLowerThreshold
2025-02-26T07:54:19.287Z,1740556459.287 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlUpperThresh = reader:sci2_slowyo_test.ChlUpperThreshold
2025-02-26T07:54:19.293Z,1740556459.293 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.NumProfilesThresh = reader:sci2_slowyo_test.NumProfilesThreshold
2025-02-26T07:54:19.294Z,1740556459.294 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-26T07:54:19.294Z,1740556459.294 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-26T07:54:19.295Z,1740556459.295 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-26T07:54:20.218Z,1740556460.218 [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>

2025-02-26T07:54:20.256Z,1740556460.256 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.DiveInterval = 1.000000 h
2025-02-26T07:54:20.269Z,1740556460.269 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-26T07:54:20.272Z,1740556460.272 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-26T07:54:20.329Z,1740556460.329 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceDepthRate = nan m/s
2025-02-26T07:54:20.338Z,1740556460.338 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-26T07:54:20.341Z,1740556460.341 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-26T07:54:20.344Z,1740556460.344 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.GPSTimeout = 7.000000 min
2025-02-26T07:54:20.363Z,1740556460.363 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.CommsTimeout = 30.000000 min
2025-02-26T07:54:20.434Z,1740556460.434 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T07:54:20.586Z,1740556460.586 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-26T07:54:20.586Z,1740556460.586 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-26T07:54:20.587Z,1740556460.587 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-26T07:54:20.920Z,1740556460.920 [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>

2025-02-26T07:54:20.950Z,1740556460.950 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-26T07:54:20.953Z,1740556460.953 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-26T07:54:20.968Z,1740556460.968 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-26T07:54:20.999Z,1740556460.999 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-26T07:54:21.001Z,1740556461.001 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-26T07:54:21.073Z,1740556461.073 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-26T07:54:21.106Z,1740556461.106 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-26T07:54:21.159Z,1740556461.159 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-26T07:54:21.159Z,1740556461.159 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-26T07:54:21.160Z,1740556461.160 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-26T07:54:21.309Z,1740556461.309 [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>

2025-02-26T07:54:21.330Z,1740556461.330 [MissionManager](INFO): DefineArg sci2_slowyo_test:BackseatDriver.EnableBackseat = 0 bool
2025-02-26T07:54:21.341Z,1740556461.341 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-26T07:54:21.344Z,1740556461.344 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-26T07:54:21.344Z,1740556461.344 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-26T07:54:21.354Z,1740556461.354 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-26T07:54:21.715Z,1740556461.715 [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>

2025-02-26T07:54:21.732Z,1740556461.732 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleAll = 0 bool
2025-02-26T07:54:21.742Z,1740556461.742 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad1 = 0 bool
2025-02-26T07:54:21.753Z,1740556461.753 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad2 = 0 bool
2025-02-26T07:54:21.756Z,1740556461.756 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad3 = 0 bool
2025-02-26T07:54:21.768Z,1740556461.768 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-26T07:54:21.807Z,1740556461.807 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-26T07:54:21.856Z,1740556461.856 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T07:54:21.863Z,1740556461.863 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-02-26T07:54:21.890Z,1740556461.890 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-02-26T07:54:21.956Z,1740556461.956 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Construct.
2025-02-26T07:54:21.964Z,1740556461.964 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T07:54:21.975Z,1740556461.975 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Construct Wait.
2025-02-26T07:54:22.011Z,1740556462.011 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-02-26T07:54:22.023Z,1740556462.023 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-02-26T07:54:22.063Z,1740556462.063 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-26T07:54:22.102Z,1740556462.102 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T07:54:22.114Z,1740556462.114 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Construct.
2025-02-26T07:54:22.137Z,1740556462.137 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Construct.
2025-02-26T07:54:22.149Z,1740556462.149 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Construct SlowYo.
2025-02-26T07:54:22.179Z,1740556462.179 [sci2_slowyo_test:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-02-26T07:54:22.231Z,1740556462.231 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T07:54:22.255Z,1740556462.255 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T07:54:22.284Z,1740556462.284 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T07:54:22.338Z,1740556462.338 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T07:54:22.377Z,1740556462.377 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T07:54:22.384Z,1740556462.384 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T07:54:22.456Z,1740556462.456 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T07:54:22.629Z,1740556462.629 [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]
        }
      }
    }
  }
}


2025-02-26T07:54:22.633Z,1740556462.633 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_slowyo_test.tl id=sci2_slowyo_test
2025-02-26T07:54:46.000Z,1740556486.000 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250226T074052/Courier0031.lzma
2025-02-26T07:54:47.003Z,1740556487.003 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0031.lzma.bak
2025-02-26T07:54:47.003Z,1740556487.003 [DataOverHttps](INFO): SBD MOMSN=23978671
2025-02-26T07:54:49.352Z,1740556489.352 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MissionTimeout 6 hour
2025-02-26T07:54:49.353Z,1740556489.353 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.NeedCommsTime 3 hour
2025-02-26T07:54:49.354Z,1740556489.354 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lat1 36.797 degree
2025-02-26T07:54:49.355Z,1740556489.355 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lon1 -121.847 degree
2025-02-26T07:55:21.327Z,1740556521.327 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250226T074052/Courier0034.lzma
2025-02-26T07:55:22.335Z,1740556522.335 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0034.lzma.bak
2025-02-26T07:55:22.336Z,1740556522.336 [DataOverHttps](INFO): SBD MOMSN=23978673
2025-02-26T07:55:37.262Z,1740556537.262 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoDiveAngle 10 degree
2025-02-26T07:55:37.263Z,1740556537.263 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Speed SpeedControl.rollOptimum
2025-02-26T07:55:37.264Z,1740556537.264 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoMaxDepth 190 meter
2025-02-26T07:55:37.264Z,1740556537.264 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoTurningWindow 30 meter
2025-02-26T07:55:37.265Z,1740556537.265 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MassDefault NaN millimeter
2025-02-26T07:55:50.289Z,1740556550.289 [DataOverHttps](INFO): Sending 378 bytes from file Logs/20250226T074052/Express0023.lzma
2025-02-26T07:55:56.811Z,1740556556.811 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0023.lzma.bak
2025-02-26T07:55:56.811Z,1740556556.811 [DataOverHttps](INFO): SBD MOMSN=23978675
2025-02-26T07:55:58.607Z,1740556558.607 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MinAltitude 20 meter
2025-02-26T07:55:58.608Z,1740556558.608 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MaxDepth 230 meter
2025-02-26T07:55:58.608Z,1740556558.608 [CommandExec](IMPORTANT): got command set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool
2025-02-26T07:55:58.611Z,1740556558.611 [CommandExec](IMPORTANT): got command run
2025-02-26T07:55:58.616Z,1740556558.616 [CommandExec](IMPORTANT): Running 
2025-02-26T07:55:58.775Z,1740556558.775 [Default] Stopped
2025-02-26T07:55:58.775Z,1740556558.775 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T07:55:58.776Z,1740556558.776 [Default:B.GoToSurface] Stopped
2025-02-26T07:55:58.776Z,1740556558.776 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T07:55:58.776Z,1740556558.776 [Default:CheckIn] Stopped
2025-02-26T07:55:58.776Z,1740556558.776 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T07:55:58.776Z,1740556558.776 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T07:55:58.776Z,1740556558.776 [MissionManager](IMPORTANT): Started mission sci2_slowyo_test
2025-02-26T07:55:58.776Z,1740556558.776 [sci2_slowyo_test] Running Loop=1
2025-02-26T07:55:58.776Z,1740556558.776 [sci2_slowyo_test](DEBUG): Aggregate::initialize sci2_slowyo_test
2025-02-26T07:55:58.777Z,1740556558.777 [sci2_slowyo_test:Science] Running Loop=1
2025-02-26T07:55:58.777Z,1740556558.777 [sci2_slowyo_test:Science](DEBUG): Aggregate::initialize sci2_slowyo_test:Science
2025-02-26T07:55:58.777Z,1740556558.777 [sci2_slowyo_test:Science:A] Running Loop=1
2025-02-26T07:55:58.777Z,1740556558.777 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-26T07:55:58.777Z,1740556558.777 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-26T07:55:58.777Z,1740556558.777 [sci2_slowyo_test:Science:D] Running Loop=1
2025-02-26T07:55:58.777Z,1740556558.777 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-26T07:55:58.777Z,1740556558.777 [sci2_slowyo_test:Science:F] Running Loop=1
2025-02-26T07:55:58.777Z,1740556558.777 [sci2_slowyo_test:Science:Read_Oil] Running Loop=1
2025-02-26T07:55:58.777Z,1740556558.777 [sci2_slowyo_test:Science:PeakDetectChl] Running Loop=1
2025-02-26T07:55:58.777Z,1740556558.777 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-26T07:55:58.778Z,1740556558.778 [sci2_slowyo_test:Science:PeakDetectChl:A] Running Loop=1
2025-02-26T07:55:58.778Z,1740556558.778 [sci2_slowyo_test:Science:EdgeDetectChl] Running Loop=1
2025-02-26T07:55:58.778Z,1740556558.778 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-26T07:55:58.778Z,1740556558.778 [sci2_slowyo_test:Science:EdgeDetectChl:A] Running Loop=1
2025-02-26T07:55:58.778Z,1740556558.778 [sci2_slowyo_test:Science:HighestChlPeakReport] Running Loop=1
2025-02-26T07:55:58.778Z,1740556558.778 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-26T07:55:58.778Z,1740556558.778 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T07:55:58.778Z,1740556558.778 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T07:55:58.779Z,1740556558.779 [sci2_slowyo_test:Science:PeakDetectNO3] Running Loop=1
2025-02-26T07:55:58.779Z,1740556558.779 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-26T07:55:58.779Z,1740556558.779 [sci2_slowyo_test:Science:PeakDetectNO3:A] Running Loop=1
2025-02-26T07:55:58.779Z,1740556558.779 [sci2_slowyo_test:Science:PeakDetectOil] Running Loop=1
2025-02-26T07:55:58.779Z,1740556558.779 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-26T07:55:58.779Z,1740556558.779 [sci2_slowyo_test:Science:PeakDetectOil:A] Running Loop=1
2025-02-26T07:55:58.779Z,1740556558.779 [sci2_slowyo_test:Science:HighestOilPeakReport] Running Loop=1
2025-02-26T07:55:58.780Z,1740556558.780 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-26T07:55:58.780Z,1740556558.780 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T07:55:58.780Z,1740556558.780 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T07:55:58.780Z,1740556558.780 [sci2_slowyo_test:Science:PeakDetectFDOM] Running Loop=1
2025-02-26T07:55:58.780Z,1740556558.780 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-26T07:55:58.780Z,1740556558.780 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-26T07:55:58.781Z,1740556558.781 [sci2_slowyo_test:Science:PeakDetectSalinity] Running Loop=1
2025-02-26T07:55:58.781Z,1740556558.781 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-26T07:55:58.781Z,1740556558.781 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-26T07:55:58.781Z,1740556558.781 [sci2_slowyo_test:Science:HighestSaltPeakReport] Running Loop=1
2025-02-26T07:55:58.781Z,1740556558.781 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-26T07:55:58.781Z,1740556558.781 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T07:55:58.781Z,1740556558.781 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T07:55:58.782Z,1740556558.782 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T07:55:58.782Z,1740556558.782 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T07:55:58.782Z,1740556558.782 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T07:55:58.782Z,1740556558.782 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T07:55:58.782Z,1740556558.782 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T07:55:58.782Z,1740556558.782 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T07:55:58.782Z,1740556558.782 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-26T07:55:58.783Z,1740556558.783 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T07:55:58.783Z,1740556558.783 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-26T07:55:58.783Z,1740556558.783 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-26T07:55:58.783Z,1740556558.783 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T07:55:58.783Z,1740556558.783 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-26T07:55:58.783Z,1740556558.783 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-26T07:55:58.783Z,1740556558.783 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T07:55:58.783Z,1740556558.783 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-26T07:55:58.783Z,1740556558.783 [sci2_slowyo_test:Science:ChlThreshTrigger] Running Loop=1
2025-02-26T07:55:58.783Z,1740556558.783 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-26T07:55:58.784Z,1740556558.784 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-26T07:55:58.784Z,1740556558.784 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-26T07:55:58.784Z,1740556558.784 [sci2_slowyo_test:Science:OceanCurrent] Running Loop=1
2025-02-26T07:55:58.785Z,1740556558.785 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:OceanCurrent
2025-02-26T07:55:58.785Z,1740556558.785 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T07:55:58.785Z,1740556558.785 [sci2_slowyo_test:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-26T07:55:58.785Z,1740556558.785 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-26T07:55:58.785Z,1740556558.785 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_slowyo_test:StandardEnvelopes
2025-02-26T07:55:58.785Z,1740556558.785 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T07:55:58.786Z,1740556558.786 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-26T07:55:58.786Z,1740556558.786 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T07:55:58.786Z,1740556558.786 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-26T07:55:58.786Z,1740556558.786 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T07:55:58.786Z,1740556558.786 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-26T07:55:58.786Z,1740556558.786 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-26T07:55:58.786Z,1740556558.786 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::initialize sci2_slowyo_test:BackseatDriver
2025-02-26T07:55:58.787Z,1740556558.787 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-26T07:55:58.787Z,1740556558.787 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-26T07:55:58.787Z,1740556558.787 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::initialize sci2_slowyo_test:PowerOnly
2025-02-26T07:55:58.787Z,1740556558.787 [sci2_slowyo_test:PowerOnly:A] Running Loop=1
2025-02-26T07:55:58.787Z,1740556558.787 [sci2_slowyo_test:PowerOnly:B] Running Loop=1
2025-02-26T07:55:58.787Z,1740556558.787 [sci2_slowyo_test:PowerOnly:C] Running Loop=1
2025-02-26T07:55:58.787Z,1740556558.787 [sci2_slowyo_test:PowerOnly:D] Running Loop=1
2025-02-26T07:55:58.787Z,1740556558.787 [sci2_slowyo_test:PowerOnly:E.Wait] Running Loop=1
2025-02-26T07:55:58.787Z,1740556558.787 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-26T07:55:58.787Z,1740556558.787 [sci2_slowyo_test:C] Running Loop=1
2025-02-26T07:55:58.788Z,1740556558.788 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-26T07:55:58.789Z,1740556558.789 [sci2_slowyo_test:PowerOnly:D] Stopped
2025-02-26T07:55:58.789Z,1740556558.789 [sci2_slowyo_test:PowerOnly:C] Stopped
2025-02-26T07:55:58.789Z,1740556558.789 [sci2_slowyo_test:PowerOnly:B] Stopped
2025-02-26T07:55:58.789Z,1740556558.789 [sci2_slowyo_test:PowerOnly:A] Stopped
2025-02-26T07:55:58.789Z,1740556558.789 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-26T07:55:58.789Z,1740556558.789 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-26T07:55:58.834Z,1740556558.834 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-26T07:55:58.834Z,1740556558.834 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T07:55:58.834Z,1740556558.834 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T07:55:58.835Z,1740556558.835 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T07:55:58.836Z,1740556558.836 [sci2_slowyo_test:C] Stopped
2025-02-26T07:55:58.836Z,1740556558.836 [sci2_slowyo_test:E] Running Loop=1
2025-02-26T07:55:58.836Z,1740556558.836 [sci2_slowyo_test:Science] Running Loop=1
2025-02-26T07:55:58.839Z,1740556558.839 [sci2_slowyo_test:Science:ChlThreshTrigger] Stopped
2025-02-26T07:55:58.839Z,1740556558.839 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-26T07:55:58.839Z,1740556558.839 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-26T07:55:58.839Z,1740556558.839 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-26T07:55:58.839Z,1740556558.839 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-26T07:55:58.839Z,1740556558.839 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T07:55:58.839Z,1740556558.839 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-26T07:55:58.839Z,1740556558.839 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-26T07:55:58.840Z,1740556558.840 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T07:55:58.840Z,1740556558.840 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-26T07:55:58.840Z,1740556558.840 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-26T07:55:58.840Z,1740556558.840 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T07:55:58.840Z,1740556558.840 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-26T07:55:58.840Z,1740556558.840 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-26T07:55:58.840Z,1740556558.840 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T07:55:58.840Z,1740556558.840 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T07:55:58.840Z,1740556558.840 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-26T07:55:58.840Z,1740556558.840 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T07:55:58.840Z,1740556558.840 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T07:55:58.840Z,1740556558.840 [sci2_slowyo_test:Science:HighestSaltPeakReport] Stopped
2025-02-26T07:55:58.840Z,1740556558.840 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-26T07:55:58.841Z,1740556558.841 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T07:55:58.841Z,1740556558.841 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T07:55:58.849Z,1740556558.849 [sci2_slowyo_test:Science:PeakDetectSalinity] Stopped
2025-02-26T07:55:58.849Z,1740556558.849 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-26T07:55:58.849Z,1740556558.849 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Stopped
2025-02-26T07:55:58.849Z,1740556558.849 [sci2_slowyo_test:Science:PeakDetectFDOM] Stopped
2025-02-26T07:55:58.849Z,1740556558.849 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-26T07:55:58.849Z,1740556558.849 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Stopped
2025-02-26T07:55:58.849Z,1740556558.849 [sci2_slowyo_test:Science:HighestOilPeakReport] Stopped
2025-02-26T07:55:58.850Z,1740556558.850 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-26T07:55:58.850Z,1740556558.850 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T07:55:58.850Z,1740556558.850 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T07:55:58.850Z,1740556558.850 [sci2_slowyo_test:Science:PeakDetectOil] Stopped
2025-02-26T07:55:58.850Z,1740556558.850 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-26T07:55:58.850Z,1740556558.850 [sci2_slowyo_test:Science:PeakDetectOil:A] Stopped
2025-02-26T07:55:58.850Z,1740556558.850 [sci2_slowyo_test:Science:PeakDetectNO3] Stopped
2025-02-26T07:55:58.850Z,1740556558.850 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-26T07:55:58.850Z,1740556558.850 [sci2_slowyo_test:Science:PeakDetectNO3:A] Stopped
2025-02-26T07:55:58.850Z,1740556558.850 [sci2_slowyo_test:Science:HighestChlPeakReport] Stopped
2025-02-26T07:55:58.850Z,1740556558.850 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-26T07:55:58.850Z,1740556558.850 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T07:55:58.850Z,1740556558.850 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T07:55:58.850Z,1740556558.850 [sci2_slowyo_test:Science:EdgeDetectChl] Stopped
2025-02-26T07:55:58.851Z,1740556558.851 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-26T07:55:58.851Z,1740556558.851 [sci2_slowyo_test:Science:EdgeDetectChl:A] Stopped
2025-02-26T07:55:58.851Z,1740556558.851 [sci2_slowyo_test:Science:PeakDetectChl] Stopped
2025-02-26T07:55:58.851Z,1740556558.851 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-26T07:55:58.851Z,1740556558.851 [sci2_slowyo_test:Science:PeakDetectChl:A] Stopped
2025-02-26T07:55:58.851Z,1740556558.851 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T07:55:58.851Z,1740556558.851 [sci2_slowyo_test:Science:Read_Oil] Stopped
2025-02-26T07:55:58.851Z,1740556558.851 [sci2_slowyo_test:Science:F] Stopped
2025-02-26T07:55:58.851Z,1740556558.851 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-26T07:55:58.852Z,1740556558.852 [sci2_slowyo_test:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-26T07:55:58.852Z,1740556558.852 [sci2_slowyo_test:Science:D] Stopped
2025-02-26T07:55:58.852Z,1740556558.852 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-26T07:55:58.854Z,1740556558.854 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-26T07:55:58.855Z,1740556558.855 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-26T07:55:58.855Z,1740556558.855 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-26T07:55:58.856Z,1740556558.856 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-26T07:55:58.856Z,1740556558.856 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-26T07:55:58.856Z,1740556558.856 [sci2_slowyo_test:Science:A] Stopped
2025-02-26T07:55:58.893Z,1740556558.893 [BackseatComponent](INFO): Powering up
2025-02-26T07:55:58.894Z,1740556558.894 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-26T07:55:58.927Z,1740556558.927 [WetLabsBB2FL](INFO): Powering up
2025-02-26T07:55:59.185Z,1740556559.185 [sci2_slowyo_test:E] Stopped
2025-02-26T07:55:59.185Z,1740556559.185 [sci2_slowyo_test:F] Running Loop=1
2025-02-26T07:55:59.577Z,1740556559.577 [sci2_slowyo_test:F] Stopped
2025-02-26T07:55:59.577Z,1740556559.577 [sci2_slowyo_test:G] Running Loop=1
2025-02-26T07:55:59.985Z,1740556559.985 [sci2_slowyo_test:G] Stopped
2025-02-26T07:55:59.985Z,1740556559.985 [sci2_slowyo_test:StartingMission] Running Loop=1
2025-02-26T07:55:59.985Z,1740556559.985 [sci2_slowyo_test:StartingMission](DEBUG): Aggregate::initialize sci2_slowyo_test:StartingMission
2025-02-26T07:56:00.408Z,1740556560.408 [sci2_slowyo_test:SurfaceComms] Running Loop=1
2025-02-26T07:56:00.408Z,1740556560.408 [sci2_slowyo_test:SurfaceComms](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms
2025-02-26T07:56:00.408Z,1740556560.408 [sci2_slowyo_test:SurfaceComms:A] Running Loop=1
2025-02-26T07:56:00.413Z,1740556560.413 [sci2_slowyo_test:SurfaceComms:A] Stopped
2025-02-26T07:56:00.413Z,1740556560.413 [sci2_slowyo_test:SurfaceComms:B] Running Loop=1
2025-02-26T07:56:00.413Z,1740556560.413 [sci2_slowyo_test:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:B
2025-02-26T07:56:00.418Z,1740556560.418 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-26T07:56:00.818Z,1740556560.818 [sci2_slowyo_test:NeedComms] Running Loop=1
2025-02-26T07:56:00.818Z,1740556560.818 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::initialize sci2_slowyo_test:NeedComms
2025-02-26T07:56:00.818Z,1740556560.818 [sci2_slowyo_test:NeedComms:B.GoToSurface] Running Loop=1
2025-02-26T07:56:00.818Z,1740556560.818 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T07:56:00.818Z,1740556560.818 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received depth rate setting 0.300000 m/s.
2025-02-26T07:56:00.819Z,1740556560.819 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-26T07:56:00.819Z,1740556560.819 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-26T07:56:00.819Z,1740556560.819 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-26T07:56:00.820Z,1740556560.820 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T07:56:00.820Z,1740556560.820 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T07:56:00.820Z,1740556560.820 [sci2_slowyo_test:NeedComms:A] Running Loop=1
2025-02-26T07:56:00.822Z,1740556560.822 [sci2_slowyo_test:NeedComms:A](INFO): last time_fix was:  1740556237.000000 second since 1970/01/01T00:00:00Z 
2025-02-26T07:56:00.822Z,1740556560.822 [sci2_slowyo_test:NeedComms:A] Stopped
2025-02-26T07:56:01.207Z,1740556561.207 [sci2_slowyo_test:NeedComms:C] Running Loop=1
2025-02-26T07:56:01.615Z,1740556561.615 [sci2_slowyo_test:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T07:56:02.018Z,1740556562.018 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-26T07:56:03.204Z,1740556563.204 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,075602.00,A,3647.79196,N,12154.25292,W,0.641,226.00,260225,,,A*75
2025-02-26T07:56:03.206Z,1740556563.206 [NAL9602](INFO): GPS fix at 20250226T075602: (36.796533, -121.904215)
2025-02-26T07:56:03.267Z,1740556563.267 [sci2_slowyo_test:NeedComms:C] Stopped
2025-02-26T07:56:03.267Z,1740556563.267 [sci2_slowyo_test:NeedComms:D] Running Loop=1
2025-02-26T07:56:03.654Z,1740556563.654 [sci2_slowyo_test:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-26T07:56:15.775Z,1740556575.775 [DataOverHttps](INFO): Sending 329 bytes from file Logs/20250226T074052/Express0026.lzma
2025-02-26T07:56:16.776Z,1740556576.776 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0026.lzma.bak
2025-02-26T07:56:16.776Z,1740556576.776 [DataOverHttps](INFO): SBD MOMSN=23978682
2025-02-26T07:56:21.492Z,1740556581.492 [NAL9602](INFO): SBD MO Status=0, MOMSN=13524, MT Status=0, MTMSN=0
2025-02-26T07:56:21.492Z,1740556581.492 [NAL9602](INFO): No messages in MT queue
2025-02-26T07:56:38.010Z,1740556598.010 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250226T074052/Courier0037.lzma
2025-02-26T07:56:39.909Z,1740556599.909 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0037.lzma.bak
2025-02-26T07:56:39.909Z,1740556599.909 [DataOverHttps](INFO): SBD MOMSN=23978689
2025-02-26T07:56:52.214Z,1740556612.214 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T07:56:58.298Z,1740556618.298 [DataOverHttps](INFO): Sending 382 bytes from file Logs/20250226T074052/Express0029.lzma
2025-02-26T07:56:59.295Z,1740556619.295 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0029.lzma.bak
2025-02-26T07:56:59.295Z,1740556619.295 [DataOverHttps](INFO): SBD MOMSN=23978693
2025-02-26T07:57:08.246Z,1740556628.246 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250226T075708
2025-02-26T07:57:10.968Z,1740556630.968 [BackseatComponent](INFO): Created universal data reader for depth with code: 6
2025-02-26T07:57:10.969Z,1740556630.969 [BackseatComponent](INFO): Requesting data from depth (6). Requested size is: 1
2025-02-26T07:57:10.972Z,1740556630.972 [BackseatComponent](INFO): Created universal data reader for latitude with code: 23
2025-02-26T07:57:10.972Z,1740556630.972 [BackseatComponent](INFO): Requesting data from latitude (23). Requested size is: 2
2025-02-26T07:57:10.998Z,1740556630.998 [BackseatComponent](INFO): Created universal data reader for longitude with code: 26
2025-02-26T07:57:10.998Z,1740556630.998 [BackseatComponent](INFO): Requesting data from longitude (26). Requested size is: 3
2025-02-26T07:57:11.003Z,1740556631.003 [BackseatComponent](INFO): Created universal data reader for platform_orientation with code: 52
2025-02-26T07:57:11.003Z,1740556631.003 [BackseatComponent](INFO): Requesting data from platform_orientation (52). Requested size is: 4
2025-02-26T07:57:11.035Z,1740556631.035 [BackseatComponent](INFO): Created universal data reader for platform_pitch_angle with code: 54
2025-02-26T07:57:11.035Z,1740556631.035 [BackseatComponent](INFO): Requesting data from platform_pitch_angle (54). Requested size is: 5
2025-02-26T07:57:11.039Z,1740556631.039 [BackseatComponent](INFO): Created universal data reader for platform_roll_angle with code: 59
2025-02-26T07:57:11.039Z,1740556631.039 [BackseatComponent](INFO): Requesting data from platform_roll_angle (59). Requested size is: 6
2025-02-26T07:57:11.064Z,1740556631.064 [BackseatComponent](INFO): Created universal data reader for platform_x_velocity_wrt_sea_water with code: 70
2025-02-26T07:57:11.064Z,1740556631.064 [BackseatComponent](INFO): Requesting data from platform_x_velocity_wrt_sea_water (70). Requested size is: 7
2025-02-26T07:57:22.709Z,1740556642.709 [DataOverHttps](INFO): Sending 96 bytes from file Logs/20250226T074052/Express0032.lzma
2025-02-26T07:57:23.711Z,1740556643.711 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0032.lzma.bak
2025-02-26T07:57:23.711Z,1740556643.711 [DataOverHttps](INFO): SBD MOMSN=23978700
2025-02-26T07:57:42.313Z,1740556662.313 [DataOverHttps](INFO): Sending 357 bytes from file Logs/20250226T074052/Express0035.lzma
2025-02-26T07:57:43.316Z,1740556663.316 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0035.lzma.bak
2025-02-26T07:57:43.316Z,1740556663.316 [DataOverHttps](INFO): SBD MOMSN=23978703
2025-02-26T07:58:04.549Z,1740556684.549 [DataOverHttps](INFO): Sending 439 bytes from file Logs/20250226T074052/Express0038.lzma
2025-02-26T07:58:05.551Z,1740556685.551 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0038.lzma.bak
2025-02-26T07:58:05.551Z,1740556685.551 [DataOverHttps](INFO): SBD MOMSN=23978713
2025-02-26T07:58:07.478Z,1740556687.478 [sci2_slowyo_test:NeedComms:D] Stopped
2025-02-26T07:58:07.478Z,1740556687.478 [sci2_slowyo_test:NeedComms:E] Running Loop=1
2025-02-26T07:58:07.879Z,1740556687.879 [sci2_slowyo_test:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T07:58:09.494Z,1740556689.494 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,075808.00,A,3647.79562,N,12154.26236,W,0.233,290.83,260225,,,A*74
2025-02-26T07:58:09.496Z,1740556689.496 [NAL9602](INFO): GPS fix at 20250226T075808: (36.796594, -121.904373)
2025-02-26T07:58:09.510Z,1740556689.510 [sci2_slowyo_test:NeedComms:E] Stopped
2025-02-26T07:58:09.511Z,1740556689.511 [sci2_slowyo_test:NeedComms](INFO): Completed sci2_slowyo_test:NeedComms
2025-02-26T07:58:09.511Z,1740556689.511 [sci2_slowyo_test:NeedComms] Stopped
2025-02-26T07:58:09.511Z,1740556689.511 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:NeedComms
2025-02-26T07:58:09.511Z,1740556689.511 [sci2_slowyo_test:NeedComms:B.GoToSurface] Stopped
2025-02-26T07:58:09.511Z,1740556689.511 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T07:58:09.923Z,1740556689.923 [sci2_slowyo_test:SurfaceComms:B](INFO): Completed sci2_slowyo_test:SurfaceComms:B
2025-02-26T07:58:09.923Z,1740556689.923 [sci2_slowyo_test:SurfaceComms:B] Stopped
2025-02-26T07:58:09.923Z,1740556689.923 [sci2_slowyo_test:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:B
2025-02-26T07:58:09.923Z,1740556689.923 [sci2_slowyo_test:SurfaceComms:setInitial] Running Loop=1
2025-02-26T07:58:09.923Z,1740556689.923 [sci2_slowyo_test:SurfaceComms:setInitial](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:setInitial
2025-02-26T07:58:09.923Z,1740556689.923 [sci2_slowyo_test:SurfaceComms:setInitial:A] Running Loop=1
2025-02-26T07:58:10.299Z,1740556690.299 [sci2_slowyo_test:SurfaceComms:setInitial:A] Stopped
2025-02-26T07:58:10.299Z,1740556690.299 [sci2_slowyo_test:SurfaceComms:setInitial](INFO): Completed sci2_slowyo_test:SurfaceComms:setInitial
2025-02-26T07:58:10.299Z,1740556690.299 [sci2_slowyo_test:SurfaceComms:setInitial] Stopped
2025-02-26T07:58:10.299Z,1740556690.299 [sci2_slowyo_test:SurfaceComms:setInitial](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:setInitial
2025-02-26T07:58:10.300Z,1740556690.300 [sci2_slowyo_test:SurfaceComms:setSink] Running Loop=1
2025-02-26T07:58:10.300Z,1740556690.300 [sci2_slowyo_test:SurfaceComms:setSink](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:setSink
2025-02-26T07:58:10.300Z,1740556690.300 [sci2_slowyo_test:SurfaceComms:setSink:A] Running Loop=1
2025-02-26T07:58:10.711Z,1740556690.711 [sci2_slowyo_test:SurfaceComms:setSink] Stopped
2025-02-26T07:58:10.711Z,1740556690.711 [sci2_slowyo_test:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:setSink
2025-02-26T07:58:10.711Z,1740556690.711 [sci2_slowyo_test:SurfaceComms:setSink:A] Stopped
2025-02-26T07:58:10.712Z,1740556690.712 [sci2_slowyo_test:SurfaceComms](INFO): Completed sci2_slowyo_test:SurfaceComms
2025-02-26T07:58:10.712Z,1740556690.712 [sci2_slowyo_test:SurfaceComms] Stopped
2025-02-26T07:58:10.712Z,1740556690.712 [sci2_slowyo_test:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms
2025-02-26T07:58:11.127Z,1740556691.127 [sci2_slowyo_test:StartingMission](INFO): Completed sci2_slowyo_test:StartingMission
2025-02-26T07:58:11.127Z,1740556691.127 [sci2_slowyo_test:StartingMission] Stopped
2025-02-26T07:58:11.128Z,1740556691.128 [sci2_slowyo_test:StartingMission](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StartingMission
2025-02-26T07:58:11.128Z,1740556691.128 [sci2_slowyo_test:Lap] Running Loop=1
2025-02-26T07:58:11.128Z,1740556691.128 [sci2_slowyo_test:Lap](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap
2025-02-26T07:58:11.128Z,1740556691.128 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-26T07:58:11.128Z,1740556691.128 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive
2025-02-26T07:58:11.128Z,1740556691.128 [sci2_slowyo_test:Lap:Dive:A] Running Loop=1
2025-02-26T07:58:11.128Z,1740556691.128 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive:A
2025-02-26T07:58:11.128Z,1740556691.128 [sci2_slowyo_test:Lap:Wpt1] Running Loop=1
2025-02-26T07:58:11.129Z,1740556691.129 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt1
2025-02-26T07:58:11.129Z,1740556691.129 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-02-26T07:58:11.129Z,1740556691.129 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T07:58:11.130Z,1740556691.130 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797001,-121.847000
2025-02-26T07:58:11.506Z,1740556691.506 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797001,-121.847000
2025-02-26T07:58:11.507Z,1740556691.507 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-26T07:58:11.507Z,1740556691.507 [sci2_slowyo_test:DiveCmd] Running Loop=1
2025-02-26T07:58:11.507Z,1740556691.507 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd
2025-02-26T07:58:11.507Z,1740556691.507 [sci2_slowyo_test:DiveCmd:SurfaceSink] Running Loop=1
2025-02-26T07:58:11.507Z,1740556691.507 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-26T07:58:11.507Z,1740556691.507 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-02-26T07:58:11.508Z,1740556691.508 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-26T07:58:11.508Z,1740556691.508 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-26T07:58:11.508Z,1740556691.508 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T07:58:11.508Z,1740556691.508 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-02-26T07:58:11.508Z,1740556691.508 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-02-26T07:58:11.508Z,1740556691.508 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-02-26T07:58:11.508Z,1740556691.508 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-02-26T07:58:11.508Z,1740556691.508 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T07:58:11.508Z,1740556691.508 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Running Loop=1
2025-02-26T07:58:11.509Z,1740556691.509 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T07:58:11.509Z,1740556691.509 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-02-26T07:58:11.509Z,1740556691.509 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Initialize.
2025-02-26T07:58:11.509Z,1740556691.509 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-26T07:58:11.509Z,1740556691.509 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T07:58:11.509Z,1740556691.509 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Running Loop=1
2025-02-26T07:58:11.509Z,1740556691.509 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T07:58:11.510Z,1740556691.510 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T07:58:11.510Z,1740556691.510 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T07:58:11.510Z,1740556691.510 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T07:58:11.510Z,1740556691.510 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T07:58:11.510Z,1740556691.510 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T07:58:11.510Z,1740556691.510 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T07:58:11.510Z,1740556691.510 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T07:58:11.510Z,1740556691.510 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T07:58:11.510Z,1740556691.510 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T07:58:11.511Z,1740556691.511 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T07:58:11.511Z,1740556691.511 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T07:58:11.511Z,1740556691.511 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T07:58:11.511Z,1740556691.511 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T07:58:11.512Z,1740556691.512 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-26T07:58:11.512Z,1740556691.512 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T07:58:11.512Z,1740556691.512 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-26T07:58:11.512Z,1740556691.512 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T07:58:11.512Z,1740556691.512 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-26T07:58:11.512Z,1740556691.512 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T07:58:11.512Z,1740556691.512 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-26T07:58:11.512Z,1740556691.512 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-26T07:58:11.512Z,1740556691.512 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-26T07:58:11.512Z,1740556691.512 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T07:58:11.513Z,1740556691.513 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T07:58:11.513Z,1740556691.513 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T07:58:11.513Z,1740556691.513 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T07:58:11.513Z,1740556691.513 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-02-26T07:58:11.513Z,1740556691.513 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C](INFO): Waiting for 1 minute while pumping down to neutral.
2025-02-26T07:58:11.513Z,1740556691.513 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Stopped
2025-02-26T07:58:11.514Z,1740556691.514 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait] Running Loop=1
2025-02-26T07:58:11.514Z,1740556691.514 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Initialize Wait Component.
2025-02-26T07:58:11.514Z,1740556691.514 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-26T07:58:11.514Z,1740556691.514 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-02-26T07:58:11.514Z,1740556691.514 [sci2_slowyo_test:DiveCmd:SurfaceSink] Stopped
2025-02-26T07:58:11.515Z,1740556691.515 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-26T07:58:11.515Z,1740556691.515 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Stopped
2025-02-26T07:58:11.515Z,1740556691.515 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-26T07:58:11.515Z,1740556691.515 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-02-26T07:58:11.515Z,1740556691.515 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T07:58:11.515Z,1740556691.515 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-02-26T07:58:11.515Z,1740556691.515 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-02-26T07:58:11.515Z,1740556691.515 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Stopped
2025-02-26T07:58:11.525Z,1740556691.525 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-02-26T07:58:11.541Z,1740556691.541 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-02-26T07:58:11.541Z,1740556691.541 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-02-26T07:58:11.915Z,1740556691.915 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2119
2025-02-26T07:58:29.758Z,1740556709.758 [NAL9602](INFO): SBD MO Status=2, MOMSN=13525, MT Status=2, MTMSN=0
2025-02-26T07:58:29.758Z,1740556709.758 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T07:58:50.594Z,1740556730.594 [NAL9602](INFO): SBD MO Status=0, MOMSN=13525, MT Status=0, MTMSN=0
2025-02-26T07:58:50.594Z,1740556730.594 [NAL9602](INFO): No messages in MT queue
2025-02-26T07:59:12.135Z,1740556752.135 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](INFO): Done Waiting.
2025-02-26T07:59:12.136Z,1740556752.136 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait] Stopped
2025-02-26T07:59:12.136Z,1740556752.136 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T07:59:12.136Z,1740556752.136 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E] Running Loop=1
2025-02-26T07:59:12.722Z,1740556752.722 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E](INFO): Moving to  10.000000 m 
2025-02-26T07:59:12.722Z,1740556752.722 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E] Stopped
2025-02-26T07:59:12.722Z,1740556752.722 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-02-26T07:59:12.722Z,1740556752.722 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-26T07:59:12.722Z,1740556752.722 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-02-26T07:59:12.722Z,1740556752.722 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-02-26T07:59:12.722Z,1740556752.722 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-02-26T07:59:12.722Z,1740556752.722 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-02-26T07:59:13.113Z,1740556753.113 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-02-26T07:59:21.394Z,1740556761.394 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T07:59:29.370Z,1740556769.370 [ThrusterHE](FAULT): Unrecognized Command
2025-02-26T07:59:29.370Z,1740556769.370 [ThrusterHE] Hardware Fault, FailCount= 1
2025-02-26T07:59:29.370Z,1740556769.370 [ThrusterHE](ERROR): Hardware Fault
2025-02-26T07:59:29.384Z,1740556769.384 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-02-26T07:59:29.778Z,1740556769.778 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T07:59:29.779Z,1740556769.779 [ThrusterHE](INFO): Powering down
2025-02-26T07:59:30.693Z,1740556770.693 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-02-26T07:59:30.693Z,1740556770.693 [ThrusterHE] No Fault, FailCount= 1
2025-02-26T07:59:30.982Z,1740556770.982 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T07:59:30.983Z,1740556770.983 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T07:59:36.366Z,1740556776.366 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-02-26T08:01:10.173Z,1740556870.173 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T08:01:41.297Z,1740556901.297 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T08:01:42.301Z,1740556902.301 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T08:01:42.361Z,1740556902.361 [Radio_Surface](INFO): Powering down
2025-02-26T08:02:08.866Z,1740556928.866 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2120
2025-02-26T08:02:26.635Z,1740556946.635 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-02-26T08:02:26.635Z,1740556946.635 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-26T08:02:26.635Z,1740556946.635 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-02-26T08:02:26.635Z,1740556946.635 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-26T08:02:26.635Z,1740556946.635 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-02-26T08:02:26.636Z,1740556946.636 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-02-26T08:02:26.636Z,1740556946.636 [sci2_slowyo_test:DiveCmd:InitialDive:dive:G] Running Loop=1
2025-02-26T08:02:27.057Z,1740556947.057 [sci2_slowyo_test:DiveCmd:InitialDive:dive:G] Stopped
2025-02-26T08:02:27.058Z,1740556947.058 [sci2_slowyo_test:DiveCmd:InitialDive:dive](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T08:02:27.058Z,1740556947.058 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Stopped
2025-02-26T08:02:27.058Z,1740556947.058 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T08:02:27.058Z,1740556947.058 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Stopped
2025-02-26T08:02:27.058Z,1740556947.058 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Uninitialize.
2025-02-26T08:02:27.058Z,1740556947.058 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-02-26T08:02:27.058Z,1740556947.058 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T08:02:27.058Z,1740556947.058 [sci2_slowyo_test:DiveCmd:InitialDive](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T08:02:27.434Z,1740556947.434 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T08:02:27.434Z,1740556947.434 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T08:02:27.434Z,1740556947.434 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T08:02:27.434Z,1740556947.434 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T08:02:27.434Z,1740556947.434 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T08:02:27.434Z,1740556947.434 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T08:02:27.434Z,1740556947.434 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T08:02:27.434Z,1740556947.434 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T08:02:27.435Z,1740556947.435 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T08:02:27.435Z,1740556947.435 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T08:02:27.435Z,1740556947.435 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T08:02:27.435Z,1740556947.435 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T08:02:27.435Z,1740556947.435 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T08:02:27.435Z,1740556947.435 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T08:02:27.435Z,1740556947.435 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T08:02:27.435Z,1740556947.435 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T08:02:27.436Z,1740556947.436 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T08:02:27.436Z,1740556947.436 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T08:02:27.437Z,1740556947.437 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T08:02:55.335Z,1740556975.335 [VerticalControl](CRITICAL): Excessive depth excursion=11.601279 m, failToGoUpDepth_=10.579183 m, depthRate=0.424644 m/s, pitch=-16.799171 deg.
2025-02-26T08:02:55.450Z,1740556975.450 [CommandExec](FAULT): Scheduling is paused for 5 commands
2025-02-26T08:02:55.451Z,1740556975.451 [CBIT](INFO): Critical error at 20250226T080255
2025-02-26T08:02:55.451Z,1740556975.451 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-02-26T08:02:55.723Z,1740556975.723 [MissionManager](INFO): MissionManager is completed.
2025-02-26T08:02:55.724Z,1740556975.724 [MissionManager](INFO): Uninitializing Mission sci2_slowyo_test
2025-02-26T08:02:55.724Z,1740556975.724 [sci2_slowyo_test] Stopped
2025-02-26T08:02:55.724Z,1740556975.724 [sci2_slowyo_test](DEBUG): Aggregate::uninitialize sci2_slowyo_test
2025-02-26T08:02:55.724Z,1740556975.724 [sci2_slowyo_test:Science] Stopped
2025-02-26T08:02:55.724Z,1740556975.724 [sci2_slowyo_test:Science](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science
2025-02-26T08:02:55.724Z,1740556975.724 [sci2_slowyo_test:Science:B] Stopped
2025-02-26T08:02:55.724Z,1740556975.724 [sci2_slowyo_test:Science:C] Stopped
2025-02-26T08:02:55.724Z,1740556975.724 [sci2_slowyo_test:Science:E] Stopped
2025-02-26T08:02:55.724Z,1740556975.724 [sci2_slowyo_test:Science:OceanCurrent] Stopped
2025-02-26T08:02:55.724Z,1740556975.724 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:OceanCurrent
2025-02-26T08:02:55.724Z,1740556975.724 [sci2_slowyo_test:Science:OceanCurrent:A.] Stopped
2025-02-26T08:02:55.725Z,1740556975.725 [sci2_slowyo_test:StandardEnvelopes] Stopped
2025-02-26T08:02:55.725Z,1740556975.725 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StandardEnvelopes
2025-02-26T08:02:55.725Z,1740556975.725 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-26T08:02:55.725Z,1740556975.725 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-26T08:02:55.725Z,1740556975.725 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-26T08:02:55.725Z,1740556975.725 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-26T08:02:55.725Z,1740556975.725 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-26T08:02:55.725Z,1740556975.725 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-26T08:02:55.725Z,1740556975.725 [sci2_slowyo_test:BackseatDriver] Stopped
2025-02-26T08:02:55.725Z,1740556975.725 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_slowyo_test:BackseatDriver
2025-02-26T08:02:55.725Z,1740556975.725 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Stopped
2025-02-26T08:02:55.726Z,1740556975.726 [sci2_slowyo_test:PowerOnly] Stopped
2025-02-26T08:02:55.726Z,1740556975.726 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::uninitialize sci2_slowyo_test:PowerOnly
2025-02-26T08:02:55.726Z,1740556975.726 [sci2_slowyo_test:PowerOnly:E.Wait] Stopped
2025-02-26T08:02:55.726Z,1740556975.726 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T08:02:55.726Z,1740556975.726 [sci2_slowyo_test:DiveCmd] Stopped
2025-02-26T08:02:55.726Z,1740556975.726 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd
2025-02-26T08:02:55.726Z,1740556975.726 [sci2_slowyo_test:DiveCmd:InitialDive] Stopped
2025-02-26T08:02:55.726Z,1740556975.726 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T08:02:55.726Z,1740556975.726 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-26T08:02:55.726Z,1740556975.726 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T08:02:55.726Z,1740556975.726 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-26T08:02:55.727Z,1740556975.727 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T08:02:55.727Z,1740556975.727 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-26T08:02:55.727Z,1740556975.727 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T08:02:55.727Z,1740556975.727 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-26T08:02:55.727Z,1740556975.727 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-26T08:02:55.727Z,1740556975.727 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-26T08:02:55.727Z,1740556975.727 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T08:02:55.727Z,1740556975.727 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T08:02:55.727Z,1740556975.727 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T08:02:55.727Z,1740556975.727 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T08:02:55.727Z,1740556975.727 [sci2_slowyo_test:Lap] Stopped
2025-02-26T08:02:55.727Z,1740556975.727 [sci2_slowyo_test:Lap](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap
2025-02-26T08:02:55.727Z,1740556975.727 [sci2_slowyo_test:Lap:Dive] Stopped
2025-02-26T08:02:55.728Z,1740556975.728 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive
2025-02-26T08:02:55.728Z,1740556975.728 [sci2_slowyo_test:Lap:Dive:A] Stopped
2025-02-26T08:02:55.728Z,1740556975.728 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive:A
2025-02-26T08:02:55.728Z,1740556975.728 [sci2_slowyo_test:Lap:Wpt1] Stopped
2025-02-26T08:02:55.728Z,1740556975.728 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt1
2025-02-26T08:02:55.728Z,1740556975.728 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Stopped
2025-02-26T08:02:55.728Z,1740556975.728 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T08:02:56.055Z,1740556976.055 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-26T08:02:56.056Z,1740556976.056 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-26T08:02:56.150Z,1740556976.150 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T08:02:56.151Z,1740556976.151 [Default] Running Loop=1
2025-02-26T08:02:56.151Z,1740556976.151 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T08:02:56.151Z,1740556976.151 [Default:B.GoToSurface] Running Loop=1
2025-02-26T08:02:56.151Z,1740556976.151 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T08:02:56.151Z,1740556976.151 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T08:02:56.151Z,1740556976.151 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T08:02:56.152Z,1740556976.152 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T08:02:56.152Z,1740556976.152 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T08:02:56.152Z,1740556976.152 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T08:02:56.153Z,1740556976.153 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T08:02:56.153Z,1740556976.153 [Default:A.Wait] Running Loop=1
2025-02-26T08:02:56.153Z,1740556976.153 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T08:02:56.209Z,1740556976.209 [WetLabsBB2FL](INFO): Powering down
2025-02-26T08:02:56.701Z,1740556976.701 [Radio_Surface](INFO): Powering up
2025-02-26T08:03:02.621Z,1740556982.621 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T08:03:09.448Z,1740556989.448 [Default:A.Wait](INFO): Done Waiting.
2025-02-26T08:03:09.449Z,1740556989.449 [Default:A.Wait] Stopped
2025-02-26T08:03:09.449Z,1740556989.449 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T08:03:14.213Z,1740556994.213 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-26T08:03:14.214Z,1740556994.214 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-26T08:03:14.214Z,1740556994.214 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-26T08:03:18.686Z,1740556998.686 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.735336
2025-02-26T08:03:46.702Z,1740557026.702 [Default:CheckIn] Running Loop=1
2025-02-26T08:03:46.702Z,1740557026.702 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T08:03:46.703Z,1740557026.703 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T08:04:02.861Z,1740557042.861 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T08:04:22.158Z,1740557062.158 [NAL9602](INFO): SBD MO Status=0, MOMSN=13526, MT Status=0, MTMSN=0
2025-02-26T08:04:22.158Z,1740557062.158 [NAL9602](INFO): No messages in MT queue
2025-02-26T08:04:23.376Z,1740557063.376 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,080422.00,A,3647.79046,N,12154.20403,W,1.225,255.17,260225,,,A*7D
2025-02-26T08:04:23.379Z,1740557063.379 [NAL9602](INFO): GPS fix at 20250226T080422: (36.796508, -121.903401)
2025-02-26T08:04:23.390Z,1740557063.390 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T08:04:23.390Z,1740557063.390 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T08:04:33.985Z,1740557073.985 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T08:04:36.311Z,1740557076.311 [NAL9602](INFO): SBD MO Status=1, MOMSN=13527, MT Status=0, MTMSN=0
2025-02-26T08:04:36.369Z,1740557076.369 [NAL9602](INFO): Sent 216 bytes from file Logs/20250226T074052/Courier0040.lzma
2025-02-26T08:04:36.369Z,1740557076.369 [NAL9602](INFO): Packets left to send: 0
2025-02-26T08:04:48.683Z,1740557088.683 [NAL9602](INFO): SBD MO Status=1, MOMSN=13528, MT Status=0, MTMSN=0
2025-02-26T08:04:48.733Z,1740557088.733 [NAL9602](INFO): Sent 332 bytes from file Logs/20250226T074052/Express0041.lzma
2025-02-26T08:04:48.734Z,1740557088.734 [NAL9602](INFO): Packets left to send: 2
2025-02-26T08:05:03.011Z,1740557103.011 [NAL9602](INFO): SBD MO Status=1, MOMSN=13529, MT Status=0, MTMSN=0
2025-02-26T08:05:03.065Z,1740557103.065 [NAL9602](INFO): Sent 332 bytes from file Logs/20250226T074052/Express0041.lzma
2025-02-26T08:05:03.065Z,1740557103.065 [NAL9602](INFO): Packets left to send: 1
2025-02-26T08:05:05.123Z,1740557105.123 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T08:05:17.267Z,1740557117.267 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004312
2025-02-26T08:05:20.544Z,1740557120.544 [NAL9602](INFO): SBD MO Status=1, MOMSN=13530, MT Status=0, MTMSN=0
2025-02-26T08:05:20.597Z,1740557120.597 [NAL9602](INFO): Sent 75 bytes from file Logs/20250226T074052/Express0041.lzma
2025-02-26T08:05:20.597Z,1740557120.597 [NAL9602](INFO): Packets left to send: 0
2025-02-26T08:05:25.006Z,1740557125.006 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T08:05:25.006Z,1740557125.006 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T08:05:25.006Z,1740557125.006 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T08:05:51.241Z,1740557151.241 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T08:10:25.656Z,1740557425.656 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-26T08:10:25.656Z,1740557425.656 [Default:CheckIn:C.Wait] Stopped
2025-02-26T08:10:25.656Z,1740557425.656 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T08:10:25.656Z,1740557425.656 [Default:CheckIn:D] Running Loop=1
2025-02-26T08:10:26.061Z,1740557426.061 [Default:CheckIn:D] Stopped
2025-02-26T08:10:26.061Z,1740557426.061 [Default:CheckIn:E] Running Loop=1
2025-02-26T08:10:26.464Z,1740557426.464 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  7.498496 min 
2025-02-26T08:10:26.464Z,1740557426.464 [Default:CheckIn:E] Stopped
2025-02-26T08:10:26.464Z,1740557426.464 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-26T08:10:26.465Z,1740557426.465 [Default:CheckIn] Stopped
2025-02-26T08:10:26.465Z,1740557426.465 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T08:10:26.465Z,1740557426.465 [Default:CheckIn](INFO): Running loop #2
2025-02-26T08:10:26.465Z,1740557426.465 [Default:CheckIn] Running Loop=2
2025-02-26T08:10:26.465Z,1740557426.465 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T08:10:26.465Z,1740557426.465 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T08:10:28.478Z,1740557428.478 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,081027.00,A,3647.80011,N,12154.23240,W,0.875,355.36,260225,,,A*77
2025-02-26T08:10:28.480Z,1740557428.480 [NAL9602](INFO): GPS fix at 20250226T081027: (36.796669, -121.903873)
2025-02-26T08:10:28.515Z,1740557428.515 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T08:10:28.515Z,1740557428.515 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T08:10:36.249Z,1740557436.249 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250226T074052/Courier0043.lzma
2025-02-26T08:10:37.251Z,1740557437.251 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0043.lzma.bak
2025-02-26T08:10:37.251Z,1740557437.251 [DataOverHttps](INFO): SBD MOMSN=23978746
2025-02-26T08:10:42.216Z,1740557442.216 [NAL9602](INFO): SBD MO Status=0, MOMSN=13531, MT Status=0, MTMSN=0
2025-02-26T08:10:42.216Z,1740557442.216 [NAL9602](INFO): No messages in MT queue
2025-02-26T08:10:55.990Z,1740557455.990 [DataOverHttps](INFO): Sending 129 bytes from file Logs/20250226T074052/Express0044.lzma
2025-02-26T08:10:56.995Z,1740557456.995 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0044.lzma.bak
2025-02-26T08:10:56.995Z,1740557456.995 [DataOverHttps](INFO): SBD MOMSN=23978750
2025-02-26T08:10:58.798Z,1740557458.798 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T08:10:58.798Z,1740557458.798 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T08:10:58.798Z,1740557458.798 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T08:11:12.963Z,1740557472.963 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T08:15:59.500Z,1740557759.500 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-26T08:15:59.500Z,1740557759.500 [Default:CheckIn:C.Wait] Stopped
2025-02-26T08:15:59.501Z,1740557759.501 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T08:15:59.502Z,1740557759.502 [Default:CheckIn:D] Running Loop=1
2025-02-26T08:15:59.919Z,1740557759.919 [Default:CheckIn:D] Stopped
2025-02-26T08:15:59.919Z,1740557759.919 [Default:CheckIn:E] Running Loop=1
2025-02-26T08:16:00.328Z,1740557760.328 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  13.062795 min 
2025-02-26T08:16:00.328Z,1740557760.328 [Default:CheckIn:E] Stopped
2025-02-26T08:16:00.328Z,1740557760.328 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-26T08:16:00.328Z,1740557760.328 [Default:CheckIn] Stopped
2025-02-26T08:16:00.328Z,1740557760.328 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T08:16:00.329Z,1740557760.329 [Default:CheckIn](INFO): Running loop #3
2025-02-26T08:16:00.329Z,1740557760.329 [Default:CheckIn] Running Loop=3
2025-02-26T08:16:00.329Z,1740557760.329 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T08:16:00.329Z,1740557760.329 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T08:16:02.319Z,1740557762.319 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,081601.00,A,3647.81171,N,12154.26484,W,1.127,64.78,260225,,,A*4C
2025-02-26T08:16:02.321Z,1740557762.321 [NAL9602](INFO): GPS fix at 20250226T081601: (36.796862, -121.904414)
2025-02-26T08:16:02.334Z,1740557762.334 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T08:16:02.334Z,1740557762.334 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T08:16:11.710Z,1740557771.710 [NAL9602](INFO): SBD MO Status=0, MOMSN=13532, MT Status=0, MTMSN=0
2025-02-26T08:16:11.710Z,1740557771.710 [NAL9602](INFO): No messages in MT queue
2025-02-26T08:16:21.536Z,1740557781.536 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250226T074052/Courier0046.lzma
2025-02-26T08:16:22.539Z,1740557782.539 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0046.lzma.bak
2025-02-26T08:16:22.539Z,1740557782.539 [DataOverHttps](INFO): SBD MOMSN=23978753
2025-02-26T08:16:39.513Z,1740557799.513 [DataOverHttps](INFO): Sending 131 bytes from file Logs/20250226T074052/Express0047.lzma
2025-02-26T08:16:40.516Z,1740557800.516 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0047.lzma.bak
2025-02-26T08:16:40.517Z,1740557800.517 [DataOverHttps](INFO): SBD MOMSN=23978757
2025-02-26T08:16:42.410Z,1740557802.410 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T08:16:42.447Z,1740557802.447 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T08:16:42.448Z,1740557802.448 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T08:16:42.448Z,1740557802.448 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T08:21:43.049Z,1740558103.049 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-26T08:21:43.049Z,1740558103.049 [Default:CheckIn:C.Wait] Stopped
2025-02-26T08:21:43.049Z,1740558103.049 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T08:21:43.050Z,1740558103.050 [Default:CheckIn:D] Running Loop=1
2025-02-26T08:21:43.446Z,1740558103.446 [Default:CheckIn:D] Stopped
2025-02-26T08:21:43.446Z,1740558103.446 [Default:CheckIn:E] Running Loop=1
2025-02-26T08:21:43.833Z,1740558103.833 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  18.788247 min 
2025-02-26T08:21:43.833Z,1740558103.833 [Default:CheckIn:E] Stopped
2025-02-26T08:21:43.833Z,1740558103.833 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-26T08:21:43.833Z,1740558103.833 [Default:CheckIn] Stopped
2025-02-26T08:21:43.834Z,1740558103.834 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T08:21:43.834Z,1740558103.834 [Default:CheckIn](INFO): Running loop #4
2025-02-26T08:21:43.834Z,1740558103.834 [Default:CheckIn] Running Loop=4
2025-02-26T08:21:43.834Z,1740558103.834 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T08:21:43.834Z,1740558103.834 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T08:21:45.848Z,1740558105.848 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,082145.00,A,3647.82259,N,12154.30125,W,0.603,323.53,260225,,,A*72
2025-02-26T08:21:45.851Z,1740558105.851 [NAL9602](INFO): GPS fix at 20250226T082145: (36.797043, -121.905021)
2025-02-26T08:21:45.864Z,1740558105.864 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T08:21:45.864Z,1740558105.864 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T08:21:54.837Z,1740558114.837 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250226T074052/Courier0049.lzma
2025-02-26T08:21:55.839Z,1740558115.839 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0049.lzma.bak
2025-02-26T08:21:55.839Z,1740558115.839 [DataOverHttps](INFO): SBD MOMSN=23978760
2025-02-26T08:22:12.109Z,1740558132.109 [NAL9602](INFO): SBD MO Status=0, MOMSN=13533, MT Status=0, MTMSN=0
2025-02-26T08:22:12.109Z,1740558132.109 [NAL9602](INFO): No messages in MT queue
2025-02-26T08:22:16.798Z,1740558136.798 [DataOverHttps](INFO): Sending 131 bytes from file Logs/20250226T074052/Express0050.lzma
2025-02-26T08:22:17.803Z,1740558137.803 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0050.lzma.bak
2025-02-26T08:22:17.803Z,1740558137.803 [DataOverHttps](INFO): SBD MOMSN=23978763
2025-02-26T08:22:19.807Z,1740558139.807 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T08:22:19.808Z,1740558139.808 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T08:22:19.808Z,1740558139.808 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T08:22:42.805Z,1740558162.805 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T08:27:20.378Z,1740558440.378 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-26T08:27:20.379Z,1740558440.379 [Default:CheckIn:C.Wait] Stopped
2025-02-26T08:27:20.379Z,1740558440.379 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T08:27:20.379Z,1740558440.379 [Default:CheckIn:D] Running Loop=1
2025-02-26T08:27:20.772Z,1740558440.772 [Default:CheckIn:D] Stopped
2025-02-26T08:27:20.772Z,1740558440.772 [Default:CheckIn:E] Running Loop=1
2025-02-26T08:27:21.177Z,1740558441.177 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  24.410356 min 
2025-02-26T08:27:21.177Z,1740558441.177 [Default:CheckIn:E] Stopped
2025-02-26T08:27:21.177Z,1740558441.177 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-26T08:27:21.178Z,1740558441.178 [Default:CheckIn] Stopped
2025-02-26T08:27:21.178Z,1740558441.178 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T08:27:21.178Z,1740558441.178 [Default:CheckIn](INFO): Running loop #5
2025-02-26T08:27:21.178Z,1740558441.178 [Default:CheckIn] Running Loop=5
2025-02-26T08:27:21.178Z,1740558441.178 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T08:27:21.178Z,1740558441.178 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T08:27:23.187Z,1740558443.187 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,082722.00,A,3647.83478,N,12154.32867,W,0.680,99.87,260225,,,D*49
2025-02-26T08:27:23.198Z,1740558443.198 [NAL9602](INFO): GPS fix at 20250226T082722: (36.797246, -121.905478)
2025-02-26T08:27:23.210Z,1740558443.210 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T08:27:23.210Z,1740558443.210 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T08:27:31.030Z,1740558451.030 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250226T074052/Courier0052.lzma
2025-02-26T08:27:32.031Z,1740558452.031 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0052.lzma.bak
2025-02-26T08:27:32.031Z,1740558452.031 [DataOverHttps](INFO): SBD MOMSN=23978767
2025-02-26T08:27:40.296Z,1740558460.296 [NAL9602](INFO): SBD MO Status=0, MOMSN=13534, MT Status=0, MTMSN=0
2025-02-26T08:27:40.296Z,1740558460.296 [NAL9602](INFO): No messages in MT queue
2025-02-26T08:27:54.865Z,1740558474.865 [DataOverHttps](INFO): Sending 130 bytes from file Logs/20250226T074052/Express0053.lzma
2025-02-26T08:27:55.868Z,1740558475.868 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0053.lzma.bak
2025-02-26T08:27:55.868Z,1740558475.868 [DataOverHttps](IMPORTANT): SBD MOMSN=23978772, MTMSN=20250226T082755
2025-02-26T08:27:57.686Z,1740558477.686 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T08:27:57.686Z,1740558477.686 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T08:27:57.686Z,1740558477.686 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T08:28:07.561Z,1740558487.561 [DataOverHttps](INFO): Received command: resume; schedule resume
2025-02-26T08:28:07.580Z,1740558487.580 [CommandExec](IMPORTANT): got command resume
2025-02-26T08:28:07.581Z,1740558487.581 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T08:28:07.581Z,1740558487.581 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T08:28:07.584Z,1740558487.584 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T08:28:11.027Z,1740558491.027 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T08:28:12.123Z,1740558492.123 [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>

2025-02-26T08:28:12.133Z,1740558492.133 [MissionManager](INFO): DefineArg sci2_slowyo_test.MissionTimeout = 2.000000 h
2025-02-26T08:28:12.135Z,1740558492.135 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsTime = 60.000000 min
2025-02-26T08:28:12.138Z,1740558492.138 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsSurfaceDepthRate = 0.300000 m/s
2025-02-26T08:28:12.140Z,1740558492.140 [MissionManager](INFO): DefineArg sci2_slowyo_test.Repeat = 1.000000 count
2025-02-26T08:28:12.142Z,1740558492.142 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat1 = nan arcdeg
2025-02-26T08:28:12.144Z,1740558492.144 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat2 = nan arcdeg
2025-02-26T08:28:12.146Z,1740558492.146 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat3 = nan arcdeg
2025-02-26T08:28:12.148Z,1740558492.148 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat4 = nan arcdeg
2025-02-26T08:28:12.150Z,1740558492.150 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat5 = nan arcdeg
2025-02-26T08:28:12.152Z,1740558492.152 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat6 = nan arcdeg
2025-02-26T08:28:12.183Z,1740558492.183 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat7 = nan arcdeg
2025-02-26T08:28:12.189Z,1740558492.189 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon1 = nan arcdeg
2025-02-26T08:28:12.191Z,1740558492.191 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon2 = nan arcdeg
2025-02-26T08:28:12.194Z,1740558492.194 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon3 = nan arcdeg
2025-02-26T08:28:12.196Z,1740558492.196 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon4 = nan arcdeg
2025-02-26T08:28:12.206Z,1740558492.206 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon5 = nan arcdeg
2025-02-26T08:28:12.208Z,1740558492.208 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon6 = nan arcdeg
2025-02-26T08:28:12.242Z,1740558492.242 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon7 = nan arcdeg
2025-02-26T08:28:12.244Z,1740558492.244 [MissionManager](INFO): DefineArg sci2_slowyo_test.ApproachDepthTimeout = 15.000000 min
2025-02-26T08:28:12.255Z,1740558492.255 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoDiveAngle = 15.000000 arcdeg
2025-02-26T08:28:12.273Z,1740558492.273 [MissionManager](INFO): DefineArg sci2_slowyo_test.Speed = 1.000000 m/s
2025-02-26T08:28:12.275Z,1740558492.275 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMinDepth = 10.000000 m
2025-02-26T08:28:12.290Z,1740558492.290 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMaxDepth = 40.000000 m
2025-02-26T08:28:12.293Z,1740558492.293 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoNumYoYos = 1.000000 count
2025-02-26T08:28:12.309Z,1740558492.309 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoTurningWindow = 10.000000 m
2025-02-26T08:28:12.311Z,1740558492.311 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkOffSurface = 0 bool
2025-02-26T08:28:12.314Z,1740558492.314 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepth = 10.000000 m
2025-02-26T08:28:12.316Z,1740558492.316 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepthTimeout = 10.000000 min
2025-02-26T08:28:12.331Z,1740558492.331 [MissionManager](INFO): DefineArg sci2_slowyo_test.CaptureRadius = nan m
2025-02-26T08:28:12.332Z,1740558492.332 [MissionManager](INFO): DefineArg sci2_slowyo_test.PeakDetectChl = 0 bool
2025-02-26T08:28:12.347Z,1740558492.347 [MissionManager](INFO): DefineArg sci2_slowyo_test.ShallowBoundChl = nan m
2025-02-26T08:28:12.353Z,1740558492.353 [MissionManager](INFO): DefineArg sci2_slowyo_test.DeepBoundChl = nan m
2025-02-26T08:28:12.355Z,1740558492.355 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlThreshTrigger = 0 bool
2025-02-26T08:28:12.365Z,1740558492.365 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlLowerThreshold = nan ug/l
2025-02-26T08:28:12.368Z,1740558492.368 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlUpperThreshold = nan ug/l
2025-02-26T08:28:12.371Z,1740558492.371 [MissionManager](INFO): DefineArg sci2_slowyo_test.NumProfilesThreshold = 5.000000 count
2025-02-26T08:28:12.381Z,1740558492.381 [MissionManager](INFO): DefineArg sci2_slowyo_test.BuoyancyNeutral = 305.318329 cc
2025-02-26T08:28:12.383Z,1740558492.383 [MissionManager](INFO): DefineArg sci2_slowyo_test.ElevatorDefault = 0.000000 arcdeg
2025-02-26T08:28:12.400Z,1740558492.400 [MissionManager](INFO): DefineArg sci2_slowyo_test.MassDefault = 1.164778 cm
2025-02-26T08:28:12.425Z,1740558492.425 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinAltitude = 7.000000 m
2025-02-26T08:28:12.430Z,1740558492.430 [MissionManager](INFO): DefineArg sci2_slowyo_test.MaxDepth = 60.000000 m
2025-02-26T08:28:12.432Z,1740558492.432 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinOffshore = 2.000000 km
2025-02-26T08:28:12.439Z,1740558492.439 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DiveMode = 0.000000 count
2025-02-26T08:28:12.445Z,1740558492.445 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DoingComms = 0.000000 count
2025-02-26T08:28:12.448Z,1740558492.448 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SurfaceSink = 1.000000 count
2025-02-26T08:28:12.456Z,1740558492.456 [MissionManager](INFO): DefineOutput sci2_slowyo_test.InitialDive = 2.000000 count
2025-02-26T08:28:12.479Z,1740558492.479 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SlowYo = 3.000000 count
2025-02-26T08:28:12.479Z,1740558492.479 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-26T08:28:12.479Z,1740558492.479 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-26T08:28:12.496Z,1740558492.496 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-26T08:28:15.698Z,1740558495.698 [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>

2025-02-26T08:28:15.718Z,1740558495.718 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectChlActive = 0 bool
2025-02-26T08:28:15.720Z,1740558495.720 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectChlActive = 0 bool
2025-02-26T08:28:15.722Z,1740558495.722 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.TimeWindowPeakReport = nan min
2025-02-26T08:28:15.724Z,1740558495.724 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestChlPeakReportActive = 0 bool
2025-02-26T08:28:15.726Z,1740558495.726 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestSaltPeakReportActive = 0 bool
2025-02-26T08:28:15.728Z,1740558495.728 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestOilPeakReportActive = 0 bool
2025-02-26T08:28:15.730Z,1740558495.730 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PatchTracking = 0 bool
2025-02-26T08:28:15.732Z,1740558495.732 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.FilterWidthHorizontal = 3.000000 count
2025-02-26T08:28:15.734Z,1740558495.734 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-26T08:28:15.736Z,1740558495.736 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-26T08:28:15.738Z,1740558495.738 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectNO3Active = 0 bool
2025-02-26T08:28:15.740Z,1740558495.740 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectOilActive = 0 bool
2025-02-26T08:28:15.763Z,1740558495.763 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectFDOMActive = 0 bool
2025-02-26T08:28:15.769Z,1740558495.769 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectSalinityActive = 0 bool
2025-02-26T08:28:15.775Z,1740558495.775 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T08:28:15.777Z,1740558495.777 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T08:28:15.779Z,1740558495.779 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-26T08:28:15.781Z,1740558495.781 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-26T08:28:15.787Z,1740558495.787 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-26T08:28:15.793Z,1740558495.793 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-26T08:28:15.795Z,1740558495.795 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledAanderaaO2 = 0 bool
2025-02-26T08:28:15.802Z,1740558495.802 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledNeilBrown = 0 bool
2025-02-26T08:28:15.804Z,1740558495.804 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledSeabird = 1 bool
2025-02-26T08:28:15.815Z,1740558495.815 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-26T08:28:15.819Z,1740558495.819 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-26T08:28:15.830Z,1740558495.830 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsUBAT = 0 bool
2025-02-26T08:28:15.832Z,1740558495.832 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.LowPassWindowLength = 20.000000 count
2025-02-26T08:28:15.837Z,1740558495.837 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.MedianFilterLen = 5.000000 count
2025-02-26T08:28:15.851Z,1740558495.851 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ShallowBound = nan m
2025-02-26T08:28:15.886Z,1740558495.886 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DeepBound = nan m
2025-02-26T08:28:15.888Z,1740558495.888 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-26T08:28:15.898Z,1740558495.898 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionVertical = nan %
2025-02-26T08:28:15.900Z,1740558495.900 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-26T08:28:15.915Z,1740558495.915 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = 0 bool
2025-02-26T08:28:15.921Z,1740558495.921 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlLowerThresh = nan ug/l
2025-02-26T08:28:15.923Z,1740558495.923 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlUpperThresh = nan ug/l
2025-02-26T08:28:15.944Z,1740558495.944 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesThresh = 5.000000 count
2025-02-26T08:28:15.951Z,1740558495.951 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-26T08:28:15.962Z,1740558495.962 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.GoDown = 1 bool
2025-02-26T08:28:15.965Z,1740558495.965 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChl = nan ug/l
2025-02-26T08:28:15.976Z,1740558495.976 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlDepth = nan m
2025-02-26T08:28:15.982Z,1740558495.982 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlTemperature = nan degC
2025-02-26T08:28:15.987Z,1740558495.987 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLatitude = nan arcdeg
2025-02-26T08:28:15.990Z,1740558495.990 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLongitude = nan arcdeg
2025-02-26T08:28:15.992Z,1740558495.992 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChl = nan ug/l
2025-02-26T08:28:16.011Z,1740558496.011 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlDepth = nan m
2025-02-26T08:28:16.017Z,1740558496.017 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlTemperature = nan degC
2025-02-26T08:28:16.020Z,1740558496.020 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLatitude = nan arcdeg
2025-02-26T08:28:16.022Z,1740558496.022 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLongitude = nan arcdeg
2025-02-26T08:28:16.024Z,1740558496.024 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3 = nan umol/l
2025-02-26T08:28:16.039Z,1740558496.039 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Depth = nan m
2025-02-26T08:28:16.044Z,1740558496.044 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Latitude = nan arcdeg
2025-02-26T08:28:16.075Z,1740558496.075 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Longitude = nan arcdeg
2025-02-26T08:28:16.088Z,1740558496.088 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOil = nan kg/m3
2025-02-26T08:28:16.102Z,1740558496.102 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilDepth = nan m
2025-02-26T08:28:16.109Z,1740558496.109 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLatitude = nan arcdeg
2025-02-26T08:28:16.111Z,1740558496.111 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLongitude = nan arcdeg
2025-02-26T08:28:16.116Z,1740558496.116 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOM = nan ppb
2025-02-26T08:28:16.131Z,1740558496.131 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMDepth = nan m
2025-02-26T08:28:16.137Z,1740558496.137 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMTemperature = nan degC
2025-02-26T08:28:16.140Z,1740558496.140 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLatitude = nan arcdeg
2025-02-26T08:28:16.142Z,1740558496.142 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLongitude = nan arcdeg
2025-02-26T08:28:16.144Z,1740558496.144 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSalt = nan psu
2025-02-26T08:28:16.162Z,1740558496.162 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltDepth = nan m
2025-02-26T08:28:16.169Z,1740558496.169 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltTemperature = nan degC
2025-02-26T08:28:16.171Z,1740558496.171 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLatitude = nan arcdeg
2025-02-26T08:28:16.178Z,1740558496.178 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLongitude = nan arcdeg
2025-02-26T08:28:16.180Z,1740558496.180 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-26T08:28:16.187Z,1740558496.187 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-26T08:28:16.201Z,1740558496.201 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-26T08:28:16.204Z,1740558496.204 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T08:28:16.217Z,1740558496.217 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T08:28:16.219Z,1740558496.219 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-26T08:28:16.226Z,1740558496.226 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-26T08:28:16.228Z,1740558496.228 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-26T08:28:16.239Z,1740558496.239 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T08:28:16.246Z,1740558496.246 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T08:28:16.248Z,1740558496.248 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-26T08:28:16.255Z,1740558496.255 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-26T08:28:16.293Z,1740558496.293 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-26T08:28:16.296Z,1740558496.296 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-26T08:28:16.302Z,1740558496.302 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-26T08:28:16.304Z,1740558496.304 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-26T08:28:16.315Z,1740558496.315 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-26T08:28:16.329Z,1740558496.329 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-26T08:28:16.332Z,1740558496.332 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-26T08:28:16.343Z,1740558496.343 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-26T08:28:16.353Z,1740558496.353 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-26T08:28:16.356Z,1740558496.356 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-26T08:28:16.360Z,1740558496.360 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-26T08:28:16.368Z,1740558496.368 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-26T08:28:16.379Z,1740558496.379 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-26T08:28:16.389Z,1740558496.389 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChl = nan ug/l
2025-02-26T08:28:16.391Z,1740558496.391 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDepth = nan m
2025-02-26T08:28:16.402Z,1740558496.402 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLatitude = nan arcdeg
2025-02-26T08:28:16.404Z,1740558496.404 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLongitude = nan arcdeg
2025-02-26T08:28:16.411Z,1740558496.411 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDistance = nan m
2025-02-26T08:28:16.418Z,1740558496.418 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSalt = nan psu
2025-02-26T08:28:16.420Z,1740558496.420 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDepth = nan m
2025-02-26T08:28:16.430Z,1740558496.430 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLatitude = nan arcdeg
2025-02-26T08:28:16.437Z,1740558496.437 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLongitude = nan arcdeg
2025-02-26T08:28:16.440Z,1740558496.440 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDistance = nan m
2025-02-26T08:28:16.470Z,1740558496.470 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOil = nan psu
2025-02-26T08:28:16.481Z,1740558496.481 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDepth = nan m
2025-02-26T08:28:16.483Z,1740558496.483 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLatitude = nan arcdeg
2025-02-26T08:28:16.490Z,1740558496.490 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLongitude = nan arcdeg
2025-02-26T08:28:16.492Z,1740558496.492 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDistance = nan m
2025-02-26T08:28:16.507Z,1740558496.507 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.TriggeredOnChl = 0 bool
2025-02-26T08:28:16.513Z,1740558496.513 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.ChlTriggering = nan ug/l
2025-02-26T08:28:16.571Z,1740558496.571 [sci2_slowyo_test:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:28:16.596Z,1740558496.596 [sci2_slowyo_test:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T08:28:16.644Z,1740558496.644 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T08:28:16.706Z,1740558496.706 [sci2_slowyo_test:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:28:16.756Z,1740558496.756 [sci2_slowyo_test:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:28:16.822Z,1740558496.822 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T08:28:16.926Z,1740558496.926 [sci2_slowyo_test:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:28:16.988Z,1740558496.988 [sci2_slowyo_test:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:28:17.022Z,1740558497.022 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T08:28:17.050Z,1740558497.050 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:28:17.104Z,1740558497.104 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T08:28:17.166Z,1740558497.166 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:28:17.199Z,1740558497.199 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:28:17.221Z,1740558497.221 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:28:17.253Z,1740558497.253 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-26T08:28:17.269Z,1740558497.269 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDetectChlActive = reader:sci2_slowyo_test.PeakDetectChl
2025-02-26T08:28:17.270Z,1740558497.270 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ShallowBound = reader:sci2_slowyo_test.ShallowBoundChl
2025-02-26T08:28:17.272Z,1740558497.272 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.DeepBound = reader:sci2_slowyo_test.DeepBoundChl
2025-02-26T08:28:17.273Z,1740558497.273 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = reader:sci2_slowyo_test.ChlThreshTrigger
2025-02-26T08:28:17.275Z,1740558497.275 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlLowerThresh = reader:sci2_slowyo_test.ChlLowerThreshold
2025-02-26T08:28:17.276Z,1740558497.276 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlUpperThresh = reader:sci2_slowyo_test.ChlUpperThreshold
2025-02-26T08:28:17.278Z,1740558497.278 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.NumProfilesThresh = reader:sci2_slowyo_test.NumProfilesThreshold
2025-02-26T08:28:17.278Z,1740558497.278 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-26T08:28:17.278Z,1740558497.278 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-26T08:28:17.280Z,1740558497.280 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-26T08:28:17.557Z,1740558497.557 [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>

2025-02-26T08:28:17.574Z,1740558497.574 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.DiveInterval = 1.000000 h
2025-02-26T08:28:17.576Z,1740558497.576 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-26T08:28:17.578Z,1740558497.578 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-26T08:28:17.580Z,1740558497.580 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceDepthRate = nan m/s
2025-02-26T08:28:17.584Z,1740558497.584 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-26T08:28:17.588Z,1740558497.588 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-26T08:28:17.590Z,1740558497.590 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.GPSTimeout = 7.000000 min
2025-02-26T08:28:17.592Z,1740558497.592 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.CommsTimeout = 30.000000 min
2025-02-26T08:28:17.600Z,1740558497.600 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T08:28:17.660Z,1740558497.660 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-26T08:28:17.660Z,1740558497.660 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-26T08:28:17.690Z,1740558497.690 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-26T08:28:17.755Z,1740558497.755 [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>

2025-02-26T08:28:17.762Z,1740558497.762 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-26T08:28:17.764Z,1740558497.764 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-26T08:28:17.767Z,1740558497.767 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-26T08:28:17.769Z,1740558497.769 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-26T08:28:17.788Z,1740558497.788 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-26T08:28:17.794Z,1740558497.794 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-26T08:28:17.800Z,1740558497.800 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-26T08:28:17.814Z,1740558497.814 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-26T08:28:17.814Z,1740558497.814 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-26T08:28:17.815Z,1740558497.815 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-26T08:28:17.850Z,1740558497.850 [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>

2025-02-26T08:28:17.853Z,1740558497.853 [MissionManager](INFO): DefineArg sci2_slowyo_test:BackseatDriver.EnableBackseat = 0 bool
2025-02-26T08:28:17.855Z,1740558497.855 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-26T08:28:17.857Z,1740558497.857 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-26T08:28:17.857Z,1740558497.857 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-26T08:28:17.859Z,1740558497.859 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-26T08:28:18.042Z,1740558498.042 [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>

2025-02-26T08:28:18.046Z,1740558498.046 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleAll = 0 bool
2025-02-26T08:28:18.048Z,1740558498.048 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad1 = 0 bool
2025-02-26T08:28:18.050Z,1740558498.050 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad2 = 0 bool
2025-02-26T08:28:18.051Z,1740558498.051 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad3 = 0 bool
2025-02-26T08:28:18.056Z,1740558498.056 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-26T08:28:18.109Z,1740558498.109 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-26T08:28:18.139Z,1740558498.139 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T08:28:18.144Z,1740558498.144 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-02-26T08:28:18.148Z,1740558498.148 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-02-26T08:28:18.161Z,1740558498.161 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Construct.
2025-02-26T08:28:18.163Z,1740558498.163 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T08:28:18.166Z,1740558498.166 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Construct Wait.
2025-02-26T08:28:18.169Z,1740558498.169 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-02-26T08:28:18.171Z,1740558498.171 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-02-26T08:28:18.178Z,1740558498.178 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-26T08:28:18.183Z,1740558498.183 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T08:28:18.186Z,1740558498.186 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Construct.
2025-02-26T08:28:18.190Z,1740558498.190 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Construct.
2025-02-26T08:28:18.192Z,1740558498.192 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Construct SlowYo.
2025-02-26T08:28:18.222Z,1740558498.222 [sci2_slowyo_test:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-02-26T08:28:18.227Z,1740558498.227 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T08:28:18.233Z,1740558498.233 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T08:28:18.238Z,1740558498.238 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T08:28:18.244Z,1740558498.244 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T08:28:18.256Z,1740558498.256 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T08:28:18.262Z,1740558498.262 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T08:28:18.267Z,1740558498.267 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T08:28:18.387Z,1740558498.387 [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]
        }
      }
    }
  }
}


2025-02-26T08:28:18.398Z,1740558498.398 [MissionManager](IMPORTANT): Resuming from info in Logs/20250226T074052/Science_sci2_slowyo_test_tl.state
2025-02-26T08:28:18.483Z,1740558498.483 [MissionManager](INFO): Startup->null/0
2025-02-26T08:28:18.486Z,1740558498.486 [MissionManager](INFO): Startup:StartupSatComms->null/0
2025-02-26T08:28:18.486Z,1740558498.486 [MissionManager](INFO): Default->Default:CheckIn/0
2025-02-26T08:28:18.486Z,1740558498.486 [MissionManager](INFO): Default:A.Wait->null/0
2025-02-26T08:28:18.487Z,1740558498.487 [MissionManager](INFO): Default:B.GoToSurface->null/0
2025-02-26T08:28:18.487Z,1740558498.487 [MissionManager](INFO): Default:CheckIn->Default:CheckIn:C.Wait/4
2025-02-26T08:28:18.488Z,1740558498.488 [MissionManager](INFO): Default:CheckIn:Read_GPS->null/0
2025-02-26T08:28:18.488Z,1740558498.488 [MissionManager](INFO): Default:CheckIn:Read_Iridium->null/0
2025-02-26T08:28:18.488Z,1740558498.488 [MissionManager](INFO): Default:CheckIn:C.Wait->null/0
2025-02-26T08:28:18.489Z,1740558498.489 [MissionManager](INFO): Default:CheckIn:D->null/0
2025-02-26T08:28:18.490Z,1740558498.490 [MissionManager](INFO): Default:CheckIn:E->null/0
2025-02-26T08:28:18.490Z,1740558498.490 [MissionManager](INFO): sci2_slowyo_test->sci2_slowyo_test:Lap/0
2025-02-26T08:28:18.490Z,1740558498.490 [MissionManager](INFO): sci2_slowyo_test:Science->sci2_slowyo_test:Science:OceanCurrent/0
2025-02-26T08:28:18.491Z,1740558498.491 [MissionManager](INFO): sci2_slowyo_test:Science:OceanCurrent->null/0
2025-02-26T08:28:18.491Z,1740558498.491 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectChl->sci2_slowyo_test:Science:PeakDetectChl:A/0
2025-02-26T08:28:18.491Z,1740558498.491 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectChl:A->null/0
2025-02-26T08:28:18.492Z,1740558498.492 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectChl->sci2_slowyo_test:Science:EdgeDetectChl:A/0
2025-02-26T08:28:18.492Z,1740558498.492 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectChl:A->null/0
2025-02-26T08:28:18.493Z,1740558498.493 [MissionManager](INFO): sci2_slowyo_test:Science:HighestChlPeakReport->sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal/0
2025-02-26T08:28:18.493Z,1740558498.493 [MissionManager](INFO): sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal->null/0
2025-02-26T08:28:18.494Z,1740558498.494 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectNO3->sci2_slowyo_test:Science:PeakDetectNO3:A/0
2025-02-26T08:28:18.494Z,1740558498.494 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectNO3:A->null/0
2025-02-26T08:28:18.494Z,1740558498.494 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectOil->sci2_slowyo_test:Science:PeakDetectOil:A/0
2025-02-26T08:28:18.495Z,1740558498.495 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectOil:A->null/0
2025-02-26T08:28:18.495Z,1740558498.495 [MissionManager](INFO): sci2_slowyo_test:Science:HighestOilPeakReport->sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal/0
2025-02-26T08:28:18.496Z,1740558498.496 [MissionManager](INFO): sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal->null/0
2025-02-26T08:28:18.496Z,1740558498.496 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectFDOM->sci2_slowyo_test:Science:PeakDetectFDOM:A/0
2025-02-26T08:28:18.496Z,1740558498.496 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectFDOM:A->null/0
2025-02-26T08:28:18.497Z,1740558498.497 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectSalinity->sci2_slowyo_test:Science:PeakDetectSalinity:A/0
2025-02-26T08:28:18.497Z,1740558498.497 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectSalinity:A->null/0
2025-02-26T08:28:18.498Z,1740558498.498 [MissionManager](INFO): sci2_slowyo_test:Science:HighestSaltPeakReport->sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal/0
2025-02-26T08:28:18.498Z,1740558498.498 [MissionManager](INFO): sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal->null/0
2025-02-26T08:28:18.498Z,1740558498.498 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI->sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A/0
2025-02-26T08:28:18.499Z,1740558498.499 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A->null/0
2025-02-26T08:28:18.499Z,1740558498.499 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI->sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A/0
2025-02-26T08:28:18.499Z,1740558498.499 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A->null/0
2025-02-26T08:28:18.500Z,1740558498.500 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI->sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A/0
2025-02-26T08:28:18.500Z,1740558498.500 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A->null/0
2025-02-26T08:28:18.500Z,1740558498.500 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms->sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A/0
2025-02-26T08:28:18.501Z,1740558498.501 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A->null/0
2025-02-26T08:28:18.501Z,1740558498.501 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates->sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A/0
2025-02-26T08:28:18.502Z,1740558498.502 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A->null/0
2025-02-26T08:28:18.502Z,1740558498.502 [MissionManager](INFO): sci2_slowyo_test:Science:ChlThreshTrigger->sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect/0
2025-02-26T08:28:18.502Z,1740558498.502 [MissionManager](INFO): sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect->null/0
2025-02-26T08:28:18.503Z,1740558498.503 [MissionManager](INFO): sci2_slowyo_test:NeedComms->null/0
2025-02-26T08:28:18.503Z,1740558498.503 [MissionManager](INFO): sci2_slowyo_test:NeedComms:A->null/0
2025-02-26T08:28:18.504Z,1740558498.504 [MissionManager](INFO): sci2_slowyo_test:NeedComms:B.GoToSurface->null/0
2025-02-26T08:28:18.504Z,1740558498.504 [MissionManager](INFO): sci2_slowyo_test:NeedComms:C->null/0
2025-02-26T08:28:18.504Z,1740558498.504 [MissionManager](INFO): sci2_slowyo_test:NeedComms:D->null/0
2025-02-26T08:28:18.505Z,1740558498.505 [MissionManager](INFO): sci2_slowyo_test:NeedComms:E->null/0
2025-02-26T08:28:18.505Z,1740558498.505 [MissionManager](INFO): sci2_slowyo_test:C->null/0
2025-02-26T08:28:18.505Z,1740558498.505 [MissionManager](INFO): sci2_slowyo_test:E->null/0
2025-02-26T08:28:18.506Z,1740558498.506 [MissionManager](INFO): sci2_slowyo_test:F->null/0
2025-02-26T08:28:18.506Z,1740558498.506 [MissionManager](INFO): sci2_slowyo_test:G->null/0
2025-02-26T08:28:18.506Z,1740558498.506 [MissionManager](INFO): sci2_slowyo_test:BackseatDriver->sci2_slowyo_test:BackseatDriver:A.BackseatDriver/0
2025-02-26T08:28:18.507Z,1740558498.507 [MissionManager](INFO): sci2_slowyo_test:BackseatDriver:A.BackseatDriver->null/0
2025-02-26T08:28:18.507Z,1740558498.507 [MissionManager](INFO): sci2_slowyo_test:PowerOnly->sci2_slowyo_test:PowerOnly:E.Wait/0
2025-02-26T08:28:18.508Z,1740558498.508 [MissionManager](INFO): sci2_slowyo_test:PowerOnly:E.Wait->null/0
2025-02-26T08:28:18.508Z,1740558498.508 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms->null/0
2025-02-26T08:28:18.508Z,1740558498.508 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:A->null/0
2025-02-26T08:28:18.537Z,1740558498.537 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:B->null/0
2025-02-26T08:28:18.537Z,1740558498.537 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setInitial->null/0
2025-02-26T08:28:18.538Z,1740558498.538 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setInitial:A->null/0
2025-02-26T08:28:18.538Z,1740558498.538 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setSink->sci2_slowyo_test:SurfaceComms:setSink:A/0
2025-02-26T08:28:18.538Z,1740558498.538 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setSink:A->null/0
2025-02-26T08:28:18.539Z,1740558498.539 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink->sci2_slowyo_test:DiveCmd:SurfaceSink:sink/0
2025-02-26T08:28:18.539Z,1740558498.539 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink:sink->sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C/0
2025-02-26T08:28:18.539Z,1740558498.539 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C->null/0
2025-02-26T08:28:18.540Z,1740558498.540 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive->null/0
2025-02-26T08:28:18.540Z,1740558498.540 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive->null/0
2025-02-26T08:28:18.541Z,1740558498.541 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:C->null/0
2025-02-26T08:28:18.550Z,1740558498.550 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait->null/0
2025-02-26T08:28:18.550Z,1740558498.550 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:E->null/0
2025-02-26T08:28:18.550Z,1740558498.550 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth->null/0
2025-02-26T08:28:18.551Z,1740558498.551 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch->null/0
2025-02-26T08:28:18.551Z,1740558498.551 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:G->null/0
2025-02-26T08:28:18.552Z,1740558498.552 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask->sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop/0
2025-02-26T08:28:18.552Z,1740558498.552 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop->sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo/0
2025-02-26T08:28:18.552Z,1740558498.552 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo->null/0
2025-02-26T08:28:18.557Z,1740558498.557 [MissionManager](INFO): sci2_slowyo_test:StartingMission->null/0
2025-02-26T08:28:18.557Z,1740558498.557 [MissionManager](INFO): sci2_slowyo_test:Lap->sci2_slowyo_test:Lap:Wpt1/0
2025-02-26T08:28:18.558Z,1740558498.558 [MissionManager](INFO): sci2_slowyo_test:Lap:Dive->sci2_slowyo_test:Lap:Dive:A/0
2025-02-26T08:28:18.558Z,1740558498.558 [MissionManager](INFO): sci2_slowyo_test:Lap:Dive:A->null/0
2025-02-26T08:28:18.558Z,1740558498.558 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt1->sci2_slowyo_test:Lap:Wpt1:A.Waypoint/0
2025-02-26T08:28:18.559Z,1740558498.559 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt1:A.Waypoint->null/0
2025-02-26T08:28:18.559Z,1740558498.559 [CommandExec](IMPORTANT): Resuming mission and schedule
2025-02-26T08:28:18.559Z,1740558498.559 [CommandExec](IMPORTANT): Scheduling is resumed
2025-02-26T08:28:18.560Z,1740558498.560 [CommandExec](IMPORTANT): Scheduled #4 (#1 of 3 with id='2bxvb'): "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 6 h;set sci2_slowyo_test.NeedCommsTime 3 h;set sci2_slowyo_test.Lat1 36.806966 degree;set sci2_slowyo_test.Lon1 -121.824326 degree", AFTER MISSION
2025-02-26T08:28:18.573Z,1740558498.573 [CommandExec](IMPORTANT): Scheduled #5 (#2 of 3 with id='2bxvb'): "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 20 m;set sci2_slowyo_test.SlowYoTurningWindow 20 m;set sci2_slowyo_test.MassDefault NaN mm", AFTER MISSION
2025-02-26T08:28:18.574Z,1740558498.574 [CommandExec](IMPORTANT): Scheduled #6 (#3 of 3 with id='2bxvb'): "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 50 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run", AFTER MISSION
2025-02-26T08:28:18.575Z,1740558498.575 [CommandExec](IMPORTANT): Scheduled #7 (#1 of 2 with id='2bxx7'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 8 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 20 m", AFTER MISSION
2025-02-26T08:28:18.582Z,1740558498.582 [CommandExec](IMPORTANT): Scheduled #8 (#2 of 2 with id='2bxx7'): "set keepstation.MaxDepth 35 m;run", AFTER MISSION
2025-02-26T08:28:18.582Z,1740558498.582 [CommandExec](IMPORTANT): got command schedule resume
2025-02-26T08:28:18.746Z,1740558498.746 [Default] Stopped
2025-02-26T08:28:18.746Z,1740558498.746 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T08:28:18.746Z,1740558498.746 [Default:B.GoToSurface] Stopped
2025-02-26T08:28:18.746Z,1740558498.746 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T08:28:18.746Z,1740558498.746 [Default:CheckIn] Stopped
2025-02-26T08:28:18.746Z,1740558498.746 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T08:28:18.746Z,1740558498.746 [Default:CheckIn:C.Wait] Stopped
2025-02-26T08:28:18.746Z,1740558498.746 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T08:28:18.746Z,1740558498.746 [MissionManager](IMPORTANT): Started mission sci2_slowyo_test
2025-02-26T08:28:18.747Z,1740558498.747 [sci2_slowyo_test] Running Loop=1
2025-02-26T08:28:18.747Z,1740558498.747 [sci2_slowyo_test](DEBUG): Aggregate::initialize sci2_slowyo_test
2025-02-26T08:28:18.747Z,1740558498.747 [sci2_slowyo_test:Science] Running Loop=1
2025-02-26T08:28:18.747Z,1740558498.747 [sci2_slowyo_test:Science](DEBUG): Aggregate::initialize sci2_slowyo_test:Science
2025-02-26T08:28:18.747Z,1740558498.747 [sci2_slowyo_test:Science:A] Running Loop=1
2025-02-26T08:28:18.747Z,1740558498.747 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-26T08:28:18.747Z,1740558498.747 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-26T08:28:18.747Z,1740558498.747 [sci2_slowyo_test:Science:D] Running Loop=1
2025-02-26T08:28:18.747Z,1740558498.747 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-26T08:28:18.747Z,1740558498.747 [sci2_slowyo_test:Science:F] Running Loop=1
2025-02-26T08:28:18.747Z,1740558498.747 [sci2_slowyo_test:Science:Read_Oil] Running Loop=1
2025-02-26T08:28:18.748Z,1740558498.748 [sci2_slowyo_test:Science:PeakDetectChl] Running Loop=1
2025-02-26T08:28:18.748Z,1740558498.748 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-26T08:28:18.748Z,1740558498.748 [sci2_slowyo_test:Science:PeakDetectChl:A] Running Loop=1
2025-02-26T08:28:18.748Z,1740558498.748 [sci2_slowyo_test:Science:EdgeDetectChl] Running Loop=1
2025-02-26T08:28:18.748Z,1740558498.748 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-26T08:28:18.748Z,1740558498.748 [sci2_slowyo_test:Science:EdgeDetectChl:A] Running Loop=1
2025-02-26T08:28:18.748Z,1740558498.748 [sci2_slowyo_test:Science:HighestChlPeakReport] Running Loop=1
2025-02-26T08:28:18.748Z,1740558498.748 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-26T08:28:18.748Z,1740558498.748 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T08:28:18.748Z,1740558498.748 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T08:28:18.749Z,1740558498.749 [sci2_slowyo_test:Science:PeakDetectNO3] Running Loop=1
2025-02-26T08:28:18.749Z,1740558498.749 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-26T08:28:18.749Z,1740558498.749 [sci2_slowyo_test:Science:PeakDetectNO3:A] Running Loop=1
2025-02-26T08:28:18.749Z,1740558498.749 [sci2_slowyo_test:Science:PeakDetectOil] Running Loop=1
2025-02-26T08:28:18.749Z,1740558498.749 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-26T08:28:18.750Z,1740558498.750 [sci2_slowyo_test:Science:PeakDetectOil:A] Running Loop=1
2025-02-26T08:28:18.750Z,1740558498.750 [sci2_slowyo_test:Science:HighestOilPeakReport] Running Loop=1
2025-02-26T08:28:18.750Z,1740558498.750 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-26T08:28:18.750Z,1740558498.750 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T08:28:18.750Z,1740558498.750 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T08:28:18.750Z,1740558498.750 [sci2_slowyo_test:Science:PeakDetectFDOM] Running Loop=1
2025-02-26T08:28:18.750Z,1740558498.750 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-26T08:28:18.750Z,1740558498.750 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-26T08:28:18.751Z,1740558498.751 [sci2_slowyo_test:Science:PeakDetectSalinity] Running Loop=1
2025-02-26T08:28:18.751Z,1740558498.751 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-26T08:28:18.751Z,1740558498.751 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-26T08:28:18.751Z,1740558498.751 [sci2_slowyo_test:Science:HighestSaltPeakReport] Running Loop=1
2025-02-26T08:28:18.751Z,1740558498.751 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-26T08:28:18.751Z,1740558498.751 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T08:28:18.751Z,1740558498.751 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T08:28:18.751Z,1740558498.751 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T08:28:18.752Z,1740558498.752 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T08:28:18.752Z,1740558498.752 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T08:28:18.752Z,1740558498.752 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T08:28:18.752Z,1740558498.752 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T08:28:18.752Z,1740558498.752 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T08:28:18.752Z,1740558498.752 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-26T08:28:18.752Z,1740558498.752 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T08:28:18.752Z,1740558498.752 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-26T08:28:18.752Z,1740558498.752 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-26T08:28:18.752Z,1740558498.752 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T08:28:18.752Z,1740558498.752 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-26T08:28:18.752Z,1740558498.752 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-26T08:28:18.756Z,1740558498.756 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T08:28:18.756Z,1740558498.756 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-26T08:28:18.756Z,1740558498.756 [sci2_slowyo_test:Science:ChlThreshTrigger] Running Loop=1
2025-02-26T08:28:18.756Z,1740558498.756 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-26T08:28:18.756Z,1740558498.756 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-26T08:28:18.757Z,1740558498.757 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-26T08:28:18.765Z,1740558498.765 [sci2_slowyo_test:Science:OceanCurrent] Running Loop=1
2025-02-26T08:28:18.765Z,1740558498.765 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:OceanCurrent
2025-02-26T08:28:18.766Z,1740558498.766 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T08:28:18.766Z,1740558498.766 [sci2_slowyo_test:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-26T08:28:18.766Z,1740558498.766 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-26T08:28:18.766Z,1740558498.766 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_slowyo_test:StandardEnvelopes
2025-02-26T08:28:18.766Z,1740558498.766 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T08:28:18.766Z,1740558498.766 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-26T08:28:18.766Z,1740558498.766 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T08:28:18.766Z,1740558498.766 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-26T08:28:18.766Z,1740558498.766 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T08:28:18.766Z,1740558498.766 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-26T08:28:18.767Z,1740558498.767 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-26T08:28:18.767Z,1740558498.767 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::initialize sci2_slowyo_test:BackseatDriver
2025-02-26T08:28:18.767Z,1740558498.767 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-26T08:28:18.767Z,1740558498.767 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-26T08:28:18.767Z,1740558498.767 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::initialize sci2_slowyo_test:PowerOnly
2025-02-26T08:28:18.767Z,1740558498.767 [sci2_slowyo_test:PowerOnly:A] Running Loop=1
2025-02-26T08:28:18.767Z,1740558498.767 [sci2_slowyo_test:PowerOnly:B] Running Loop=1
2025-02-26T08:28:18.767Z,1740558498.767 [sci2_slowyo_test:PowerOnly:C] Running Loop=1
2025-02-26T08:28:18.767Z,1740558498.767 [sci2_slowyo_test:PowerOnly:D] Running Loop=1
2025-02-26T08:28:18.767Z,1740558498.767 [sci2_slowyo_test:PowerOnly:E.Wait] Running Loop=1
2025-02-26T08:28:18.767Z,1740558498.767 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-26T08:28:18.767Z,1740558498.767 [sci2_slowyo_test:Lap] Running Loop=1
2025-02-26T08:28:18.768Z,1740558498.768 [sci2_slowyo_test:Lap](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap
2025-02-26T08:28:18.768Z,1740558498.768 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-26T08:28:18.768Z,1740558498.768 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive
2025-02-26T08:28:18.768Z,1740558498.768 [sci2_slowyo_test:Lap:Dive:A] Running Loop=1
2025-02-26T08:28:18.768Z,1740558498.768 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive:A
2025-02-26T08:28:18.768Z,1740558498.768 [sci2_slowyo_test:Lap:Wpt1] Running Loop=1
2025-02-26T08:28:18.768Z,1740558498.768 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt1
2025-02-26T08:28:18.768Z,1740558498.768 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-02-26T08:28:18.768Z,1740558498.768 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T08:28:18.774Z,1740558498.774 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797002,-121.846996
2025-02-26T08:28:18.775Z,1740558498.775 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797002,-121.846996
2025-02-26T08:28:18.776Z,1740558498.776 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-26T08:28:18.776Z,1740558498.776 [sci2_slowyo_test:DiveCmd] Running Loop=1
2025-02-26T08:28:18.776Z,1740558498.776 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd
2025-02-26T08:28:18.776Z,1740558498.776 [sci2_slowyo_test:DiveCmd:SurfaceSink] Running Loop=1
2025-02-26T08:28:18.777Z,1740558498.777 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-26T08:28:18.785Z,1740558498.785 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-02-26T08:28:18.786Z,1740558498.786 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-26T08:28:18.786Z,1740558498.786 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-26T08:28:18.786Z,1740558498.786 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T08:28:18.786Z,1740558498.786 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-02-26T08:28:18.786Z,1740558498.786 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-02-26T08:28:18.786Z,1740558498.786 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-02-26T08:28:18.786Z,1740558498.786 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-02-26T08:28:18.786Z,1740558498.786 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T08:28:18.786Z,1740558498.786 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Running Loop=1
2025-02-26T08:28:18.786Z,1740558498.786 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T08:28:18.786Z,1740558498.786 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-02-26T08:28:18.787Z,1740558498.787 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Initialize.
2025-02-26T08:28:18.787Z,1740558498.787 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-26T08:28:18.787Z,1740558498.787 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T08:28:18.787Z,1740558498.787 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Running Loop=1
2025-02-26T08:28:18.787Z,1740558498.787 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T08:28:18.787Z,1740558498.787 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T08:28:18.787Z,1740558498.787 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T08:28:18.787Z,1740558498.787 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T08:28:18.787Z,1740558498.787 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T08:28:18.787Z,1740558498.787 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T08:28:18.787Z,1740558498.787 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T08:28:18.788Z,1740558498.788 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T08:28:18.788Z,1740558498.788 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T08:28:18.788Z,1740558498.788 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T08:28:18.788Z,1740558498.788 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T08:28:18.788Z,1740558498.788 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T08:28:18.788Z,1740558498.788 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T08:28:18.788Z,1740558498.788 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T08:28:18.800Z,1740558498.800 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T08:28:18.800Z,1740558498.800 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T08:28:18.800Z,1740558498.800 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T08:28:18.800Z,1740558498.800 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T08:28:18.801Z,1740558498.801 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T08:28:18.801Z,1740558498.801 [sci2_slowyo_test:DiveCmd:InitialDive] Stopped
2025-02-26T08:28:18.801Z,1740558498.801 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T08:28:18.801Z,1740558498.801 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Stopped
2025-02-26T08:28:18.802Z,1740558498.802 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T08:28:18.802Z,1740558498.802 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Stopped
2025-02-26T08:28:18.802Z,1740558498.802 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Uninitialize.
2025-02-26T08:28:18.802Z,1740558498.802 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-02-26T08:28:18.802Z,1740558498.802 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T08:28:18.802Z,1740558498.802 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Stopped
2025-02-26T08:28:18.802Z,1740558498.802 [sci2_slowyo_test:DiveCmd:SurfaceSink] Stopped
2025-02-26T08:28:18.802Z,1740558498.802 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-26T08:28:18.802Z,1740558498.802 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Stopped
2025-02-26T08:28:18.802Z,1740558498.802 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-26T08:28:18.802Z,1740558498.802 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-02-26T08:28:18.802Z,1740558498.802 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T08:28:18.802Z,1740558498.802 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-02-26T08:28:18.803Z,1740558498.803 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-02-26T08:28:18.803Z,1740558498.803 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Stopped
2025-02-26T08:28:18.803Z,1740558498.803 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-26T08:28:18.803Z,1740558498.803 [sci2_slowyo_test:PowerOnly:D] Stopped
2025-02-26T08:28:18.803Z,1740558498.803 [sci2_slowyo_test:PowerOnly:C] Stopped
2025-02-26T08:28:18.803Z,1740558498.803 [sci2_slowyo_test:PowerOnly:B] Stopped
2025-02-26T08:28:18.803Z,1740558498.803 [sci2_slowyo_test:PowerOnly:A] Stopped
2025-02-26T08:28:18.803Z,1740558498.803 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-26T08:28:18.803Z,1740558498.803 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-26T08:28:18.855Z,1740558498.855 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-26T08:28:18.855Z,1740558498.855 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T08:28:18.855Z,1740558498.855 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T08:28:18.856Z,1740558498.856 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T08:28:18.856Z,1740558498.856 [sci2_slowyo_test:Science] Running Loop=1
2025-02-26T08:28:18.863Z,1740558498.863 [sci2_slowyo_test:Science:ChlThreshTrigger] Stopped
2025-02-26T08:28:18.864Z,1740558498.864 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-26T08:28:18.864Z,1740558498.864 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-26T08:28:18.864Z,1740558498.864 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-26T08:28:18.864Z,1740558498.864 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-26T08:28:18.864Z,1740558498.864 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T08:28:18.864Z,1740558498.864 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-26T08:28:18.864Z,1740558498.864 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-26T08:28:18.864Z,1740558498.864 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T08:28:18.864Z,1740558498.864 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-26T08:28:18.864Z,1740558498.864 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-26T08:28:18.885Z,1740558498.885 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T08:28:18.885Z,1740558498.885 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-26T08:28:18.885Z,1740558498.885 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-26T08:28:18.885Z,1740558498.885 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T08:28:18.885Z,1740558498.885 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T08:28:18.885Z,1740558498.885 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-26T08:28:18.885Z,1740558498.885 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T08:28:18.885Z,1740558498.885 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T08:28:18.886Z,1740558498.886 [sci2_slowyo_test:Science:HighestSaltPeakReport] Stopped
2025-02-26T08:28:18.886Z,1740558498.886 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-26T08:28:18.886Z,1740558498.886 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T08:28:18.886Z,1740558498.886 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T08:28:18.886Z,1740558498.886 [sci2_slowyo_test:Science:PeakDetectSalinity] Stopped
2025-02-26T08:28:18.886Z,1740558498.886 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-26T08:28:18.886Z,1740558498.886 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Stopped
2025-02-26T08:28:18.886Z,1740558498.886 [sci2_slowyo_test:Science:PeakDetectFDOM] Stopped
2025-02-26T08:28:18.886Z,1740558498.886 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-26T08:28:18.886Z,1740558498.886 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Stopped
2025-02-26T08:28:18.886Z,1740558498.886 [sci2_slowyo_test:Science:HighestOilPeakReport] Stopped
2025-02-26T08:28:18.886Z,1740558498.886 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-26T08:28:18.886Z,1740558498.886 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T08:28:18.887Z,1740558498.887 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T08:28:18.887Z,1740558498.887 [sci2_slowyo_test:Science:PeakDetectOil] Stopped
2025-02-26T08:28:18.887Z,1740558498.887 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-26T08:28:18.887Z,1740558498.887 [sci2_slowyo_test:Science:PeakDetectOil:A] Stopped
2025-02-26T08:28:18.887Z,1740558498.887 [sci2_slowyo_test:Science:PeakDetectNO3] Stopped
2025-02-26T08:28:18.887Z,1740558498.887 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-26T08:28:18.887Z,1740558498.887 [sci2_slowyo_test:Science:PeakDetectNO3:A] Stopped
2025-02-26T08:28:18.887Z,1740558498.887 [sci2_slowyo_test:Science:HighestChlPeakReport] Stopped
2025-02-26T08:28:18.887Z,1740558498.887 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-26T08:28:18.887Z,1740558498.887 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T08:28:18.887Z,1740558498.887 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T08:28:18.887Z,1740558498.887 [sci2_slowyo_test:Science:EdgeDetectChl] Stopped
2025-02-26T08:28:18.888Z,1740558498.888 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-26T08:28:18.888Z,1740558498.888 [sci2_slowyo_test:Science:EdgeDetectChl:A] Stopped
2025-02-26T08:28:18.888Z,1740558498.888 [sci2_slowyo_test:Science:PeakDetectChl] Stopped
2025-02-26T08:28:18.888Z,1740558498.888 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-26T08:28:18.888Z,1740558498.888 [sci2_slowyo_test:Science:PeakDetectChl:A] Stopped
2025-02-26T08:28:18.888Z,1740558498.888 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T08:28:18.888Z,1740558498.888 [sci2_slowyo_test:Science:Read_Oil] Stopped
2025-02-26T08:28:18.888Z,1740558498.888 [sci2_slowyo_test:Science:F] Stopped
2025-02-26T08:28:18.888Z,1740558498.888 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-26T08:28:18.900Z,1740558498.900 [BackseatComponent](INFO): Powering up
2025-02-26T08:28:18.900Z,1740558498.900 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-26T08:28:18.903Z,1740558498.903 [sci2_slowyo_test:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-26T08:28:18.903Z,1740558498.903 [sci2_slowyo_test:Science:D] Stopped
2025-02-26T08:28:18.903Z,1740558498.903 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-26T08:28:18.904Z,1740558498.904 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-26T08:28:18.904Z,1740558498.904 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-26T08:28:18.904Z,1740558498.904 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-26T08:28:18.909Z,1740558498.909 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-26T08:28:18.909Z,1740558498.909 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-26T08:28:18.910Z,1740558498.910 [sci2_slowyo_test:Science:A] Stopped
2025-02-26T08:28:19.367Z,1740558499.367 [WetLabsBB2FL](INFO): Powering up
2025-02-26T08:28:20.350Z,1740558500.350 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-26T08:28:22.402Z,1740558502.402 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-26T08:29:28.394Z,1740558568.394 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T08:29:28.458Z,1740558568.458 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250226T082928
2025-02-26T08:29:59.517Z,1740558599.517 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T08:30:30.000Z,1740558631.000 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2119
2025-02-26T08:30:33.734Z,1740558633.734 [ThrusterHE](FAULT): Unrecognized Command
2025-02-26T08:30:33.734Z,1740558633.734 [ThrusterHE] Hardware Fault, FailCount= 1
2025-02-26T08:30:33.734Z,1740558633.734 [ThrusterHE](ERROR): Hardware Fault
2025-02-26T08:30:33.762Z,1740558633.762 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-02-26T08:30:34.161Z,1740558634.161 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T08:30:34.162Z,1740558634.162 [ThrusterHE](INFO): Powering down
2025-02-26T08:30:34.932Z,1740558634.932 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-02-26T08:30:34.932Z,1740558634.932 [ThrusterHE] No Fault, FailCount= 1
2025-02-26T08:30:35.262Z,1740558635.262 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T08:30:35.269Z,1740558635.269 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T08:34:29.611Z,1740558869.611 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2120
2025-02-26T08:35:43.312Z,1740558943.312 [MassServo](ERROR): getPosition uart error serial timeout
2025-02-26T08:35:43.646Z,1740558943.646 [MassServo](FAULT): Invalid EZ Servo response:"36\r"
2025-02-26T08:35:43.646Z,1740558943.646 [MassServo] Communications Fault, FailCount= 1
2025-02-26T08:35:43.646Z,1740558943.646 [MassServo](ERROR): Communications Fault
2025-02-26T08:35:43.835Z,1740558943.835 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-26T08:35:44.135Z,1740558944.135 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-26T08:35:44.135Z,1740558944.135 [MassServo](INFO): Powering down
2025-02-26T08:35:44.901Z,1740558944.901 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-26T08:35:45.018Z,1740558945.018 [MassServo](DEBUG): Initializing MassServo.
2025-02-26T08:35:45.060Z,1740558945.060 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-26T08:35:45.060Z,1740558945.060 [MassServo] No Fault, FailCount= 1
2025-02-26T08:43:19.351Z,1740559399.351 [ThrusterHE](FAULT): Unrecognized Command
2025-02-26T08:43:19.351Z,1740559399.351 [ThrusterHE] Hardware Fault, FailCount= 2
2025-02-26T08:43:19.351Z,1740559399.351 [ThrusterHE](ERROR): Hardware Fault
2025-02-26T08:43:19.405Z,1740559399.405 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-02-26T08:43:19.674Z,1740559399.674 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T08:43:19.674Z,1740559399.674 [ThrusterHE](INFO): Powering down
2025-02-26T08:43:20.715Z,1740559400.715 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-02-26T08:43:20.715Z,1740559400.715 [ThrusterHE] No Fault, FailCount= 2
2025-02-26T08:43:21.106Z,1740559401.106 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T08:43:21.115Z,1740559401.115 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T08:45:31.258Z,1740559531.258 [ThrusterHE](FAULT): Unrecognized Command
2025-02-26T08:45:31.258Z,1740559531.258 [ThrusterHE] Hardware Fault, FailCount= 3
2025-02-26T08:45:31.258Z,1740559531.258 [ThrusterHE](ERROR): Hardware Fault
2025-02-26T08:45:31.295Z,1740559531.295 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-02-26T08:45:31.658Z,1740559531.658 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T08:45:31.658Z,1740559531.658 [ThrusterHE](INFO): Powering down
2025-02-26T08:45:32.521Z,1740559532.521 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-02-26T08:45:32.521Z,1740559532.521 [ThrusterHE] No Fault, FailCount= 3
2025-02-26T08:45:32.922Z,1740559532.922 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T08:45:32.923Z,1740559532.923 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T08:45:38.124Z,1740559538.124 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-02-26T08:48:23.506Z,1740559703.506 [ThrusterHE](FAULT): Unrecognized Command
2025-02-26T08:48:23.506Z,1740559703.506 [ThrusterHE] Hardware Fault, FailCount= 4
2025-02-26T08:48:23.506Z,1740559703.506 [ThrusterHE](ERROR): Hardware Fault
2025-02-26T08:48:23.536Z,1740559703.536 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-02-26T08:48:23.810Z,1740559703.810 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T08:48:23.810Z,1740559703.810 [ThrusterHE](INFO): Powering down
2025-02-26T08:48:24.702Z,1740559704.702 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T08:48:24.826Z,1740559704.826 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T08:48:24.830Z,1740559704.830 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-02-26T08:48:24.830Z,1740559704.830 [ThrusterHE] No Fault, FailCount= 4
2025-02-26T08:49:01.051Z,1740559741.051 [ThrusterHE](FAULT): Unrecognized Command
2025-02-26T08:49:01.051Z,1740559741.051 [ThrusterHE] Hardware Fault, FailCount= 5
2025-02-26T08:49:01.051Z,1740559741.051 [ThrusterHE](ERROR): Hardware Fault
2025-02-26T08:49:01.080Z,1740559741.080 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-02-26T08:49:01.081Z,1740559741.081 [CBIT](CRITICAL): Hardware Fault in component: ThrusterHE
2025-02-26T08:49:01.507Z,1740559741.507 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T08:49:01.507Z,1740559741.507 [ThrusterHE](INFO): Powering down
2025-02-26T08:49:01.509Z,1740559741.509 [CommandExec](FAULT): Scheduling is paused for 5 commands
2025-02-26T08:49:01.510Z,1740559741.510 [CBIT](INFO): Critical error at 20250226T084901
2025-02-26T08:49:01.510Z,1740559741.510 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-02-26T08:49:01.736Z,1740559741.736 [MissionManager](INFO): MissionManager is completed.
2025-02-26T08:49:01.736Z,1740559741.736 [MissionManager](INFO): Uninitializing Mission sci2_slowyo_test
2025-02-26T08:49:01.736Z,1740559741.736 [sci2_slowyo_test] Stopped
2025-02-26T08:49:01.736Z,1740559741.736 [sci2_slowyo_test](DEBUG): Aggregate::uninitialize sci2_slowyo_test
2025-02-26T08:49:01.736Z,1740559741.736 [sci2_slowyo_test:Science] Stopped
2025-02-26T08:49:01.736Z,1740559741.736 [sci2_slowyo_test:Science](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science
2025-02-26T08:49:01.736Z,1740559741.736 [sci2_slowyo_test:Science:B] Stopped
2025-02-26T08:49:01.736Z,1740559741.736 [sci2_slowyo_test:Science:C] Stopped
2025-02-26T08:49:01.736Z,1740559741.736 [sci2_slowyo_test:Science:E] Stopped
2025-02-26T08:49:01.736Z,1740559741.736 [sci2_slowyo_test:Science:OceanCurrent] Stopped
2025-02-26T08:49:01.737Z,1740559741.737 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:OceanCurrent
2025-02-26T08:49:01.737Z,1740559741.737 [sci2_slowyo_test:Science:OceanCurrent:A.] Stopped
2025-02-26T08:49:01.737Z,1740559741.737 [sci2_slowyo_test:StandardEnvelopes] Stopped
2025-02-26T08:49:01.737Z,1740559741.737 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StandardEnvelopes
2025-02-26T08:49:01.737Z,1740559741.737 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-26T08:49:01.737Z,1740559741.737 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-26T08:49:01.737Z,1740559741.737 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-26T08:49:01.737Z,1740559741.737 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-26T08:49:01.737Z,1740559741.737 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-26T08:49:01.737Z,1740559741.737 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-26T08:49:01.738Z,1740559741.738 [sci2_slowyo_test:BackseatDriver] Stopped
2025-02-26T08:49:01.738Z,1740559741.738 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_slowyo_test:BackseatDriver
2025-02-26T08:49:01.738Z,1740559741.738 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Stopped
2025-02-26T08:49:01.738Z,1740559741.738 [sci2_slowyo_test:PowerOnly] Stopped
2025-02-26T08:49:01.738Z,1740559741.738 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::uninitialize sci2_slowyo_test:PowerOnly
2025-02-26T08:49:01.738Z,1740559741.738 [sci2_slowyo_test:PowerOnly:E.Wait] Stopped
2025-02-26T08:49:01.738Z,1740559741.738 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T08:49:01.738Z,1740559741.738 [sci2_slowyo_test:DiveCmd] Stopped
2025-02-26T08:49:01.738Z,1740559741.738 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd
2025-02-26T08:49:01.738Z,1740559741.738 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-26T08:49:01.738Z,1740559741.738 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T08:49:01.739Z,1740559741.739 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-26T08:49:01.739Z,1740559741.739 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T08:49:01.739Z,1740559741.739 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-26T08:49:01.739Z,1740559741.739 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T08:49:01.739Z,1740559741.739 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-26T08:49:01.739Z,1740559741.739 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-26T08:49:01.739Z,1740559741.739 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-26T08:49:01.739Z,1740559741.739 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T08:49:01.739Z,1740559741.739 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T08:49:01.739Z,1740559741.739 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T08:49:01.739Z,1740559741.739 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T08:49:01.739Z,1740559741.739 [sci2_slowyo_test:Lap] Stopped
2025-02-26T08:49:01.739Z,1740559741.739 [sci2_slowyo_test:Lap](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap
2025-02-26T08:49:01.740Z,1740559741.740 [sci2_slowyo_test:Lap:Dive] Stopped
2025-02-26T08:49:01.740Z,1740559741.740 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive
2025-02-26T08:49:01.740Z,1740559741.740 [sci2_slowyo_test:Lap:Dive:A] Stopped
2025-02-26T08:49:01.740Z,1740559741.740 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive:A
2025-02-26T08:49:01.740Z,1740559741.740 [sci2_slowyo_test:Lap:Wpt1] Stopped
2025-02-26T08:49:01.740Z,1740559741.740 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt1
2025-02-26T08:49:01.740Z,1740559741.740 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Stopped
2025-02-26T08:49:01.740Z,1740559741.740 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T08:49:02.237Z,1740559742.237 [WetLabsBB2FL](INFO): Powering down
2025-02-26T08:49:02.325Z,1740559742.325 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T08:49:02.325Z,1740559742.325 [Default] Running Loop=1
2025-02-26T08:49:02.325Z,1740559742.325 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T08:49:02.326Z,1740559742.326 [Default:B.GoToSurface] Running Loop=1
2025-02-26T08:49:02.326Z,1740559742.326 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T08:49:02.326Z,1740559742.326 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T08:49:02.326Z,1740559742.326 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T08:49:02.326Z,1740559742.326 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T08:49:02.327Z,1740559742.327 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T08:49:02.327Z,1740559742.327 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T08:49:02.327Z,1740559742.327 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T08:49:02.328Z,1740559742.328 [Default:A.Wait] Running Loop=1
2025-02-26T08:49:02.328Z,1740559742.328 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T08:49:02.810Z,1740559742.810 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-26T08:49:02.810Z,1740559742.810 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-26T08:49:15.655Z,1740559755.655 [Default:A.Wait](INFO): Done Waiting.
2025-02-26T08:49:15.655Z,1740559755.655 [Default:A.Wait] Stopped
2025-02-26T08:49:15.655Z,1740559755.655 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T08:49:16.035Z,1740559756.035 [Default:CheckIn] Running Loop=1
2025-02-26T08:49:16.035Z,1740559756.035 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T08:49:16.036Z,1740559756.036 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T08:49:18.067Z,1740559758.067 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,084917.00,A,3647.85881,N,12154.32156,W,0.408,160.69,260225,,,A*70
2025-02-26T08:49:18.069Z,1740559758.069 [NAL9602](INFO): GPS fix at 20250226T084917: (36.797647, -121.905359)
2025-02-26T08:49:18.095Z,1740559758.095 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T08:49:18.095Z,1740559758.095 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T08:49:20.817Z,1740559760.817 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-26T08:49:20.818Z,1740559760.818 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-26T08:49:20.818Z,1740559760.818 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-26T08:49:27.541Z,1740559767.541 [DataOverHttps](INFO): Sending 143 bytes from file Logs/20250226T074052/Courier0055.lzma
2025-02-26T08:49:28.543Z,1740559768.543 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0055.lzma.bak
2025-02-26T08:49:28.543Z,1740559768.543 [DataOverHttps](INFO): SBD MOMSN=23978778
2025-02-26T08:49:29.208Z,1740559769.208 [NAL9602](INFO): SBD MO Status=0, MOMSN=13535, MT Status=0, MTMSN=0
2025-02-26T08:49:29.208Z,1740559769.208 [NAL9602](INFO): No messages in MT queue
2025-02-26T08:49:46.154Z,1740559786.154 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-02-26T08:49:46.154Z,1740559786.154 [ThrusterHE] No Fault, FailCount= 5
2025-02-26T08:49:46.550Z,1740559786.550 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T08:49:46.552Z,1740559786.552 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T08:49:51.511Z,1740559791.511 [DataOverHttps](INFO): Sending 957 bytes from file Logs/20250226T074052/Express0056.lzma
2025-02-26T08:49:52.098Z,1740559792.098 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-02-26T08:49:52.513Z,1740559792.513 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0056.lzma.bak
2025-02-26T08:49:52.513Z,1740559792.513 [DataOverHttps](INFO): SBD MOMSN=23978783
2025-02-26T08:49:52.748Z,1740559792.748 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T08:49:54.848Z,1740559794.848 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T08:49:54.848Z,1740559794.848 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T08:49:54.848Z,1740559794.848 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T08:49:59.622Z,1740559799.622 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T08:50:05.680Z,1740559805.680 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T08:50:18.208Z,1740559818.208 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T08:50:31.540Z,1740559831.540 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T08:50:44.069Z,1740559844.069 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T08:50:57.401Z,1740559857.401 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T08:51:09.551Z,1740559869.551 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T08:52:13.994Z,1740559933.994 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T085213
2025-02-26T08:52:21.986Z,1740559941.986 [DataOverHttps](INFO): Received command: resume; schedule resume
2025-02-26T08:52:22.091Z,1740559942.091 [CommandExec](IMPORTANT): got command resume
2025-02-26T08:52:22.093Z,1740559942.093 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T08:52:22.093Z,1740559942.093 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T08:52:22.096Z,1740559942.096 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T08:52:26.185Z,1740559946.185 [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>

2025-02-26T08:52:26.196Z,1740559946.196 [MissionManager](INFO): DefineArg sci2_slowyo_test.MissionTimeout = 2.000000 h
2025-02-26T08:52:26.216Z,1740559946.216 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsTime = 60.000000 min
2025-02-26T08:52:26.218Z,1740559946.218 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsSurfaceDepthRate = 0.300000 m/s
2025-02-26T08:52:26.220Z,1740559946.220 [MissionManager](INFO): DefineArg sci2_slowyo_test.Repeat = 1.000000 count
2025-02-26T08:52:26.223Z,1740559946.223 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat1 = nan arcdeg
2025-02-26T08:52:26.225Z,1740559946.225 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat2 = nan arcdeg
2025-02-26T08:52:26.227Z,1740559946.227 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat3 = nan arcdeg
2025-02-26T08:52:26.229Z,1740559946.229 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat4 = nan arcdeg
2025-02-26T08:52:26.231Z,1740559946.231 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat5 = nan arcdeg
2025-02-26T08:52:26.234Z,1740559946.234 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat6 = nan arcdeg
2025-02-26T08:52:26.236Z,1740559946.236 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat7 = nan arcdeg
2025-02-26T08:52:26.238Z,1740559946.238 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon1 = nan arcdeg
2025-02-26T08:52:26.240Z,1740559946.240 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon2 = nan arcdeg
2025-02-26T08:52:26.242Z,1740559946.242 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon3 = nan arcdeg
2025-02-26T08:52:26.244Z,1740559946.244 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon4 = nan arcdeg
2025-02-26T08:52:26.247Z,1740559946.247 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon5 = nan arcdeg
2025-02-26T08:52:26.265Z,1740559946.265 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon6 = nan arcdeg
2025-02-26T08:52:26.267Z,1740559946.267 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon7 = nan arcdeg
2025-02-26T08:52:26.274Z,1740559946.274 [MissionManager](INFO): DefineArg sci2_slowyo_test.ApproachDepthTimeout = 15.000000 min
2025-02-26T08:52:26.276Z,1740559946.276 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoDiveAngle = 15.000000 arcdeg
2025-02-26T08:52:26.287Z,1740559946.287 [MissionManager](INFO): DefineArg sci2_slowyo_test.Speed = 1.000000 m/s
2025-02-26T08:52:26.293Z,1740559946.293 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMinDepth = 10.000000 m
2025-02-26T08:52:26.295Z,1740559946.295 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMaxDepth = 40.000000 m
2025-02-26T08:52:26.300Z,1740559946.300 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoNumYoYos = 1.000000 count
2025-02-26T08:52:26.307Z,1740559946.307 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoTurningWindow = 10.000000 m
2025-02-26T08:52:26.317Z,1740559946.317 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkOffSurface = 0 bool
2025-02-26T08:52:26.319Z,1740559946.319 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepth = 10.000000 m
2025-02-26T08:52:26.324Z,1740559946.324 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepthTimeout = 10.000000 min
2025-02-26T08:52:26.371Z,1740559946.371 [MissionManager](INFO): DefineArg sci2_slowyo_test.CaptureRadius = nan m
2025-02-26T08:52:26.372Z,1740559946.372 [MissionManager](INFO): DefineArg sci2_slowyo_test.PeakDetectChl = 0 bool
2025-02-26T08:52:26.383Z,1740559946.383 [MissionManager](INFO): DefineArg sci2_slowyo_test.ShallowBoundChl = nan m
2025-02-26T08:52:26.401Z,1740559946.401 [MissionManager](INFO): DefineArg sci2_slowyo_test.DeepBoundChl = nan m
2025-02-26T08:52:26.403Z,1740559946.403 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlThreshTrigger = 0 bool
2025-02-26T08:52:26.417Z,1740559946.417 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlLowerThreshold = nan ug/l
2025-02-26T08:52:26.419Z,1740559946.419 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlUpperThreshold = nan ug/l
2025-02-26T08:52:26.426Z,1740559946.426 [MissionManager](INFO): DefineArg sci2_slowyo_test.NumProfilesThreshold = 5.000000 count
2025-02-26T08:52:26.434Z,1740559946.434 [MissionManager](INFO): DefineArg sci2_slowyo_test.BuoyancyNeutral = 305.318329 cc
2025-02-26T08:52:26.436Z,1740559946.436 [MissionManager](INFO): DefineArg sci2_slowyo_test.ElevatorDefault = 0.000000 arcdeg
2025-02-26T08:52:26.447Z,1740559946.447 [MissionManager](INFO): DefineArg sci2_slowyo_test.MassDefault = 1.164778 cm
2025-02-26T08:52:26.469Z,1740559946.469 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinAltitude = 7.000000 m
2025-02-26T08:52:26.478Z,1740559946.478 [MissionManager](INFO): DefineArg sci2_slowyo_test.MaxDepth = 60.000000 m
2025-02-26T08:52:26.480Z,1740559946.480 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinOffshore = 2.000000 km
2025-02-26T08:52:26.483Z,1740559946.483 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DiveMode = 0.000000 count
2025-02-26T08:52:26.494Z,1740559946.494 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DoingComms = 0.000000 count
2025-02-26T08:52:26.496Z,1740559946.496 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SurfaceSink = 1.000000 count
2025-02-26T08:52:26.523Z,1740559946.523 [MissionManager](INFO): DefineOutput sci2_slowyo_test.InitialDive = 2.000000 count
2025-02-26T08:52:26.536Z,1740559946.536 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SlowYo = 3.000000 count
2025-02-26T08:52:26.545Z,1740559946.545 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-26T08:52:26.545Z,1740559946.545 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-26T08:52:26.558Z,1740559946.558 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-26T08:52:29.527Z,1740559949.527 [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>

2025-02-26T08:52:29.551Z,1740559949.551 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectChlActive = 0 bool
2025-02-26T08:52:29.554Z,1740559949.554 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectChlActive = 0 bool
2025-02-26T08:52:29.556Z,1740559949.556 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.TimeWindowPeakReport = nan min
2025-02-26T08:52:29.610Z,1740559949.610 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestChlPeakReportActive = 0 bool
2025-02-26T08:52:29.612Z,1740559949.612 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestSaltPeakReportActive = 0 bool
2025-02-26T08:52:29.614Z,1740559949.614 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestOilPeakReportActive = 0 bool
2025-02-26T08:52:29.616Z,1740559949.616 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PatchTracking = 0 bool
2025-02-26T08:52:29.630Z,1740559949.630 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.FilterWidthHorizontal = 3.000000 count
2025-02-26T08:52:29.632Z,1740559949.632 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-26T08:52:29.636Z,1740559949.636 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-26T08:52:29.655Z,1740559949.655 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectNO3Active = 0 bool
2025-02-26T08:52:29.656Z,1740559949.656 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectOilActive = 0 bool
2025-02-26T08:52:29.666Z,1740559949.666 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectFDOMActive = 0 bool
2025-02-26T08:52:29.668Z,1740559949.668 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectSalinityActive = 0 bool
2025-02-26T08:52:29.671Z,1740559949.671 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T08:52:29.686Z,1740559949.686 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T08:52:29.688Z,1740559949.688 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-26T08:52:29.691Z,1740559949.691 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-26T08:52:29.692Z,1740559949.692 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-26T08:52:29.703Z,1740559949.703 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-26T08:52:29.708Z,1740559949.708 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledAanderaaO2 = 0 bool
2025-02-26T08:52:29.715Z,1740559949.715 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledNeilBrown = 0 bool
2025-02-26T08:52:29.721Z,1740559949.721 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledSeabird = 1 bool
2025-02-26T08:52:29.724Z,1740559949.724 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-26T08:52:29.740Z,1740559949.740 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-26T08:52:29.743Z,1740559949.743 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsUBAT = 0 bool
2025-02-26T08:52:29.754Z,1740559949.754 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.LowPassWindowLength = 20.000000 count
2025-02-26T08:52:29.756Z,1740559949.756 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.MedianFilterLen = 5.000000 count
2025-02-26T08:52:29.767Z,1740559949.767 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ShallowBound = nan m
2025-02-26T08:52:29.774Z,1740559949.774 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DeepBound = nan m
2025-02-26T08:52:29.784Z,1740559949.784 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-26T08:52:29.795Z,1740559949.795 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionVertical = nan %
2025-02-26T08:52:29.814Z,1740559949.814 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-26T08:52:29.816Z,1740559949.816 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = 0 bool
2025-02-26T08:52:29.818Z,1740559949.818 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlLowerThresh = nan ug/l
2025-02-26T08:52:29.820Z,1740559949.820 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlUpperThresh = nan ug/l
2025-02-26T08:52:29.830Z,1740559949.830 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesThresh = 5.000000 count
2025-02-26T08:52:29.832Z,1740559949.832 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-26T08:52:29.839Z,1740559949.839 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.GoDown = 1 bool
2025-02-26T08:52:29.845Z,1740559949.845 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChl = nan ug/l
2025-02-26T08:52:29.848Z,1740559949.848 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlDepth = nan m
2025-02-26T08:52:29.850Z,1740559949.850 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlTemperature = nan degC
2025-02-26T08:52:29.852Z,1740559949.852 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLatitude = nan arcdeg
2025-02-26T08:52:29.867Z,1740559949.867 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLongitude = nan arcdeg
2025-02-26T08:52:29.873Z,1740559949.873 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChl = nan ug/l
2025-02-26T08:52:29.875Z,1740559949.875 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlDepth = nan m
2025-02-26T08:52:29.882Z,1740559949.882 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlTemperature = nan degC
2025-02-26T08:52:29.885Z,1740559949.885 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLatitude = nan arcdeg
2025-02-26T08:52:29.900Z,1740559949.900 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLongitude = nan arcdeg
2025-02-26T08:52:29.910Z,1740559949.910 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3 = nan umol/l
2025-02-26T08:52:29.912Z,1740559949.912 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Depth = nan m
2025-02-26T08:52:29.931Z,1740559949.931 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Latitude = nan arcdeg
2025-02-26T08:52:29.941Z,1740559949.941 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Longitude = nan arcdeg
2025-02-26T08:52:29.943Z,1740559949.943 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOil = nan kg/m3
2025-02-26T08:52:29.948Z,1740559949.948 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilDepth = nan m
2025-02-26T08:52:29.962Z,1740559949.962 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLatitude = nan arcdeg
2025-02-26T08:52:29.964Z,1740559949.964 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLongitude = nan arcdeg
2025-02-26T08:52:29.971Z,1740559949.971 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOM = nan ppb
2025-02-26T08:52:29.974Z,1740559949.974 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMDepth = nan m
2025-02-26T08:52:29.976Z,1740559949.976 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMTemperature = nan degC
2025-02-26T08:52:30.023Z,1740559950.023 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLatitude = nan arcdeg
2025-02-26T08:52:30.033Z,1740559950.033 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLongitude = nan arcdeg
2025-02-26T08:52:30.035Z,1740559950.035 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSalt = nan psu
2025-02-26T08:52:30.050Z,1740559950.050 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltDepth = nan m
2025-02-26T08:52:30.052Z,1740559950.052 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltTemperature = nan degC
2025-02-26T08:52:30.063Z,1740559950.063 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLatitude = nan arcdeg
2025-02-26T08:52:30.077Z,1740559950.077 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLongitude = nan arcdeg
2025-02-26T08:52:30.079Z,1740559950.079 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-26T08:52:30.086Z,1740559950.086 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-26T08:52:30.089Z,1740559950.089 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-26T08:52:30.111Z,1740559950.111 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T08:52:30.118Z,1740559950.118 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T08:52:30.120Z,1740559950.120 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-26T08:52:30.154Z,1740559950.154 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-26T08:52:30.169Z,1740559950.169 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-26T08:52:30.171Z,1740559950.171 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T08:52:30.213Z,1740559950.213 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T08:52:30.215Z,1740559950.215 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-26T08:52:30.234Z,1740559950.234 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-26T08:52:30.236Z,1740559950.236 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-26T08:52:30.258Z,1740559950.258 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-26T08:52:30.270Z,1740559950.270 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-26T08:52:30.272Z,1740559950.272 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-26T08:52:30.283Z,1740559950.283 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-26T08:52:30.293Z,1740559950.293 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-26T08:52:30.296Z,1740559950.296 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-26T08:52:30.302Z,1740559950.302 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-26T08:52:30.305Z,1740559950.305 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-26T08:52:30.319Z,1740559950.319 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-26T08:52:30.328Z,1740559950.328 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-26T08:52:30.338Z,1740559950.338 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-26T08:52:30.343Z,1740559950.343 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-26T08:52:30.350Z,1740559950.350 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChl = nan ug/l
2025-02-26T08:52:30.352Z,1740559950.352 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDepth = nan m
2025-02-26T08:52:30.370Z,1740559950.370 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLatitude = nan arcdeg
2025-02-26T08:52:30.397Z,1740559950.397 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLongitude = nan arcdeg
2025-02-26T08:52:30.400Z,1740559950.400 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDistance = nan m
2025-02-26T08:52:30.422Z,1740559950.422 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSalt = nan psu
2025-02-26T08:52:30.429Z,1740559950.429 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDepth = nan m
2025-02-26T08:52:30.431Z,1740559950.431 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLatitude = nan arcdeg
2025-02-26T08:52:30.457Z,1740559950.457 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLongitude = nan arcdeg
2025-02-26T08:52:30.459Z,1740559950.459 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDistance = nan m
2025-02-26T08:52:30.470Z,1740559950.470 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOil = nan psu
2025-02-26T08:52:30.472Z,1740559950.472 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDepth = nan m
2025-02-26T08:52:30.483Z,1740559950.483 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLatitude = nan arcdeg
2025-02-26T08:52:30.497Z,1740559950.497 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLongitude = nan arcdeg
2025-02-26T08:52:30.499Z,1740559950.499 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDistance = nan m
2025-02-26T08:52:30.522Z,1740559950.522 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.TriggeredOnChl = 0 bool
2025-02-26T08:52:30.524Z,1740559950.524 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.ChlTriggering = nan ug/l
2025-02-26T08:52:30.574Z,1740559950.574 [sci2_slowyo_test:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:52:30.606Z,1740559950.606 [sci2_slowyo_test:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T08:52:30.670Z,1740559950.670 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T08:52:30.738Z,1740559950.738 [sci2_slowyo_test:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:52:30.762Z,1740559950.762 [sci2_slowyo_test:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:52:30.780Z,1740559950.780 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T08:52:30.843Z,1740559950.843 [sci2_slowyo_test:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:52:30.892Z,1740559950.892 [sci2_slowyo_test:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:52:30.915Z,1740559950.915 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T08:52:30.949Z,1740559950.949 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:52:30.989Z,1740559950.989 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T08:52:31.046Z,1740559951.046 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:52:31.072Z,1740559951.072 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:52:31.111Z,1740559951.111 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T08:52:31.135Z,1740559951.135 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-26T08:52:31.151Z,1740559951.151 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDetectChlActive = reader:sci2_slowyo_test.PeakDetectChl
2025-02-26T08:52:31.152Z,1740559951.152 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ShallowBound = reader:sci2_slowyo_test.ShallowBoundChl
2025-02-26T08:52:31.158Z,1740559951.158 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.DeepBound = reader:sci2_slowyo_test.DeepBoundChl
2025-02-26T08:52:31.159Z,1740559951.159 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = reader:sci2_slowyo_test.ChlThreshTrigger
2025-02-26T08:52:31.165Z,1740559951.165 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlLowerThresh = reader:sci2_slowyo_test.ChlLowerThreshold
2025-02-26T08:52:31.167Z,1740559951.167 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlUpperThresh = reader:sci2_slowyo_test.ChlUpperThreshold
2025-02-26T08:52:31.168Z,1740559951.168 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.NumProfilesThresh = reader:sci2_slowyo_test.NumProfilesThreshold
2025-02-26T08:52:31.168Z,1740559951.168 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-26T08:52:31.168Z,1740559951.168 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-26T08:52:31.174Z,1740559951.174 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-26T08:52:31.492Z,1740559951.492 [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>

2025-02-26T08:52:31.497Z,1740559951.497 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.DiveInterval = 1.000000 h
2025-02-26T08:52:31.499Z,1740559951.499 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-26T08:52:31.502Z,1740559951.502 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-26T08:52:31.504Z,1740559951.504 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceDepthRate = nan m/s
2025-02-26T08:52:31.506Z,1740559951.506 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-26T08:52:31.508Z,1740559951.508 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-26T08:52:31.510Z,1740559951.510 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.GPSTimeout = 7.000000 min
2025-02-26T08:52:31.512Z,1740559951.512 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.CommsTimeout = 30.000000 min
2025-02-26T08:52:31.519Z,1740559951.519 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T08:52:31.562Z,1740559951.562 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-26T08:52:31.563Z,1740559951.563 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-26T08:52:31.564Z,1740559951.564 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-26T08:52:31.718Z,1740559951.718 [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>

2025-02-26T08:52:31.722Z,1740559951.722 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-26T08:52:31.724Z,1740559951.724 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-26T08:52:31.726Z,1740559951.726 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-26T08:52:31.728Z,1740559951.728 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-26T08:52:31.730Z,1740559951.730 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-26T08:52:31.735Z,1740559951.735 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-26T08:52:31.782Z,1740559951.782 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-26T08:52:31.810Z,1740559951.810 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-26T08:52:31.810Z,1740559951.810 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-26T08:52:31.811Z,1740559951.811 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-26T08:52:31.828Z,1740559951.828 [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>

2025-02-26T08:52:31.831Z,1740559951.831 [MissionManager](INFO): DefineArg sci2_slowyo_test:BackseatDriver.EnableBackseat = 0 bool
2025-02-26T08:52:31.834Z,1740559951.834 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-26T08:52:31.836Z,1740559951.836 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-26T08:52:31.836Z,1740559951.836 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-26T08:52:31.837Z,1740559951.837 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-26T08:52:31.954Z,1740559951.954 [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>

2025-02-26T08:52:31.958Z,1740559951.958 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleAll = 0 bool
2025-02-26T08:52:31.960Z,1740559951.960 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad1 = 0 bool
2025-02-26T08:52:31.966Z,1740559951.966 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad2 = 0 bool
2025-02-26T08:52:31.968Z,1740559951.968 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad3 = 0 bool
2025-02-26T08:52:31.974Z,1740559951.974 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-26T08:52:31.980Z,1740559951.980 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-26T08:52:31.993Z,1740559951.993 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T08:52:31.995Z,1740559951.995 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-02-26T08:52:31.998Z,1740559951.998 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-02-26T08:52:32.107Z,1740559952.107 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Construct.
2025-02-26T08:52:32.110Z,1740559952.110 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T08:52:32.112Z,1740559952.112 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Construct Wait.
2025-02-26T08:52:32.116Z,1740559952.116 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-02-26T08:52:32.138Z,1740559952.138 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-02-26T08:52:32.148Z,1740559952.148 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-26T08:52:32.156Z,1740559952.156 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T08:52:32.159Z,1740559952.159 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Construct.
2025-02-26T08:52:32.163Z,1740559952.163 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Construct.
2025-02-26T08:52:32.166Z,1740559952.166 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Construct SlowYo.
2025-02-26T08:52:32.179Z,1740559952.179 [sci2_slowyo_test:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-02-26T08:52:32.185Z,1740559952.185 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T08:52:32.192Z,1740559952.192 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T08:52:32.207Z,1740559952.207 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T08:52:32.216Z,1740559952.216 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T08:52:32.237Z,1740559952.237 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T08:52:32.243Z,1740559952.243 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T08:52:32.248Z,1740559952.248 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T08:52:32.302Z,1740559952.302 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

#! 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]
        }
      }
    }
  }
}


2025-02-26T08:52:32.311Z,1740559952.311 [MissionManager](IMPORTANT): Resuming from info in Logs/20250226T074052/Science_sci2_slowyo_test_tl.state
2025-02-26T08:52:32.371Z,1740559952.371 [MissionManager](INFO): Startup->null/0
2025-02-26T08:52:32.371Z,1740559952.371 [MissionManager](INFO): Startup:StartupSatComms->null/0
2025-02-26T08:52:32.372Z,1740559952.372 [MissionManager](INFO): Default->Default:CheckIn/0
2025-02-26T08:52:32.372Z,1740559952.372 [MissionManager](INFO): Default:A.Wait->null/0
2025-02-26T08:52:32.372Z,1740559952.372 [MissionManager](INFO): Default:B.GoToSurface->null/0
2025-02-26T08:52:32.373Z,1740559952.373 [MissionManager](INFO): Default:CheckIn->Default:CheckIn:C.Wait/0
2025-02-26T08:52:32.373Z,1740559952.373 [MissionManager](INFO): Default:CheckIn:Read_GPS->null/0
2025-02-26T08:52:32.374Z,1740559952.374 [MissionManager](INFO): Default:CheckIn:Read_Iridium->null/0
2025-02-26T08:52:32.374Z,1740559952.374 [MissionManager](INFO): Default:CheckIn:C.Wait->null/0
2025-02-26T08:52:32.374Z,1740559952.374 [MissionManager](INFO): Default:CheckIn:D->null/0
2025-02-26T08:52:32.375Z,1740559952.375 [MissionManager](INFO): Default:CheckIn:E->null/0
2025-02-26T08:52:32.375Z,1740559952.375 [MissionManager](INFO): sci2_slowyo_test->null/0
2025-02-26T08:52:32.375Z,1740559952.375 [MissionManager](INFO): sci2_slowyo_test:Science->sci2_slowyo_test:Science:OceanCurrent/0
2025-02-26T08:52:32.376Z,1740559952.376 [MissionManager](INFO): sci2_slowyo_test:Science:OceanCurrent->null/0
2025-02-26T08:52:32.376Z,1740559952.376 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectChl->sci2_slowyo_test:Science:PeakDetectChl:A/0
2025-02-26T08:52:32.376Z,1740559952.376 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectChl:A->null/0
2025-02-26T08:52:32.397Z,1740559952.397 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectChl->sci2_slowyo_test:Science:EdgeDetectChl:A/0
2025-02-26T08:52:32.398Z,1740559952.398 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectChl:A->null/0
2025-02-26T08:52:32.398Z,1740559952.398 [MissionManager](INFO): sci2_slowyo_test:Science:HighestChlPeakReport->sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal/0
2025-02-26T08:52:32.398Z,1740559952.398 [MissionManager](INFO): sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal->null/0
2025-02-26T08:52:32.399Z,1740559952.399 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectNO3->sci2_slowyo_test:Science:PeakDetectNO3:A/0
2025-02-26T08:52:32.399Z,1740559952.399 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectNO3:A->null/0
2025-02-26T08:52:32.400Z,1740559952.400 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectOil->sci2_slowyo_test:Science:PeakDetectOil:A/0
2025-02-26T08:52:32.400Z,1740559952.400 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectOil:A->null/0
2025-02-26T08:52:32.400Z,1740559952.400 [MissionManager](INFO): sci2_slowyo_test:Science:HighestOilPeakReport->sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal/0
2025-02-26T08:52:32.442Z,1740559952.442 [MissionManager](INFO): sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal->null/0
2025-02-26T08:52:32.442Z,1740559952.442 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectFDOM->sci2_slowyo_test:Science:PeakDetectFDOM:A/0
2025-02-26T08:52:32.443Z,1740559952.443 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectFDOM:A->null/0
2025-02-26T08:52:32.443Z,1740559952.443 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectSalinity->sci2_slowyo_test:Science:PeakDetectSalinity:A/0
2025-02-26T08:52:32.443Z,1740559952.443 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectSalinity:A->null/0
2025-02-26T08:52:32.444Z,1740559952.444 [MissionManager](INFO): sci2_slowyo_test:Science:HighestSaltPeakReport->sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal/0
2025-02-26T08:52:32.444Z,1740559952.444 [MissionManager](INFO): sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal->null/0
2025-02-26T08:52:32.444Z,1740559952.444 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI->sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A/0
2025-02-26T08:52:32.461Z,1740559952.461 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A->null/0
2025-02-26T08:52:32.462Z,1740559952.462 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI->sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A/0
2025-02-26T08:52:32.462Z,1740559952.462 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A->null/0
2025-02-26T08:52:32.462Z,1740559952.462 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI->sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A/0
2025-02-26T08:52:32.463Z,1740559952.463 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A->null/0
2025-02-26T08:52:32.463Z,1740559952.463 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms->sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A/0
2025-02-26T08:52:32.463Z,1740559952.463 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A->null/0
2025-02-26T08:52:32.464Z,1740559952.464 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates->sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A/0
2025-02-26T08:52:32.464Z,1740559952.464 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A->null/0
2025-02-26T08:52:32.464Z,1740559952.464 [MissionManager](INFO): sci2_slowyo_test:Science:ChlThreshTrigger->sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect/0
2025-02-26T08:52:32.489Z,1740559952.489 [MissionManager](INFO): sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect->null/0
2025-02-26T08:52:32.489Z,1740559952.489 [MissionManager](INFO): sci2_slowyo_test:NeedComms->null/0
2025-02-26T08:52:32.490Z,1740559952.490 [MissionManager](INFO): sci2_slowyo_test:NeedComms:A->null/0
2025-02-26T08:52:32.490Z,1740559952.490 [MissionManager](INFO): sci2_slowyo_test:NeedComms:B.GoToSurface->null/0
2025-02-26T08:52:32.490Z,1740559952.490 [MissionManager](INFO): sci2_slowyo_test:NeedComms:C->null/0
2025-02-26T08:52:32.491Z,1740559952.491 [MissionManager](INFO): sci2_slowyo_test:NeedComms:D->null/0
2025-02-26T08:52:32.491Z,1740559952.491 [MissionManager](INFO): sci2_slowyo_test:NeedComms:E->null/0
2025-02-26T08:52:32.491Z,1740559952.491 [MissionManager](INFO): sci2_slowyo_test:C->null/0
2025-02-26T08:52:32.492Z,1740559952.492 [MissionManager](INFO): sci2_slowyo_test:E->null/0
2025-02-26T08:52:32.492Z,1740559952.492 [MissionManager](INFO): sci2_slowyo_test:F->null/0
2025-02-26T08:52:32.492Z,1740559952.492 [MissionManager](INFO): sci2_slowyo_test:G->null/0
2025-02-26T08:52:32.506Z,1740559952.506 [MissionManager](INFO): sci2_slowyo_test:BackseatDriver->sci2_slowyo_test:BackseatDriver:A.BackseatDriver/0
2025-02-26T08:52:32.507Z,1740559952.507 [MissionManager](INFO): sci2_slowyo_test:BackseatDriver:A.BackseatDriver->null/0
2025-02-26T08:52:32.507Z,1740559952.507 [MissionManager](INFO): sci2_slowyo_test:PowerOnly->sci2_slowyo_test:PowerOnly:E.Wait/0
2025-02-26T08:52:32.508Z,1740559952.508 [MissionManager](INFO): sci2_slowyo_test:PowerOnly:E.Wait->null/0
2025-02-26T08:52:32.508Z,1740559952.508 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms->null/0
2025-02-26T08:52:32.508Z,1740559952.508 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:A->null/0
2025-02-26T08:52:32.509Z,1740559952.509 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:B->null/0
2025-02-26T08:52:32.513Z,1740559952.513 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setInitial->null/0
2025-02-26T08:52:32.514Z,1740559952.514 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setInitial:A->null/0
2025-02-26T08:52:32.514Z,1740559952.514 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setSink->null/0
2025-02-26T08:52:32.514Z,1740559952.514 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setSink:A->null/0
2025-02-26T08:52:32.515Z,1740559952.515 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink->sci2_slowyo_test:DiveCmd:SurfaceSink:sink/0
2025-02-26T08:52:32.515Z,1740559952.515 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink:sink->sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C/0
2025-02-26T08:52:32.515Z,1740559952.515 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C->null/0
2025-02-26T08:52:32.516Z,1740559952.516 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive->sci2_slowyo_test:DiveCmd:InitialDive:dive/0
2025-02-26T08:52:32.516Z,1740559952.516 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive->sci2_slowyo_test:DiveCmd:InitialDive:dive:C/0
2025-02-26T08:52:32.517Z,1740559952.517 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:C->null/0
2025-02-26T08:52:32.520Z,1740559952.520 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait->null/0
2025-02-26T08:52:32.538Z,1740559952.538 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:E->null/0
2025-02-26T08:52:32.538Z,1740559952.538 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth->null/0
2025-02-26T08:52:32.538Z,1740559952.538 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch->null/0
2025-02-26T08:52:32.539Z,1740559952.539 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:G->null/0
2025-02-26T08:52:32.539Z,1740559952.539 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask->sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop/0
2025-02-26T08:52:32.542Z,1740559952.542 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop->sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo/0
2025-02-26T08:52:32.543Z,1740559952.543 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo->null/0
2025-02-26T08:52:32.543Z,1740559952.543 [MissionManager](INFO): sci2_slowyo_test:StartingMission->null/0
2025-02-26T08:52:32.544Z,1740559952.544 [MissionManager](INFO): sci2_slowyo_test:Lap->null/0
2025-02-26T08:52:32.544Z,1740559952.544 [MissionManager](INFO): sci2_slowyo_test:Lap:Dive->sci2_slowyo_test:Lap:Dive:A/0
2025-02-26T08:52:32.544Z,1740559952.544 [MissionManager](INFO): sci2_slowyo_test:Lap:Dive:A->null/0
2025-02-26T08:52:32.553Z,1740559952.553 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt1->null/0
2025-02-26T08:52:32.553Z,1740559952.553 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt1:A.Waypoint->null/0
2025-02-26T08:52:32.553Z,1740559952.553 [CommandExec](IMPORTANT): Resuming mission and schedule
2025-02-26T08:52:32.554Z,1740559952.554 [CommandExec](IMPORTANT): Scheduling is resumed
2025-02-26T08:52:32.554Z,1740559952.554 [CommandExec](IMPORTANT): Scheduled #4 (#1 of 3 with id='2bxvb'): "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 6 h;set sci2_slowyo_test.NeedCommsTime 3 h;set sci2_slowyo_test.Lat1 36.806966 degree;set sci2_slowyo_test.Lon1 -121.824326 degree", AFTER MISSION
2025-02-26T08:52:32.555Z,1740559952.555 [CommandExec](IMPORTANT): Scheduled #5 (#2 of 3 with id='2bxvb'): "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 20 m;set sci2_slowyo_test.SlowYoTurningWindow 20 m;set sci2_slowyo_test.MassDefault NaN mm", AFTER MISSION
2025-02-26T08:52:32.556Z,1740559952.556 [CommandExec](IMPORTANT): Scheduled #6 (#3 of 3 with id='2bxvb'): "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 50 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run", AFTER MISSION
2025-02-26T08:52:32.561Z,1740559952.561 [CommandExec](IMPORTANT): Scheduled #7 (#1 of 2 with id='2bxx7'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 8 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 20 m", AFTER MISSION
2025-02-26T08:52:32.562Z,1740559952.562 [CommandExec](IMPORTANT): Scheduled #8 (#2 of 2 with id='2bxx7'): "set keepstation.MaxDepth 35 m;run", AFTER MISSION
2025-02-26T08:52:32.562Z,1740559952.562 [CommandExec](IMPORTANT): got command schedule resume
2025-02-26T08:52:32.858Z,1740559952.858 [Default] Stopped
2025-02-26T08:52:32.858Z,1740559952.858 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T08:52:32.858Z,1740559952.858 [Default:B.GoToSurface] Stopped
2025-02-26T08:52:32.858Z,1740559952.858 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T08:52:32.858Z,1740559952.858 [Default:CheckIn] Stopped
2025-02-26T08:52:32.859Z,1740559952.859 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T08:52:32.859Z,1740559952.859 [Default:CheckIn:C.Wait] Stopped
2025-02-26T08:52:32.859Z,1740559952.859 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T08:52:32.859Z,1740559952.859 [MissionManager](IMPORTANT): Started mission sci2_slowyo_test
2025-02-26T08:52:32.859Z,1740559952.859 [sci2_slowyo_test] Running Loop=1
2025-02-26T08:52:32.859Z,1740559952.859 [sci2_slowyo_test](DEBUG): Aggregate::initialize sci2_slowyo_test
2025-02-26T08:52:32.859Z,1740559952.859 [sci2_slowyo_test:Science] Running Loop=1
2025-02-26T08:52:32.859Z,1740559952.859 [sci2_slowyo_test:Science](DEBUG): Aggregate::initialize sci2_slowyo_test:Science
2025-02-26T08:52:32.859Z,1740559952.859 [sci2_slowyo_test:Science:A] Running Loop=1
2025-02-26T08:52:32.860Z,1740559952.860 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-26T08:52:32.860Z,1740559952.860 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-26T08:52:32.860Z,1740559952.860 [sci2_slowyo_test:Science:D] Running Loop=1
2025-02-26T08:52:32.860Z,1740559952.860 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-26T08:52:32.860Z,1740559952.860 [sci2_slowyo_test:Science:F] Running Loop=1
2025-02-26T08:52:32.860Z,1740559952.860 [sci2_slowyo_test:Science:Read_Oil] Running Loop=1
2025-02-26T08:52:32.860Z,1740559952.860 [sci2_slowyo_test:Science:PeakDetectChl] Running Loop=1
2025-02-26T08:52:32.860Z,1740559952.860 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-26T08:52:32.860Z,1740559952.860 [sci2_slowyo_test:Science:PeakDetectChl:A] Running Loop=1
2025-02-26T08:52:32.860Z,1740559952.860 [sci2_slowyo_test:Science:EdgeDetectChl] Running Loop=1
2025-02-26T08:52:32.860Z,1740559952.860 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-26T08:52:32.860Z,1740559952.860 [sci2_slowyo_test:Science:EdgeDetectChl:A] Running Loop=1
2025-02-26T08:52:32.860Z,1740559952.860 [sci2_slowyo_test:Science:HighestChlPeakReport] Running Loop=1
2025-02-26T08:52:32.861Z,1740559952.861 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-26T08:52:32.865Z,1740559952.865 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T08:52:32.865Z,1740559952.865 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T08:52:32.865Z,1740559952.865 [sci2_slowyo_test:Science:PeakDetectNO3] Running Loop=1
2025-02-26T08:52:32.866Z,1740559952.866 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-26T08:52:32.866Z,1740559952.866 [sci2_slowyo_test:Science:PeakDetectNO3:A] Running Loop=1
2025-02-26T08:52:32.866Z,1740559952.866 [sci2_slowyo_test:Science:PeakDetectOil] Running Loop=1
2025-02-26T08:52:32.866Z,1740559952.866 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-26T08:52:32.866Z,1740559952.866 [sci2_slowyo_test:Science:PeakDetectOil:A] Running Loop=1
2025-02-26T08:52:32.866Z,1740559952.866 [sci2_slowyo_test:Science:HighestOilPeakReport] Running Loop=1
2025-02-26T08:52:32.866Z,1740559952.866 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-26T08:52:32.866Z,1740559952.866 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T08:52:32.866Z,1740559952.866 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T08:52:32.867Z,1740559952.867 [sci2_slowyo_test:Science:PeakDetectFDOM] Running Loop=1
2025-02-26T08:52:32.867Z,1740559952.867 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-26T08:52:32.867Z,1740559952.867 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-26T08:52:32.867Z,1740559952.867 [sci2_slowyo_test:Science:PeakDetectSalinity] Running Loop=1
2025-02-26T08:52:32.867Z,1740559952.867 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-26T08:52:32.867Z,1740559952.867 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-26T08:52:32.867Z,1740559952.867 [sci2_slowyo_test:Science:HighestSaltPeakReport] Running Loop=1
2025-02-26T08:52:32.867Z,1740559952.867 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-26T08:52:32.867Z,1740559952.867 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T08:52:32.867Z,1740559952.867 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T08:52:32.868Z,1740559952.868 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T08:52:32.868Z,1740559952.868 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T08:52:32.868Z,1740559952.868 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T08:52:32.868Z,1740559952.868 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T08:52:32.868Z,1740559952.868 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T08:52:32.868Z,1740559952.868 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T08:52:32.868Z,1740559952.868 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-26T08:52:32.868Z,1740559952.868 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T08:52:32.869Z,1740559952.869 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-26T08:52:32.873Z,1740559952.873 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-26T08:52:32.874Z,1740559952.874 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T08:52:32.874Z,1740559952.874 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-26T08:52:32.874Z,1740559952.874 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-26T08:52:32.874Z,1740559952.874 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T08:52:32.874Z,1740559952.874 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-26T08:52:32.874Z,1740559952.874 [sci2_slowyo_test:Science:ChlThreshTrigger] Running Loop=1
2025-02-26T08:52:32.874Z,1740559952.874 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-26T08:52:32.874Z,1740559952.874 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-26T08:52:32.874Z,1740559952.874 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-26T08:52:32.875Z,1740559952.875 [sci2_slowyo_test:Science:OceanCurrent] Running Loop=1
2025-02-26T08:52:32.875Z,1740559952.875 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:OceanCurrent
2025-02-26T08:52:32.875Z,1740559952.875 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T08:52:32.875Z,1740559952.875 [sci2_slowyo_test:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-26T08:52:32.875Z,1740559952.875 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-26T08:52:32.875Z,1740559952.875 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_slowyo_test:StandardEnvelopes
2025-02-26T08:52:32.875Z,1740559952.875 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T08:52:32.875Z,1740559952.875 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-26T08:52:32.875Z,1740559952.875 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T08:52:32.876Z,1740559952.876 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-26T08:52:32.876Z,1740559952.876 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T08:52:32.876Z,1740559952.876 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-26T08:52:32.876Z,1740559952.876 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-26T08:52:32.876Z,1740559952.876 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::initialize sci2_slowyo_test:BackseatDriver
2025-02-26T08:52:32.876Z,1740559952.876 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-26T08:52:32.876Z,1740559952.876 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-26T08:52:32.876Z,1740559952.876 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::initialize sci2_slowyo_test:PowerOnly
2025-02-26T08:52:32.876Z,1740559952.876 [sci2_slowyo_test:PowerOnly:A] Running Loop=1
2025-02-26T08:52:32.876Z,1740559952.876 [sci2_slowyo_test:PowerOnly:B] Running Loop=1
2025-02-26T08:52:32.876Z,1740559952.876 [sci2_slowyo_test:PowerOnly:C] Running Loop=1
2025-02-26T08:52:32.876Z,1740559952.876 [sci2_slowyo_test:PowerOnly:D] Running Loop=1
2025-02-26T08:52:32.877Z,1740559952.877 [sci2_slowyo_test:PowerOnly:E.Wait] Running Loop=1
2025-02-26T08:52:32.885Z,1740559952.885 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-26T08:52:32.885Z,1740559952.885 [sci2_slowyo_test:C] Running Loop=1
2025-02-26T08:52:32.886Z,1740559952.886 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-26T08:52:32.886Z,1740559952.886 [sci2_slowyo_test:PowerOnly:D] Stopped
2025-02-26T08:52:32.886Z,1740559952.886 [sci2_slowyo_test:PowerOnly:C] Stopped
2025-02-26T08:52:32.886Z,1740559952.886 [sci2_slowyo_test:PowerOnly:B] Stopped
2025-02-26T08:52:32.886Z,1740559952.886 [sci2_slowyo_test:PowerOnly:A] Stopped
2025-02-26T08:52:32.887Z,1740559952.887 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-26T08:52:32.887Z,1740559952.887 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-26T08:52:32.939Z,1740559952.939 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-26T08:52:32.939Z,1740559952.939 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T08:52:32.939Z,1740559952.939 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T08:52:32.940Z,1740559952.940 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T08:52:32.940Z,1740559952.940 [sci2_slowyo_test:C] Stopped
2025-02-26T08:52:32.940Z,1740559952.940 [sci2_slowyo_test:E] Running Loop=1
2025-02-26T08:52:32.940Z,1740559952.940 [sci2_slowyo_test:Science] Running Loop=1
2025-02-26T08:52:32.941Z,1740559952.941 [BackseatComponent](INFO): Powering up
2025-02-26T08:52:32.942Z,1740559952.942 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-26T08:52:32.953Z,1740559952.953 [sci2_slowyo_test:Science:ChlThreshTrigger] Stopped
2025-02-26T08:52:32.953Z,1740559952.954 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-26T08:52:32.954Z,1740559952.954 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-26T08:52:32.954Z,1740559952.954 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-26T08:52:32.954Z,1740559952.954 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-26T08:52:32.954Z,1740559952.954 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T08:52:32.954Z,1740559952.954 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-26T08:52:32.954Z,1740559952.954 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-26T08:52:32.954Z,1740559952.954 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T08:52:32.954Z,1740559952.954 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-26T08:52:32.954Z,1740559952.954 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-26T08:52:32.954Z,1740559952.954 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T08:52:32.954Z,1740559952.954 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-26T08:52:32.954Z,1740559952.954 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-26T08:52:32.955Z,1740559952.955 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T08:52:32.955Z,1740559952.955 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T08:52:32.955Z,1740559952.955 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-26T08:52:32.955Z,1740559952.955 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T08:52:32.955Z,1740559952.955 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T08:52:32.955Z,1740559952.955 [sci2_slowyo_test:Science:HighestSaltPeakReport] Stopped
2025-02-26T08:52:32.955Z,1740559952.955 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-26T08:52:32.955Z,1740559952.955 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T08:52:32.955Z,1740559952.955 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T08:52:32.955Z,1740559952.955 [sci2_slowyo_test:Science:PeakDetectSalinity] Stopped
2025-02-26T08:52:32.955Z,1740559952.955 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-26T08:52:32.955Z,1740559952.955 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Stopped
2025-02-26T08:52:32.955Z,1740559952.955 [sci2_slowyo_test:Science:PeakDetectFDOM] Stopped
2025-02-26T08:52:32.956Z,1740559952.956 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-26T08:52:32.956Z,1740559952.956 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Stopped
2025-02-26T08:52:32.956Z,1740559952.956 [sci2_slowyo_test:Science:HighestOilPeakReport] Stopped
2025-02-26T08:52:32.956Z,1740559952.956 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-26T08:52:32.956Z,1740559952.956 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T08:52:32.956Z,1740559952.956 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T08:52:32.956Z,1740559952.956 [sci2_slowyo_test:Science:PeakDetectOil] Stopped
2025-02-26T08:52:32.956Z,1740559952.956 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-26T08:52:32.956Z,1740559952.956 [sci2_slowyo_test:Science:PeakDetectOil:A] Stopped
2025-02-26T08:52:32.956Z,1740559952.956 [sci2_slowyo_test:Science:PeakDetectNO3] Stopped
2025-02-26T08:52:32.956Z,1740559952.956 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-26T08:52:32.956Z,1740559952.956 [sci2_slowyo_test:Science:PeakDetectNO3:A] Stopped
2025-02-26T08:52:32.956Z,1740559952.956 [sci2_slowyo_test:Science:HighestChlPeakReport] Stopped
2025-02-26T08:52:32.965Z,1740559952.965 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-26T08:52:32.965Z,1740559952.965 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T08:52:32.965Z,1740559952.965 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T08:52:32.965Z,1740559952.965 [sci2_slowyo_test:Science:EdgeDetectChl] Stopped
2025-02-26T08:52:32.965Z,1740559952.965 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-26T08:52:32.965Z,1740559952.965 [sci2_slowyo_test:Science:EdgeDetectChl:A] Stopped
2025-02-26T08:52:32.965Z,1740559952.965 [sci2_slowyo_test:Science:PeakDetectChl] Stopped
2025-02-26T08:52:32.966Z,1740559952.966 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-26T08:52:32.966Z,1740559952.966 [sci2_slowyo_test:Science:PeakDetectChl:A] Stopped
2025-02-26T08:52:32.966Z,1740559952.966 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T08:52:32.966Z,1740559952.966 [sci2_slowyo_test:Science:Read_Oil] Stopped
2025-02-26T08:52:32.966Z,1740559952.966 [sci2_slowyo_test:Science:F] Stopped
2025-02-26T08:52:32.966Z,1740559952.966 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-26T08:52:32.966Z,1740559952.966 [sci2_slowyo_test:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-26T08:52:32.967Z,1740559952.967 [sci2_slowyo_test:Science:D] Stopped
2025-02-26T08:52:32.967Z,1740559952.967 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-26T08:52:32.967Z,1740559952.967 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-26T08:52:32.968Z,1740559952.968 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-26T08:52:32.968Z,1740559952.968 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-26T08:52:32.968Z,1740559952.968 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-26T08:52:32.969Z,1740559952.969 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-26T08:52:32.974Z,1740559952.974 [sci2_slowyo_test:Science:A] Stopped
2025-02-26T08:52:33.139Z,1740559953.139 [WetLabsBB2FL](INFO): Powering up
2025-02-26T08:52:33.373Z,1740559953.373 [sci2_slowyo_test:E] Stopped
2025-02-26T08:52:33.373Z,1740559953.373 [sci2_slowyo_test:F] Running Loop=1
2025-02-26T08:52:33.638Z,1740559953.638 [BPC1](ERROR): BPC1A: No match for serial number FFFF in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-02-26T08:52:33.657Z,1740559953.657 [sci2_slowyo_test:F] Stopped
2025-02-26T08:52:33.657Z,1740559953.657 [sci2_slowyo_test:G] Running Loop=1
2025-02-26T08:52:34.073Z,1740559954.073 [sci2_slowyo_test:G] Stopped
2025-02-26T08:52:34.073Z,1740559954.073 [sci2_slowyo_test:StartingMission] Running Loop=1
2025-02-26T08:52:34.073Z,1740559954.073 [sci2_slowyo_test:StartingMission](DEBUG): Aggregate::initialize sci2_slowyo_test:StartingMission
2025-02-26T08:52:34.475Z,1740559954.475 [sci2_slowyo_test:SurfaceComms] Running Loop=1
2025-02-26T08:52:34.475Z,1740559954.475 [sci2_slowyo_test:SurfaceComms](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms
2025-02-26T08:52:34.476Z,1740559954.476 [sci2_slowyo_test:SurfaceComms:A] Running Loop=1
2025-02-26T08:52:34.476Z,1740559954.476 [sci2_slowyo_test:SurfaceComms:A] Stopped
2025-02-26T08:52:34.476Z,1740559954.476 [sci2_slowyo_test:SurfaceComms:B] Running Loop=1
2025-02-26T08:52:34.476Z,1740559954.476 [sci2_slowyo_test:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:B
2025-02-26T08:52:34.482Z,1740559954.482 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-26T08:52:34.862Z,1740559954.862 [sci2_slowyo_test:NeedComms] Running Loop=1
2025-02-26T08:52:34.862Z,1740559954.862 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::initialize sci2_slowyo_test:NeedComms
2025-02-26T08:52:34.862Z,1740559954.862 [sci2_slowyo_test:NeedComms:B.GoToSurface] Running Loop=1
2025-02-26T08:52:34.862Z,1740559954.862 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T08:52:34.862Z,1740559954.862 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received depth rate setting 0.300000 m/s.
2025-02-26T08:52:34.863Z,1740559954.863 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-26T08:52:34.863Z,1740559954.863 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-26T08:52:34.863Z,1740559954.863 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-26T08:52:34.864Z,1740559954.864 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T08:52:34.864Z,1740559954.864 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T08:52:34.864Z,1740559954.864 [sci2_slowyo_test:NeedComms:A] Running Loop=1
2025-02-26T08:52:34.866Z,1740559954.866 [sci2_slowyo_test:NeedComms:A](INFO): last time_fix was:  1740559757.000000 second since 1970/01/01T00:00:00Z 
2025-02-26T08:52:34.866Z,1740559954.866 [sci2_slowyo_test:NeedComms:A] Stopped
2025-02-26T08:52:35.275Z,1740559955.275 [sci2_slowyo_test:NeedComms:C] Running Loop=1
2025-02-26T08:52:35.706Z,1740559955.706 [sci2_slowyo_test:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T08:52:36.898Z,1740559956.898 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-26T08:52:37.271Z,1740559957.271 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,085236.00,A,3647.86650,N,12154.33603,W,0.972,236.07,260225,,,D*73
2025-02-26T08:52:37.273Z,1740559957.273 [NAL9602](INFO): GPS fix at 20250226T085236: (36.797775, -121.905601)
2025-02-26T08:52:37.310Z,1740559957.310 [sci2_slowyo_test:NeedComms:C] Stopped
2025-02-26T08:52:37.310Z,1740559957.310 [sci2_slowyo_test:NeedComms:D] Running Loop=1
2025-02-26T08:52:37.722Z,1740559957.722 [sci2_slowyo_test:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-26T08:52:45.619Z,1740559965.619 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250226T074052/Courier0059.lzma
2025-02-26T08:52:46.620Z,1740559966.620 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0059.lzma.bak
2025-02-26T08:52:46.620Z,1740559966.620 [DataOverHttps](INFO): SBD MOMSN=23978809
2025-02-26T08:53:04.132Z,1740559984.132 [NAL9602](INFO): SBD MO Status=2, MOMSN=13536, MT Status=2, MTMSN=0
2025-02-26T08:53:04.132Z,1740559984.132 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T08:53:08.730Z,1740559988.730 [DataOverHttps](INFO): Sending 652 bytes from file Logs/20250226T074052/Express0060.lzma
2025-02-26T08:53:09.733Z,1740559989.733 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0060.lzma.bak
2025-02-26T08:53:09.734Z,1740559989.734 [DataOverHttps](INFO): SBD MOMSN=23978812
2025-02-26T08:53:12.636Z,1740559992.636 [NAL9602](INFO): SBD MO Status=0, MOMSN=13536, MT Status=0, MTMSN=0
2025-02-26T08:53:12.637Z,1740559992.637 [NAL9602](INFO): No messages in MT queue
2025-02-26T08:53:18.446Z,1740559998.446 [sci2_slowyo_test:NeedComms:D] Stopped
2025-02-26T08:53:18.446Z,1740559998.446 [sci2_slowyo_test:NeedComms:E] Running Loop=1
2025-02-26T08:53:18.862Z,1740559998.862 [sci2_slowyo_test:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T08:53:20.388Z,1740560000.388 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,085319.00,A,3647.86930,N,12154.33981,W,1.302,335.98,260225,,,D*7B
2025-02-26T08:53:20.390Z,1740560000.390 [NAL9602](INFO): GPS fix at 20250226T085319: (36.797822, -121.905664)
2025-02-26T08:53:20.442Z,1740560000.442 [sci2_slowyo_test:NeedComms:E] Stopped
2025-02-26T08:53:20.443Z,1740560000.443 [sci2_slowyo_test:NeedComms](INFO): Completed sci2_slowyo_test:NeedComms
2025-02-26T08:53:20.443Z,1740560000.443 [sci2_slowyo_test:NeedComms] Stopped
2025-02-26T08:53:20.443Z,1740560000.443 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:NeedComms
2025-02-26T08:53:20.443Z,1740560000.443 [sci2_slowyo_test:NeedComms:B.GoToSurface] Stopped
2025-02-26T08:53:20.443Z,1740560000.443 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T08:53:20.863Z,1740560000.863 [sci2_slowyo_test:SurfaceComms:B](INFO): Completed sci2_slowyo_test:SurfaceComms:B
2025-02-26T08:53:20.863Z,1740560000.863 [sci2_slowyo_test:SurfaceComms:B] Stopped
2025-02-26T08:53:20.863Z,1740560000.863 [sci2_slowyo_test:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:B
2025-02-26T08:53:20.864Z,1740560000.864 [sci2_slowyo_test:SurfaceComms:setInitial] Running Loop=1
2025-02-26T08:53:20.864Z,1740560000.864 [sci2_slowyo_test:SurfaceComms:setInitial](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:setInitial
2025-02-26T08:53:20.864Z,1740560000.864 [sci2_slowyo_test:SurfaceComms:setInitial:A] Running Loop=1
2025-02-26T08:53:21.279Z,1740560001.279 [sci2_slowyo_test:SurfaceComms:setInitial:A] Stopped
2025-02-26T08:53:21.280Z,1740560001.280 [sci2_slowyo_test:SurfaceComms:setInitial](INFO): Completed sci2_slowyo_test:SurfaceComms:setInitial
2025-02-26T08:53:21.280Z,1740560001.280 [sci2_slowyo_test:SurfaceComms:setInitial] Stopped
2025-02-26T08:53:21.280Z,1740560001.280 [sci2_slowyo_test:SurfaceComms:setInitial](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:setInitial
2025-02-26T08:53:21.280Z,1740560001.280 [sci2_slowyo_test:SurfaceComms:setSink] Running Loop=1
2025-02-26T08:53:21.280Z,1740560001.280 [sci2_slowyo_test:SurfaceComms:setSink](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:setSink
2025-02-26T08:53:21.280Z,1740560001.280 [sci2_slowyo_test:SurfaceComms:setSink:A] Running Loop=1
2025-02-26T08:53:21.663Z,1740560001.663 [sci2_slowyo_test:SurfaceComms:setSink] Stopped
2025-02-26T08:53:21.663Z,1740560001.663 [sci2_slowyo_test:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:setSink
2025-02-26T08:53:21.663Z,1740560001.663 [sci2_slowyo_test:SurfaceComms:setSink:A] Stopped
2025-02-26T08:53:21.663Z,1740560001.663 [sci2_slowyo_test:SurfaceComms](INFO): Completed sci2_slowyo_test:SurfaceComms
2025-02-26T08:53:21.663Z,1740560001.663 [sci2_slowyo_test:SurfaceComms] Stopped
2025-02-26T08:53:21.663Z,1740560001.663 [sci2_slowyo_test:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms
2025-02-26T08:53:22.076Z,1740560002.076 [sci2_slowyo_test:StartingMission](INFO): Completed sci2_slowyo_test:StartingMission
2025-02-26T08:53:22.076Z,1740560002.076 [sci2_slowyo_test:StartingMission] Stopped
2025-02-26T08:53:22.076Z,1740560002.076 [sci2_slowyo_test:StartingMission](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StartingMission
2025-02-26T08:53:22.085Z,1740560002.085 [sci2_slowyo_test:Lap] Running Loop=1
2025-02-26T08:53:22.085Z,1740560002.085 [sci2_slowyo_test:Lap](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap
2025-02-26T08:53:22.085Z,1740560002.085 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-26T08:53:22.085Z,1740560002.085 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive
2025-02-26T08:53:22.085Z,1740560002.085 [sci2_slowyo_test:Lap:Dive:A] Running Loop=1
2025-02-26T08:53:22.085Z,1740560002.085 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive:A
2025-02-26T08:53:22.085Z,1740560002.085 [sci2_slowyo_test:Lap:Wpt1] Running Loop=1
2025-02-26T08:53:22.086Z,1740560002.086 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt1
2025-02-26T08:53:22.086Z,1740560002.086 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-02-26T08:53:22.086Z,1740560002.086 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T08:53:22.087Z,1740560002.087 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797002,-121.846996
2025-02-26T08:53:22.443Z,1740560002.443 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797002,-121.846996
2025-02-26T08:53:22.443Z,1740560002.443 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-26T08:53:22.444Z,1740560002.444 [sci2_slowyo_test:DiveCmd] Running Loop=1
2025-02-26T08:53:22.444Z,1740560002.444 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd
2025-02-26T08:53:22.444Z,1740560002.444 [sci2_slowyo_test:DiveCmd:SurfaceSink] Running Loop=1
2025-02-26T08:53:22.444Z,1740560002.444 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-26T08:53:22.444Z,1740560002.444 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-02-26T08:53:22.444Z,1740560002.444 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-26T08:53:22.444Z,1740560002.444 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-26T08:53:22.444Z,1740560002.444 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T08:53:22.444Z,1740560002.444 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-02-26T08:53:22.444Z,1740560002.444 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-02-26T08:53:22.444Z,1740560002.444 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-02-26T08:53:22.445Z,1740560002.445 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-02-26T08:53:22.449Z,1740560002.449 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T08:53:22.449Z,1740560002.449 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Running Loop=1
2025-02-26T08:53:22.449Z,1740560002.449 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T08:53:22.449Z,1740560002.449 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-02-26T08:53:22.449Z,1740560002.449 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Initialize.
2025-02-26T08:53:22.449Z,1740560002.449 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-26T08:53:22.449Z,1740560002.449 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T08:53:22.450Z,1740560002.450 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Running Loop=1
2025-02-26T08:53:22.450Z,1740560002.450 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T08:53:22.450Z,1740560002.450 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T08:53:22.450Z,1740560002.450 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T08:53:22.450Z,1740560002.450 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T08:53:22.450Z,1740560002.450 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T08:53:22.450Z,1740560002.450 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T08:53:22.450Z,1740560002.450 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T08:53:22.450Z,1740560002.450 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T08:53:22.450Z,1740560002.450 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T08:53:22.451Z,1740560002.451 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T08:53:22.451Z,1740560002.451 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T08:53:22.451Z,1740560002.451 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T08:53:22.451Z,1740560002.451 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T08:53:22.451Z,1740560002.451 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T08:53:22.452Z,1740560002.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-26T08:53:22.452Z,1740560002.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T08:53:22.452Z,1740560002.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-26T08:53:22.452Z,1740560002.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T08:53:22.452Z,1740560002.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-26T08:53:22.452Z,1740560002.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T08:53:22.452Z,1740560002.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-26T08:53:22.452Z,1740560002.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-26T08:53:22.452Z,1740560002.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-26T08:53:22.452Z,1740560002.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T08:53:22.453Z,1740560002.453 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T08:53:22.453Z,1740560002.453 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T08:53:22.457Z,1740560002.457 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T08:53:22.457Z,1740560002.457 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-02-26T08:53:22.457Z,1740560002.457 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C](INFO): Waiting for 1 minute while pumping down to neutral.
2025-02-26T08:53:22.457Z,1740560002.457 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Stopped
2025-02-26T08:53:22.457Z,1740560002.457 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait] Running Loop=1
2025-02-26T08:53:22.457Z,1740560002.457 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Initialize Wait Component.
2025-02-26T08:53:22.457Z,1740560002.457 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-26T08:53:22.458Z,1740560002.458 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-02-26T08:53:22.458Z,1740560002.458 [sci2_slowyo_test:DiveCmd:SurfaceSink] Stopped
2025-02-26T08:53:22.458Z,1740560002.458 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-26T08:53:22.458Z,1740560002.458 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Stopped
2025-02-26T08:53:22.458Z,1740560002.458 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-26T08:53:22.458Z,1740560002.458 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-02-26T08:53:22.458Z,1740560002.458 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T08:53:22.459Z,1740560002.459 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-02-26T08:53:22.459Z,1740560002.459 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-02-26T08:53:22.459Z,1740560002.459 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Stopped
2025-02-26T08:53:42.287Z,1740560022.287 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250226T085341
2025-02-26T08:53:52.438Z,1740560032.438 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T08:54:23.018Z,1740560063.018 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](INFO): Done Waiting.
2025-02-26T08:54:23.018Z,1740560063.018 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait] Stopped
2025-02-26T08:54:23.018Z,1740560063.018 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T08:54:23.019Z,1740560063.019 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E] Running Loop=1
2025-02-26T08:54:23.399Z,1740560063.399 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E](INFO): Moving to  10.000000 m 
2025-02-26T08:54:23.400Z,1740560063.400 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E] Stopped
2025-02-26T08:54:23.400Z,1740560063.400 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-02-26T08:54:23.400Z,1740560063.400 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-26T08:54:23.400Z,1740560063.400 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-02-26T08:54:23.400Z,1740560063.400 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-02-26T08:54:23.400Z,1740560063.400 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-02-26T08:54:23.400Z,1740560063.400 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-02-26T08:54:23.811Z,1740560063.811 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-02-26T08:54:49.424Z,1740560089.424 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2119
2025-02-26T08:56:12.863Z,1740560172.863 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T08:56:19.387Z,1740560179.387 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-26T08:56:19.387Z,1740560179.387 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-26T08:56:19.390Z,1740560179.390 [BPC1](INFO): Received data from all battery sticks.
2025-02-26T08:56:49.422Z,1740560209.422 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-02-26T08:56:49.422Z,1740560209.422 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-26T08:56:49.422Z,1740560209.422 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-02-26T08:56:49.422Z,1740560209.422 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-26T08:56:49.422Z,1740560209.422 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-02-26T08:56:49.423Z,1740560209.423 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-02-26T08:56:49.423Z,1740560209.423 [sci2_slowyo_test:DiveCmd:InitialDive:dive:G] Running Loop=1
2025-02-26T08:56:49.830Z,1740560209.830 [sci2_slowyo_test:DiveCmd:InitialDive:dive:G] Stopped
2025-02-26T08:56:49.831Z,1740560209.831 [sci2_slowyo_test:DiveCmd:InitialDive:dive](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T08:56:49.831Z,1740560209.831 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Stopped
2025-02-26T08:56:49.831Z,1740560209.831 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T08:56:49.831Z,1740560209.831 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Stopped
2025-02-26T08:56:49.831Z,1740560209.831 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Uninitialize.
2025-02-26T08:56:49.831Z,1740560209.831 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-02-26T08:56:49.831Z,1740560209.831 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T08:56:49.831Z,1740560209.831 [sci2_slowyo_test:DiveCmd:InitialDive](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T08:56:50.235Z,1740560210.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T08:56:50.235Z,1740560210.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T08:56:50.235Z,1740560210.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T08:56:50.235Z,1740560210.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T08:56:50.235Z,1740560210.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T08:56:50.235Z,1740560210.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T08:56:50.235Z,1740560210.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T08:56:50.235Z,1740560210.235 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T08:56:50.236Z,1740560210.236 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T08:56:50.236Z,1740560210.236 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T08:56:50.236Z,1740560210.236 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T08:56:50.236Z,1740560210.236 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T08:56:50.236Z,1740560210.236 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T08:56:50.236Z,1740560210.236 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T08:56:50.236Z,1740560210.236 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T08:56:50.237Z,1740560210.237 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T08:56:50.237Z,1740560210.237 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T08:56:50.237Z,1740560210.237 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T08:56:50.238Z,1740560210.238 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T08:57:03.605Z,1740560223.605 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T08:57:17.770Z,1740560237.770 [Radio_Surface](INFO): Powering down
2025-02-26T08:57:34.738Z,1740560254.738 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T08:57:35.742Z,1740560255.742 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T08:58:43.198Z,1740560323.198 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2120
2025-02-26T08:59:12.130Z,1740560352.130 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.730743
2025-02-26T08:59:14.005Z,1740560354.005 [ThrusterHE](INFO): Failure count cleared after critical for ThrusterHE
2025-02-26T09:28:31.854Z,1740562111.854 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T09:28:31.854Z,1740562111.854 [ThrusterHE](INFO): Powering down
2025-02-26T09:28:32.698Z,1740562112.698 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T09:28:32.818Z,1740562112.818 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T09:30:30.558Z,1740562230.558 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T09:30:30.558Z,1740562230.558 [ThrusterHE](INFO): Powering down
2025-02-26T09:30:31.383Z,1740562231.383 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T09:30:31.502Z,1740562231.502 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T09:31:34.678Z,1740562294.678 [CTD_Seabird](ERROR): Failed to parse device response: 164.61,8.178.79
2025-02-26T09:45:00.006Z,1740563100.006 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T09:45:00.006Z,1740563100.006 [ThrusterHE](INFO): Powering down
2025-02-26T09:45:00.794Z,1740563100.794 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T09:45:00.914Z,1740563100.914 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T09:52:21.687Z,1740563541.687 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-26T09:52:21.687Z,1740563541.687 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T09:52:21.688Z,1740563541.688 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T09:52:21.688Z,1740563541.688 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T09:52:21.688Z,1740563541.688 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T09:52:21.688Z,1740563541.688 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T09:52:21.689Z,1740563541.689 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T09:52:22.103Z,1740563542.103 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T09:52:22.103Z,1740563542.103 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T09:52:22.103Z,1740563542.103 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T09:52:22.103Z,1740563542.103 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T09:52:22.103Z,1740563542.103 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T09:52:22.103Z,1740563542.103 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T09:52:22.103Z,1740563542.103 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T09:52:22.103Z,1740563542.103 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T09:52:22.104Z,1740563542.104 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T09:52:22.104Z,1740563542.104 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T09:52:22.104Z,1740563542.104 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T09:52:22.104Z,1740563542.104 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T09:53:20.794Z,1740563600.794 [sci2_slowyo_test:NeedComms] Running Loop=1
2025-02-26T09:53:20.794Z,1740563600.794 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::initialize sci2_slowyo_test:NeedComms
2025-02-26T09:53:20.794Z,1740563600.794 [sci2_slowyo_test:NeedComms:B.GoToSurface] Running Loop=1
2025-02-26T09:53:20.794Z,1740563600.794 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T09:53:20.794Z,1740563600.794 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received depth rate setting 0.300000 m/s.
2025-02-26T09:53:20.795Z,1740563600.795 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-26T09:53:20.795Z,1740563600.795 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-26T09:53:20.795Z,1740563600.795 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-26T09:53:20.796Z,1740563600.796 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T09:53:20.796Z,1740563600.796 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T09:53:20.796Z,1740563600.796 [sci2_slowyo_test:NeedComms:A] Running Loop=1
2025-02-26T09:53:20.799Z,1740563600.799 [sci2_slowyo_test:NeedComms:A](INFO): last time_fix was:  1740559999.000000 second since 1970/01/01T00:00:00Z 
2025-02-26T09:53:20.799Z,1740563600.799 [sci2_slowyo_test:NeedComms:A] Stopped
2025-02-26T09:54:49.275Z,1740563689.275 [sci2_slowyo_test:NeedComms:C] Running Loop=1
2025-02-26T09:54:49.822Z,1740563689.822 [Radio_Surface](INFO): Powering up
2025-02-26T09:54:55.095Z,1740563695.095 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T09:55:25.229Z,1740563725.229 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T09:55:56.354Z,1740563756.354 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T09:56:04.794Z,1740563764.794 [CTD_Seabird](ERROR): Salinity reading out of range: 26.321499 psu
2025-02-26T09:56:04.795Z,1740563764.795 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-26T09:56:25.411Z,1740563785.411 [NAL9602](INFO): SBD MO Status=2, MOMSN=13537, MT Status=2, MTMSN=0
2025-02-26T09:56:25.412Z,1740563785.412 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T09:56:27.493Z,1740563787.493 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T09:56:44.005Z,1740563804.005 [NAL9602](INFO): SBD MO Status=2, MOMSN=13537, MT Status=2, MTMSN=0
2025-02-26T09:56:44.005Z,1740563804.005 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T09:56:57.802Z,1740563817.802 [NAL9602](INFO): SBD MO Status=2, MOMSN=13537, MT Status=2, MTMSN=0
2025-02-26T09:56:57.802Z,1740563817.802 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T09:56:58.657Z,1740563818.657 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T09:57:15.065Z,1740563835.065 [MassServo](ERROR): getPosition uart error serial timeout
2025-02-26T09:57:15.066Z,1740563835.066 [MassServo](FAULT): Invalid EZ Servo response:"\377"
2025-02-26T09:57:15.066Z,1740563835.066 [MassServo] Communications Fault, FailCount= 2
2025-02-26T09:57:15.066Z,1740563835.066 [MassServo](ERROR): Communications Fault
2025-02-26T09:57:15.090Z,1740563835.090 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-26T09:57:15.621Z,1740563835.621 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-26T09:57:15.621Z,1740563835.621 [MassServo](INFO): Powering down
2025-02-26T09:57:16.906Z,1740563836.906 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-26T09:57:17.077Z,1740563837.077 [MassServo](DEBUG): Initializing MassServo.
2025-02-26T09:57:17.090Z,1740563837.090 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-26T09:57:17.091Z,1740563837.091 [MassServo] No Fault, FailCount= 2
2025-02-26T09:57:25.168Z,1740563845.168 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005245
2025-02-26T09:57:27.067Z,1740563847.067 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T09:57:39.554Z,1740563859.554 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T09:57:52.076Z,1740563872.076 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T09:58:05.408Z,1740563885.408 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T09:58:17.948Z,1740563897.948 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T09:58:31.280Z,1740563911.280 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T09:58:44.211Z,1740563924.211 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T09:59:01.187Z,1740563941.187 [NAL9602](INFO): SBD MO Status=2, MOMSN=13537, MT Status=2, MTMSN=0
2025-02-26T09:59:01.188Z,1740563941.188 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T09:59:40.826Z,1740563980.826 [NAL9602](INFO): SBD MO Status=2, MOMSN=13537, MT Status=2, MTMSN=0
2025-02-26T09:59:40.826Z,1740563980.826 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T09:59:53.337Z,1740563993.337 [NAL9602](INFO): SBD MO Status=0, MOMSN=13537, MT Status=0, MTMSN=0
2025-02-26T09:59:53.337Z,1740563993.337 [NAL9602](INFO): No messages in MT queue
2025-02-26T09:59:54.543Z,1740563994.543 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,095953.00,A,3647.79268,N,12152.36895,W,1.438,227.13,260225,,,D*70
2025-02-26T09:59:54.546Z,1740563994.546 [NAL9602](INFO): GPS fix at 20250226T095953: (36.796545, -121.872816)
2025-02-26T09:59:54.559Z,1740563994.559 [UniversalFixResidualReporter](INFO): Fix residual: 6.0 %DT, over the last 3142.1 m. Residual distance 188.3 m at bearing 79.2 degrees. Fix at (36.7965, -121.8728) with 2928.2 m made good.
2025-02-26T09:59:54.590Z,1740563994.590 [sci2_slowyo_test:NeedComms:C] Stopped
2025-02-26T09:59:54.590Z,1740563994.590 [sci2_slowyo_test:NeedComms:D] Running Loop=1
2025-02-26T10:00:04.050Z,1740564004.050 [DataOverHttps](INFO): Sending 217 bytes from file Logs/20250226T074052/Courier0064.lzma
2025-02-26T10:00:05.047Z,1740564005.047 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0064.lzma.bak
2025-02-26T10:00:05.048Z,1740564005.048 [DataOverHttps](INFO): SBD MOMSN=23978827
2025-02-26T10:00:23.617Z,1740564023.617 [DataOverHttps](INFO): Sending 508 bytes from file Logs/20250226T074052/Express0066.lzma
2025-02-26T10:00:24.603Z,1740564024.603 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0066.lzma.bak
2025-02-26T10:00:24.603Z,1740564024.603 [DataOverHttps](INFO): SBD MOMSN=23978830
2025-02-26T10:00:26.538Z,1740564026.538 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T10:00:26.558Z,1740564026.558 [sci2_slowyo_test:NeedComms:D] Stopped
2025-02-26T10:00:26.867Z,1740564026.867 [sci2_slowyo_test:NeedComms:E] Running Loop=1
2025-02-26T10:00:28.682Z,1740564028.682 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,100027.00,A,3647.79490,N,12152.37225,W,0.836,303.19,260225,,,A*7D
2025-02-26T10:00:28.684Z,1740564028.684 [NAL9602](INFO): GPS fix at 20250226T100027: (36.796582, -121.872871)
2025-02-26T10:00:28.759Z,1740564028.759 [sci2_slowyo_test:NeedComms:E] Stopped
2025-02-26T10:00:28.760Z,1740564028.760 [sci2_slowyo_test:NeedComms](INFO): Completed sci2_slowyo_test:NeedComms
2025-02-26T10:00:28.760Z,1740564028.760 [sci2_slowyo_test:NeedComms] Stopped
2025-02-26T10:00:28.760Z,1740564028.760 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:NeedComms
2025-02-26T10:00:28.760Z,1740564028.760 [sci2_slowyo_test:NeedComms:B.GoToSurface] Stopped
2025-02-26T10:00:28.760Z,1740564028.760 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T10:00:46.282Z,1740564046.282 [NAL9602](INFO): SBD MO Status=0, MOMSN=13538, MT Status=0, MTMSN=0
2025-02-26T10:00:46.283Z,1740564046.283 [NAL9602](INFO): No messages in MT queue
2025-02-26T10:00:58.685Z,1740564058.685 [ThrusterHE](FAULT): Unrecognized Command
2025-02-26T10:00:58.685Z,1740564058.685 [ThrusterHE] Hardware Fault, FailCount= 1
2025-02-26T10:00:58.685Z,1740564058.685 [ThrusterHE](ERROR): Hardware Fault
2025-02-26T10:00:58.723Z,1740564058.723 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-02-26T10:00:59.031Z,1740564059.031 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T10:00:59.031Z,1740564059.031 [ThrusterHE](INFO): Powering down
2025-02-26T10:00:59.892Z,1740564059.892 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T10:01:00.006Z,1740564060.006 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T10:01:00.010Z,1740564060.010 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-02-26T10:01:00.010Z,1740564060.010 [ThrusterHE] No Fault, FailCount= 1
2025-02-26T10:01:17.164Z,1740564077.164 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T10:01:33.558Z,1740564093.558 [ThrusterHE](FAULT): Unrecognized Command
2025-02-26T10:01:33.558Z,1740564093.558 [ThrusterHE] Hardware Fault, FailCount= 2
2025-02-26T10:01:33.558Z,1740564093.558 [ThrusterHE](ERROR): Hardware Fault
2025-02-26T10:01:33.594Z,1740564093.594 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-02-26T10:01:33.954Z,1740564093.954 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T10:01:33.954Z,1740564093.954 [ThrusterHE](INFO): Powering down
2025-02-26T10:01:34.714Z,1740564094.714 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T10:01:34.830Z,1740564094.830 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T10:01:34.834Z,1740564094.834 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-02-26T10:01:34.834Z,1740564094.834 [ThrusterHE] No Fault, FailCount= 2
2025-02-26T10:01:40.374Z,1740564100.374 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-02-26T10:01:48.186Z,1740564108.186 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-02-26T10:02:34.237Z,1740564154.237 [ThrusterHE](FAULT): Unrecognized Command
2025-02-26T10:02:34.238Z,1740564154.238 [ThrusterHE] Hardware Fault, FailCount= 3
2025-02-26T10:02:34.238Z,1740564154.238 [ThrusterHE](ERROR): Hardware Fault
2025-02-26T10:02:34.282Z,1740564154.282 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-02-26T10:02:34.554Z,1740564154.554 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T10:02:34.554Z,1740564154.554 [ThrusterHE](INFO): Powering down
2025-02-26T10:02:35.319Z,1740564155.319 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T10:02:35.438Z,1740564155.438 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T10:02:35.442Z,1740564155.442 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-02-26T10:02:35.442Z,1740564155.442 [ThrusterHE] No Fault, FailCount= 3
2025-02-26T10:03:18.718Z,1740564198.718 [CTD_Seabird](ERROR): Failed to parse device response: .77
2025-02-26T10:03:46.723Z,1740564226.723 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T10:03:52.798Z,1740564232.798 [BPC1](FAULT): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-26T10:03:52.799Z,1740564232.799 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-26T10:03:52.802Z,1740564232.802 [BPC1](INFO): Received data from all battery sticks.
2025-02-26T10:06:54.663Z,1740564414.663 [CTD_Seabird](ERROR): Failed to parse device response: .4761,3.86259,2779.32
2025-02-26T10:10:40.714Z,1740564640.714 [ThrusterHE](FAULT): Unrecognized Command
2025-02-26T10:10:40.714Z,1740564640.714 [ThrusterHE] Hardware Fault, FailCount= 4
2025-02-26T10:10:40.714Z,1740564640.714 [ThrusterHE](ERROR): Hardware Fault
2025-02-26T10:10:40.760Z,1740564640.760 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-02-26T10:10:41.126Z,1740564641.126 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T10:10:41.126Z,1740564641.126 [ThrusterHE](INFO): Powering down
2025-02-26T10:10:41.982Z,1740564641.982 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T10:10:42.104Z,1740564642.104 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T10:10:42.108Z,1740564642.108 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-02-26T10:10:42.108Z,1740564642.108 [ThrusterHE] No Fault, FailCount= 4
2025-02-26T10:10:44.748Z,1740564644.748 [CTD_Seabird](ERROR): Failed to parse device response: 2.4687,3.86206,2778.07
2025-02-26T10:10:47.638Z,1740564647.638 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-02-26T10:11:09.026Z,1740564669.026 [ThrusterHE](FAULT): Unrecognized Command
2025-02-26T10:11:09.026Z,1740564669.026 [ThrusterHE] Hardware Fault, FailCount= 5
2025-02-26T10:11:09.026Z,1740564669.026 [ThrusterHE](ERROR): Hardware Fault
2025-02-26T10:11:09.057Z,1740564669.057 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-02-26T10:11:09.057Z,1740564669.057 [CBIT](CRITICAL): Hardware Fault in component: ThrusterHE
2025-02-26T10:11:09.542Z,1740564669.542 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T10:11:09.542Z,1740564669.542 [ThrusterHE](INFO): Powering down
2025-02-26T10:11:09.544Z,1740564669.544 [CommandExec](FAULT): Scheduling is paused for 5 commands
2025-02-26T10:11:09.544Z,1740564669.544 [CBIT](INFO): Critical error at 20250226T101109
2025-02-26T10:11:09.544Z,1740564669.544 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-02-26T10:11:09.662Z,1740564669.662 [MissionManager](INFO): MissionManager is completed.
2025-02-26T10:11:09.663Z,1740564669.663 [MissionManager](INFO): Uninitializing Mission sci2_slowyo_test
2025-02-26T10:11:09.663Z,1740564669.663 [sci2_slowyo_test] Stopped
2025-02-26T10:11:09.663Z,1740564669.663 [sci2_slowyo_test](DEBUG): Aggregate::uninitialize sci2_slowyo_test
2025-02-26T10:11:09.663Z,1740564669.663 [sci2_slowyo_test:Science] Stopped
2025-02-26T10:11:09.663Z,1740564669.663 [sci2_slowyo_test:Science](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science
2025-02-26T10:11:09.663Z,1740564669.663 [sci2_slowyo_test:Science:B] Stopped
2025-02-26T10:11:09.663Z,1740564669.663 [sci2_slowyo_test:Science:C] Stopped
2025-02-26T10:11:09.663Z,1740564669.663 [sci2_slowyo_test:Science:E] Stopped
2025-02-26T10:11:09.663Z,1740564669.663 [sci2_slowyo_test:Science:OceanCurrent] Stopped
2025-02-26T10:11:09.663Z,1740564669.663 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:OceanCurrent
2025-02-26T10:11:09.663Z,1740564669.663 [sci2_slowyo_test:Science:OceanCurrent:A.] Stopped
2025-02-26T10:11:09.663Z,1740564669.663 [sci2_slowyo_test:StandardEnvelopes] Stopped
2025-02-26T10:11:09.664Z,1740564669.664 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StandardEnvelopes
2025-02-26T10:11:09.664Z,1740564669.664 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-26T10:11:09.664Z,1740564669.664 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-26T10:11:09.664Z,1740564669.664 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-26T10:11:09.664Z,1740564669.664 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-26T10:11:09.664Z,1740564669.664 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-26T10:11:09.664Z,1740564669.664 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-26T10:11:09.664Z,1740564669.664 [sci2_slowyo_test:BackseatDriver] Stopped
2025-02-26T10:11:09.664Z,1740564669.664 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_slowyo_test:BackseatDriver
2025-02-26T10:11:09.664Z,1740564669.664 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Stopped
2025-02-26T10:11:09.664Z,1740564669.664 [sci2_slowyo_test:PowerOnly] Stopped
2025-02-26T10:11:09.665Z,1740564669.665 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::uninitialize sci2_slowyo_test:PowerOnly
2025-02-26T10:11:09.665Z,1740564669.665 [sci2_slowyo_test:PowerOnly:E.Wait] Stopped
2025-02-26T10:11:09.673Z,1740564669.673 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T10:11:09.673Z,1740564669.673 [sci2_slowyo_test:DiveCmd] Stopped
2025-02-26T10:11:09.673Z,1740564669.673 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd
2025-02-26T10:11:09.673Z,1740564669.673 [sci2_slowyo_test:DiveCmd:InitialDive] Stopped
2025-02-26T10:11:09.673Z,1740564669.673 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T10:11:09.673Z,1740564669.673 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-26T10:11:09.674Z,1740564669.674 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T10:11:09.674Z,1740564669.674 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-26T10:11:09.674Z,1740564669.674 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T10:11:09.674Z,1740564669.674 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-26T10:11:09.674Z,1740564669.674 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T10:11:09.674Z,1740564669.674 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-26T10:11:09.674Z,1740564669.674 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-26T10:11:09.674Z,1740564669.674 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-26T10:11:09.674Z,1740564669.674 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T10:11:09.674Z,1740564669.674 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T10:11:09.674Z,1740564669.674 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T10:11:09.674Z,1740564669.674 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T10:11:09.674Z,1740564669.674 [sci2_slowyo_test:Lap] Stopped
2025-02-26T10:11:09.675Z,1740564669.675 [sci2_slowyo_test:Lap](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap
2025-02-26T10:11:09.675Z,1740564669.675 [sci2_slowyo_test:Lap:Dive] Stopped
2025-02-26T10:11:09.675Z,1740564669.675 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive
2025-02-26T10:11:09.675Z,1740564669.675 [sci2_slowyo_test:Lap:Dive:A] Stopped
2025-02-26T10:11:09.675Z,1740564669.675 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive:A
2025-02-26T10:11:09.675Z,1740564669.675 [sci2_slowyo_test:Lap:Wpt1] Stopped
2025-02-26T10:11:09.675Z,1740564669.675 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt1
2025-02-26T10:11:09.675Z,1740564669.675 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Stopped
2025-02-26T10:11:09.675Z,1740564669.675 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T10:11:09.889Z,1740564669.889 [WetLabsBB2FL](INFO): Powering down
2025-02-26T10:11:10.456Z,1740564670.456 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T10:11:10.456Z,1740564670.456 [Default] Running Loop=1
2025-02-26T10:11:10.456Z,1740564670.456 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T10:11:10.456Z,1740564670.456 [Default:B.GoToSurface] Running Loop=1
2025-02-26T10:11:10.456Z,1740564670.456 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T10:11:10.473Z,1740564670.473 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T10:11:10.473Z,1740564670.473 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T10:11:10.474Z,1740564670.474 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T10:11:10.474Z,1740564670.474 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T10:11:10.475Z,1740564670.475 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T10:11:10.475Z,1740564670.475 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T10:11:10.476Z,1740564670.476 [Default:A.Wait] Running Loop=1
2025-02-26T10:11:10.476Z,1740564670.476 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T10:11:11.414Z,1740564671.414 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-26T10:11:11.414Z,1740564671.414 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-26T10:11:23.494Z,1740564683.494 [Default:A.Wait](INFO): Done Waiting.
2025-02-26T10:11:23.494Z,1740564683.494 [Default:A.Wait] Stopped
2025-02-26T10:11:23.494Z,1740564683.494 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T10:11:23.905Z,1740564683.905 [Default:CheckIn] Running Loop=1
2025-02-26T10:11:23.905Z,1740564683.905 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T10:11:23.905Z,1740564683.905 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T10:11:25.912Z,1740564685.912 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,101125.00,A,3647.84810,N,12152.36753,W,1.108,347.02,260225,,,D*76
2025-02-26T10:11:25.914Z,1740564685.914 [NAL9602](INFO): GPS fix at 20250226T101125: (36.797468, -121.872792)
2025-02-26T10:11:25.949Z,1740564685.949 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T10:11:25.949Z,1740564685.949 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T10:11:29.617Z,1740564689.617 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-26T10:11:29.618Z,1740564689.618 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-26T10:11:29.618Z,1740564689.618 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-26T10:11:33.809Z,1740564693.809 [DataOverHttps](INFO): Sending 132 bytes from file Logs/20250226T074052/Courier0070.lzma
2025-02-26T10:11:34.815Z,1740564694.815 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0070.lzma.bak
2025-02-26T10:11:34.815Z,1740564694.815 [DataOverHttps](INFO): SBD MOMSN=23978837
2025-02-26T10:11:51.493Z,1740564711.493 [DataOverHttps](INFO): Sending 334 bytes from file Logs/20250226T074052/Express0071.lzma
2025-02-26T10:11:52.495Z,1740564712.495 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0071.lzma.bak
2025-02-26T10:11:52.495Z,1740564712.495 [DataOverHttps](INFO): SBD MOMSN=23978841
2025-02-26T10:11:54.225Z,1740564714.225 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-02-26T10:11:54.225Z,1740564714.225 [ThrusterHE] No Fault, FailCount= 5
2025-02-26T10:11:54.439Z,1740564714.439 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T10:11:54.439Z,1740564714.439 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T10:11:54.439Z,1740564714.439 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T10:11:54.618Z,1740564714.618 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T10:11:54.619Z,1740564714.619 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T10:11:56.024Z,1740564716.024 [NAL9602](INFO): SBD MO Status=2, MOMSN=13539, MT Status=2, MTMSN=0
2025-02-26T10:11:56.024Z,1740564716.024 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T10:11:59.942Z,1740564719.942 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-02-26T10:12:14.207Z,1740564734.207 [NAL9602](INFO): SBD MO Status=0, MOMSN=13539, MT Status=0, MTMSN=0
2025-02-26T10:12:14.207Z,1740564734.207 [NAL9602](INFO): No messages in MT queue
2025-02-26T10:12:38.891Z,1740564758.891 [MassServo](FAULT): Invalid EZ Servo response:"\3777\r"
2025-02-26T10:12:38.891Z,1740564758.891 [MassServo] Communications Fault, FailCount= 3
2025-02-26T10:12:38.891Z,1740564758.891 [MassServo](ERROR): Communications Fault
2025-02-26T10:12:38.895Z,1740564758.895 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-26T10:12:39.268Z,1740564759.268 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-26T10:12:39.268Z,1740564759.268 [MassServo](INFO): Powering down
2025-02-26T10:12:40.074Z,1740564760.074 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-26T10:12:40.192Z,1740564760.192 [MassServo](DEBUG): Initializing MassServo.
2025-02-26T10:12:40.196Z,1740564760.196 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-26T10:12:40.196Z,1740564760.196 [MassServo] No Fault, FailCount= 3
2025-02-26T10:12:44.907Z,1740564764.907 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T10:13:04.514Z,1740564784.514 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T101303
2025-02-26T10:13:15.126Z,1740564795.126 [DataOverHttps](INFO): Received command: resume; schedule resume
2025-02-26T10:13:15.140Z,1740564795.140 [CommandExec](IMPORTANT): got command resume
2025-02-26T10:13:15.141Z,1740564795.141 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T10:13:15.141Z,1740564795.141 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T10:13:15.144Z,1740564795.144 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T10:13:20.306Z,1740564800.306 [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>

2025-02-26T10:13:20.319Z,1740564800.319 [MissionManager](INFO): DefineArg sci2_slowyo_test.MissionTimeout = 2.000000 h
2025-02-26T10:13:20.321Z,1740564800.321 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsTime = 60.000000 min
2025-02-26T10:13:20.323Z,1740564800.323 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsSurfaceDepthRate = 0.300000 m/s
2025-02-26T10:13:20.325Z,1740564800.325 [MissionManager](INFO): DefineArg sci2_slowyo_test.Repeat = 1.000000 count
2025-02-26T10:13:20.327Z,1740564800.327 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat1 = nan arcdeg
2025-02-26T10:13:20.329Z,1740564800.329 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat2 = nan arcdeg
2025-02-26T10:13:20.331Z,1740564800.331 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat3 = nan arcdeg
2025-02-26T10:13:20.335Z,1740564800.335 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat4 = nan arcdeg
2025-02-26T10:13:20.338Z,1740564800.338 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat5 = nan arcdeg
2025-02-26T10:13:20.340Z,1740564800.340 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat6 = nan arcdeg
2025-02-26T10:13:20.343Z,1740564800.343 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat7 = nan arcdeg
2025-02-26T10:13:20.369Z,1740564800.369 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon1 = nan arcdeg
2025-02-26T10:13:20.371Z,1740564800.371 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon2 = nan arcdeg
2025-02-26T10:13:20.376Z,1740564800.376 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon3 = nan arcdeg
2025-02-26T10:13:20.395Z,1740564800.395 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon4 = nan arcdeg
2025-02-26T10:13:20.406Z,1740564800.406 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon5 = nan arcdeg
2025-02-26T10:13:20.408Z,1740564800.408 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon6 = nan arcdeg
2025-02-26T10:13:20.414Z,1740564800.414 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon7 = nan arcdeg
2025-02-26T10:13:20.416Z,1740564800.416 [MissionManager](INFO): DefineArg sci2_slowyo_test.ApproachDepthTimeout = 15.000000 min
2025-02-26T10:13:20.423Z,1740564800.423 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoDiveAngle = 15.000000 arcdeg
2025-02-26T10:13:20.426Z,1740564800.426 [MissionManager](INFO): DefineArg sci2_slowyo_test.Speed = 1.000000 m/s
2025-02-26T10:13:20.443Z,1740564800.443 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMinDepth = 10.000000 m
2025-02-26T10:13:20.449Z,1740564800.449 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMaxDepth = 40.000000 m
2025-02-26T10:13:20.480Z,1740564800.480 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoNumYoYos = 1.000000 count
2025-02-26T10:13:20.509Z,1740564800.509 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoTurningWindow = 10.000000 m
2025-02-26T10:13:20.511Z,1740564800.511 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkOffSurface = 0 bool
2025-02-26T10:13:20.530Z,1740564800.530 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepth = 10.000000 m
2025-02-26T10:13:20.532Z,1740564800.532 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepthTimeout = 10.000000 min
2025-02-26T10:13:20.546Z,1740564800.546 [MissionManager](INFO): DefineArg sci2_slowyo_test.CaptureRadius = nan m
2025-02-26T10:13:20.548Z,1740564800.548 [MissionManager](INFO): DefineArg sci2_slowyo_test.PeakDetectChl = 0 bool
2025-02-26T10:13:20.566Z,1740564800.566 [MissionManager](INFO): DefineArg sci2_slowyo_test.ShallowBoundChl = nan m
2025-02-26T10:13:20.569Z,1740564800.569 [MissionManager](INFO): DefineArg sci2_slowyo_test.DeepBoundChl = nan m
2025-02-26T10:13:20.586Z,1740564800.586 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlThreshTrigger = 0 bool
2025-02-26T10:13:20.588Z,1740564800.588 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlLowerThreshold = nan ug/l
2025-02-26T10:13:20.599Z,1740564800.599 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlUpperThreshold = nan ug/l
2025-02-26T10:13:20.605Z,1740564800.605 [MissionManager](INFO): DefineArg sci2_slowyo_test.NumProfilesThreshold = 5.000000 count
2025-02-26T10:13:20.611Z,1740564800.611 [MissionManager](INFO): DefineArg sci2_slowyo_test.BuoyancyNeutral = 305.318329 cc
2025-02-26T10:13:20.624Z,1740564800.624 [MissionManager](INFO): DefineArg sci2_slowyo_test.ElevatorDefault = 0.000000 arcdeg
2025-02-26T10:13:20.631Z,1740564800.631 [MissionManager](INFO): DefineArg sci2_slowyo_test.MassDefault = 1.164778 cm
2025-02-26T10:13:20.637Z,1740564800.637 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinAltitude = 7.000000 m
2025-02-26T10:13:20.640Z,1740564800.640 [MissionManager](INFO): DefineArg sci2_slowyo_test.MaxDepth = 60.000000 m
2025-02-26T10:13:20.647Z,1740564800.647 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinOffshore = 2.000000 km
2025-02-26T10:13:20.657Z,1740564800.657 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DiveMode = 0.000000 count
2025-02-26T10:13:20.660Z,1740564800.660 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DoingComms = 0.000000 count
2025-02-26T10:13:20.662Z,1740564800.662 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SurfaceSink = 1.000000 count
2025-02-26T10:13:20.664Z,1740564800.664 [MissionManager](INFO): DefineOutput sci2_slowyo_test.InitialDive = 2.000000 count
2025-02-26T10:13:20.680Z,1740564800.680 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SlowYo = 3.000000 count
2025-02-26T10:13:20.680Z,1740564800.680 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-26T10:13:20.680Z,1740564800.680 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-26T10:13:21.435Z,1740564801.435 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-26T10:13:23.932Z,1740564803.932 [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>

2025-02-26T10:13:23.952Z,1740564803.952 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectChlActive = 0 bool
2025-02-26T10:13:23.954Z,1740564803.954 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectChlActive = 0 bool
2025-02-26T10:13:23.956Z,1740564803.956 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.TimeWindowPeakReport = nan min
2025-02-26T10:13:23.960Z,1740564803.960 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestChlPeakReportActive = 0 bool
2025-02-26T10:13:23.962Z,1740564803.962 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestSaltPeakReportActive = 0 bool
2025-02-26T10:13:23.964Z,1740564803.964 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestOilPeakReportActive = 0 bool
2025-02-26T10:13:23.966Z,1740564803.966 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PatchTracking = 0 bool
2025-02-26T10:13:23.968Z,1740564803.968 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.FilterWidthHorizontal = 3.000000 count
2025-02-26T10:13:23.970Z,1740564803.970 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-26T10:13:23.995Z,1740564803.995 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-26T10:13:24.007Z,1740564804.007 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectNO3Active = 0 bool
2025-02-26T10:13:24.008Z,1740564804.008 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectOilActive = 0 bool
2025-02-26T10:13:24.015Z,1740564804.015 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectFDOMActive = 0 bool
2025-02-26T10:13:24.016Z,1740564804.016 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectSalinityActive = 0 bool
2025-02-26T10:13:24.020Z,1740564804.020 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T10:13:24.034Z,1740564804.034 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T10:13:24.036Z,1740564804.036 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-26T10:13:24.040Z,1740564804.040 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-26T10:13:24.055Z,1740564804.055 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-26T10:13:24.056Z,1740564804.056 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-26T10:13:24.063Z,1740564804.063 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledAanderaaO2 = 0 bool
2025-02-26T10:13:24.088Z,1740564804.088 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledNeilBrown = 0 bool
2025-02-26T10:13:24.127Z,1740564804.127 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledSeabird = 1 bool
2025-02-26T10:13:24.138Z,1740564804.138 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-26T10:13:24.140Z,1740564804.140 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-26T10:13:24.147Z,1740564804.147 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsUBAT = 0 bool
2025-02-26T10:13:24.161Z,1740564804.161 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.LowPassWindowLength = 20.000000 count
2025-02-26T10:13:24.163Z,1740564804.163 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.MedianFilterLen = 5.000000 count
2025-02-26T10:13:24.170Z,1740564804.170 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ShallowBound = nan m
2025-02-26T10:13:24.172Z,1740564804.172 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DeepBound = nan m
2025-02-26T10:13:24.180Z,1740564804.180 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-26T10:13:24.199Z,1740564804.199 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionVertical = nan %
2025-02-26T10:13:24.203Z,1740564804.203 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-26T10:13:24.213Z,1740564804.213 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = 0 bool
2025-02-26T10:13:24.216Z,1740564804.216 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlLowerThresh = nan ug/l
2025-02-26T10:13:24.226Z,1740564804.226 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlUpperThresh = nan ug/l
2025-02-26T10:13:24.228Z,1740564804.228 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesThresh = 5.000000 count
2025-02-26T10:13:24.230Z,1740564804.230 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-26T10:13:24.232Z,1740564804.232 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.GoDown = 1 bool
2025-02-26T10:13:24.239Z,1740564804.239 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChl = nan ug/l
2025-02-26T10:13:24.252Z,1740564804.252 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlDepth = nan m
2025-02-26T10:13:24.256Z,1740564804.256 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlTemperature = nan degC
2025-02-26T10:13:24.263Z,1740564804.263 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLatitude = nan arcdeg
2025-02-26T10:13:24.273Z,1740564804.273 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLongitude = nan arcdeg
2025-02-26T10:13:24.276Z,1740564804.276 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChl = nan ug/l
2025-02-26T10:13:24.301Z,1740564804.301 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlDepth = nan m
2025-02-26T10:13:24.303Z,1740564804.303 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlTemperature = nan degC
2025-02-26T10:13:24.326Z,1740564804.326 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLatitude = nan arcdeg
2025-02-26T10:13:24.328Z,1740564804.328 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLongitude = nan arcdeg
2025-02-26T10:13:24.335Z,1740564804.335 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3 = nan umol/l
2025-02-26T10:13:24.341Z,1740564804.341 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Depth = nan m
2025-02-26T10:13:24.343Z,1740564804.343 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Latitude = nan arcdeg
2025-02-26T10:13:24.346Z,1740564804.346 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Longitude = nan arcdeg
2025-02-26T10:13:24.348Z,1740564804.348 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOil = nan kg/m3
2025-02-26T10:13:24.363Z,1740564804.363 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilDepth = nan m
2025-02-26T10:13:24.374Z,1740564804.374 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLatitude = nan arcdeg
2025-02-26T10:13:24.379Z,1740564804.379 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLongitude = nan arcdeg
2025-02-26T10:13:24.389Z,1740564804.389 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOM = nan ppb
2025-02-26T10:13:24.391Z,1740564804.391 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMDepth = nan m
2025-02-26T10:13:24.398Z,1740564804.398 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMTemperature = nan degC
2025-02-26T10:13:24.400Z,1740564804.400 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLatitude = nan arcdeg
2025-02-26T10:13:24.407Z,1740564804.407 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLongitude = nan arcdeg
2025-02-26T10:13:24.413Z,1740564804.413 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSalt = nan psu
2025-02-26T10:13:24.415Z,1740564804.415 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltDepth = nan m
2025-02-26T10:13:24.424Z,1740564804.424 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltTemperature = nan degC
2025-02-26T10:13:24.443Z,1740564804.443 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLatitude = nan arcdeg
2025-02-26T10:13:24.453Z,1740564804.453 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLongitude = nan arcdeg
2025-02-26T10:13:24.455Z,1740564804.455 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-26T10:13:24.462Z,1740564804.462 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-26T10:13:24.464Z,1740564804.464 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-26T10:13:24.471Z,1740564804.471 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T10:13:24.478Z,1740564804.478 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T10:13:24.480Z,1740564804.480 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-26T10:13:24.493Z,1740564804.493 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-26T10:13:24.527Z,1740564804.527 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-26T10:13:24.534Z,1740564804.534 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T10:13:24.536Z,1740564804.536 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T10:13:24.551Z,1740564804.551 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-26T10:13:24.561Z,1740564804.561 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-26T10:13:24.579Z,1740564804.579 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-26T10:13:24.586Z,1740564804.586 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-26T10:13:24.597Z,1740564804.597 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-26T10:13:24.599Z,1740564804.599 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-26T10:13:24.604Z,1740564804.604 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-26T10:13:24.619Z,1740564804.619 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-26T10:13:24.626Z,1740564804.626 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-26T10:13:24.628Z,1740564804.628 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-26T10:13:24.635Z,1740564804.635 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-26T10:13:24.645Z,1740564804.645 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-26T10:13:24.648Z,1740564804.648 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-26T10:13:24.656Z,1740564804.656 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-26T10:13:24.663Z,1740564804.663 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-26T10:13:24.684Z,1740564804.684 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChl = nan ug/l
2025-02-26T10:13:24.698Z,1740564804.698 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDepth = nan m
2025-02-26T10:13:24.701Z,1740564804.701 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLatitude = nan arcdeg
2025-02-26T10:13:24.708Z,1740564804.708 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLongitude = nan arcdeg
2025-02-26T10:13:24.718Z,1740564804.718 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDistance = nan m
2025-02-26T10:13:24.721Z,1740564804.721 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSalt = nan psu
2025-02-26T10:13:24.732Z,1740564804.732 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDepth = nan m
2025-02-26T10:13:24.735Z,1740564804.735 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLatitude = nan arcdeg
2025-02-26T10:13:24.750Z,1740564804.750 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLongitude = nan arcdeg
2025-02-26T10:13:24.752Z,1740564804.752 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDistance = nan m
2025-02-26T10:13:24.759Z,1740564804.759 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOil = nan psu
2025-02-26T10:13:24.765Z,1740564804.765 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDepth = nan m
2025-02-26T10:13:24.767Z,1740564804.767 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLatitude = nan arcdeg
2025-02-26T10:13:24.770Z,1740564804.770 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLongitude = nan arcdeg
2025-02-26T10:13:24.772Z,1740564804.772 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDistance = nan m
2025-02-26T10:13:24.788Z,1740564804.788 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.TriggeredOnChl = 0 bool
2025-02-26T10:13:24.799Z,1740564804.799 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.ChlTriggering = nan ug/l
2025-02-26T10:13:24.874Z,1740564804.874 [sci2_slowyo_test:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T10:13:24.940Z,1740564804.940 [sci2_slowyo_test:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T10:13:25.012Z,1740564805.012 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T10:13:25.043Z,1740564805.043 [sci2_slowyo_test:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T10:13:25.107Z,1740564805.107 [sci2_slowyo_test:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T10:13:25.139Z,1740564805.139 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T10:13:25.164Z,1740564805.164 [sci2_slowyo_test:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T10:13:25.186Z,1740564805.186 [sci2_slowyo_test:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T10:13:25.220Z,1740564805.220 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T10:13:25.249Z,1740564805.249 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T10:13:25.266Z,1740564805.266 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T10:13:25.339Z,1740564805.339 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T10:13:25.375Z,1740564805.375 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T10:13:25.400Z,1740564805.400 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T10:13:25.415Z,1740564805.415 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-26T10:13:25.423Z,1740564805.423 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDetectChlActive = reader:sci2_slowyo_test.PeakDetectChl
2025-02-26T10:13:25.424Z,1740564805.424 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ShallowBound = reader:sci2_slowyo_test.ShallowBoundChl
2025-02-26T10:13:25.426Z,1740564805.426 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.DeepBound = reader:sci2_slowyo_test.DeepBoundChl
2025-02-26T10:13:25.427Z,1740564805.427 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = reader:sci2_slowyo_test.ChlThreshTrigger
2025-02-26T10:13:25.428Z,1740564805.428 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlLowerThresh = reader:sci2_slowyo_test.ChlLowerThreshold
2025-02-26T10:13:25.430Z,1740564805.430 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlUpperThresh = reader:sci2_slowyo_test.ChlUpperThreshold
2025-02-26T10:13:25.432Z,1740564805.432 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.NumProfilesThresh = reader:sci2_slowyo_test.NumProfilesThreshold
2025-02-26T10:13:25.432Z,1740564805.432 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-26T10:13:25.432Z,1740564805.432 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-26T10:13:25.435Z,1740564805.435 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-26T10:13:25.665Z,1740564805.665 [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>

2025-02-26T10:13:25.670Z,1740564805.670 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.DiveInterval = 1.000000 h
2025-02-26T10:13:25.672Z,1740564805.672 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-26T10:13:25.674Z,1740564805.674 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-26T10:13:25.676Z,1740564805.676 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceDepthRate = nan m/s
2025-02-26T10:13:25.679Z,1740564805.679 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-26T10:13:25.681Z,1740564805.681 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-26T10:13:25.683Z,1740564805.683 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.GPSTimeout = 7.000000 min
2025-02-26T10:13:25.685Z,1740564805.685 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.CommsTimeout = 30.000000 min
2025-02-26T10:13:25.691Z,1740564805.691 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T10:13:25.782Z,1740564805.782 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-26T10:13:25.782Z,1740564805.782 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-26T10:13:25.783Z,1740564805.783 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-26T10:13:25.925Z,1740564805.925 [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>

2025-02-26T10:13:25.929Z,1740564805.929 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-26T10:13:25.931Z,1740564805.931 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-26T10:13:25.944Z,1740564805.944 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-26T10:13:25.955Z,1740564805.955 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-26T10:13:25.956Z,1740564805.956 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-26T10:13:25.994Z,1740564805.994 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-26T10:13:26.011Z,1740564806.011 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-26T10:13:26.032Z,1740564806.032 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-26T10:13:26.037Z,1740564806.037 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-26T10:13:26.038Z,1740564806.038 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-26T10:13:26.083Z,1740564806.083 [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>

2025-02-26T10:13:26.094Z,1740564806.094 [MissionManager](INFO): DefineArg sci2_slowyo_test:BackseatDriver.EnableBackseat = 0 bool
2025-02-26T10:13:26.096Z,1740564806.096 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-26T10:13:26.103Z,1740564806.103 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-26T10:13:26.103Z,1740564806.103 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-26T10:13:26.104Z,1740564806.104 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-26T10:13:26.429Z,1740564806.429 [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>

2025-02-26T10:13:26.441Z,1740564806.441 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleAll = 0 bool
2025-02-26T10:13:26.443Z,1740564806.443 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad1 = 0 bool
2025-02-26T10:13:26.449Z,1740564806.449 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad2 = 0 bool
2025-02-26T10:13:26.451Z,1740564806.451 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad3 = 0 bool
2025-02-26T10:13:26.458Z,1740564806.458 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-26T10:13:26.466Z,1740564806.466 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-26T10:13:26.478Z,1740564806.478 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T10:13:26.480Z,1740564806.480 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-02-26T10:13:26.485Z,1740564806.485 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-02-26T10:13:26.571Z,1740564806.571 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Construct.
2025-02-26T10:13:26.597Z,1740564806.597 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T10:13:26.600Z,1740564806.600 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Construct Wait.
2025-02-26T10:13:26.608Z,1740564806.608 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-02-26T10:13:26.612Z,1740564806.612 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-02-26T10:13:26.627Z,1740564806.627 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-26T10:13:26.632Z,1740564806.632 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T10:13:26.636Z,1740564806.636 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Construct.
2025-02-26T10:13:26.646Z,1740564806.646 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Construct.
2025-02-26T10:13:26.649Z,1740564806.649 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Construct SlowYo.
2025-02-26T10:13:26.658Z,1740564806.658 [sci2_slowyo_test:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-02-26T10:13:26.663Z,1740564806.663 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T10:13:26.669Z,1740564806.669 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T10:13:26.676Z,1740564806.676 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T10:13:26.686Z,1740564806.686 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T10:13:26.691Z,1740564806.691 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T10:13:26.696Z,1740564806.696 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T10:13:26.722Z,1740564806.722 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T10:13:29.899Z,1740564809.899 [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]
        }
      }
    }
  }
}


2025-02-26T10:13:29.991Z,1740564809.991 [MissionManager](IMPORTANT): Resuming from info in Logs/20250226T074052/Science_sci2_slowyo_test_tl.state
2025-02-26T10:13:30.099Z,1740564810.099 [MissionManager](INFO): Startup->null/0
2025-02-26T10:13:30.100Z,1740564810.100 [MissionManager](INFO): Startup:StartupSatComms->null/0
2025-02-26T10:13:30.100Z,1740564810.100 [MissionManager](INFO): Default->Default:CheckIn/0
2025-02-26T10:13:30.100Z,1740564810.100 [MissionManager](INFO): Default:A.Wait->null/0
2025-02-26T10:13:30.101Z,1740564810.101 [MissionManager](INFO): Default:B.GoToSurface->null/0
2025-02-26T10:13:30.101Z,1740564810.101 [MissionManager](INFO): Default:CheckIn->Default:CheckIn:C.Wait/0
2025-02-26T10:13:30.102Z,1740564810.102 [MissionManager](INFO): Default:CheckIn:Read_GPS->null/0
2025-02-26T10:13:30.102Z,1740564810.102 [MissionManager](INFO): Default:CheckIn:Read_Iridium->null/0
2025-02-26T10:13:30.102Z,1740564810.102 [MissionManager](INFO): Default:CheckIn:C.Wait->null/0
2025-02-26T10:13:30.103Z,1740564810.103 [MissionManager](INFO): Default:CheckIn:D->null/0
2025-02-26T10:13:30.103Z,1740564810.103 [MissionManager](INFO): Default:CheckIn:E->null/0
2025-02-26T10:13:30.103Z,1740564810.103 [MissionManager](INFO): sci2_slowyo_test->sci2_slowyo_test:Lap/0
2025-02-26T10:13:30.104Z,1740564810.104 [MissionManager](INFO): sci2_slowyo_test:Science->sci2_slowyo_test:Science:OceanCurrent/0
2025-02-26T10:13:30.104Z,1740564810.104 [MissionManager](INFO): sci2_slowyo_test:Science:OceanCurrent->null/0
2025-02-26T10:13:30.104Z,1740564810.104 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectChl->sci2_slowyo_test:Science:PeakDetectChl:A/0
2025-02-26T10:13:30.105Z,1740564810.105 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectChl:A->null/0
2025-02-26T10:13:30.105Z,1740564810.105 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectChl->sci2_slowyo_test:Science:EdgeDetectChl:A/0
2025-02-26T10:13:30.106Z,1740564810.106 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectChl:A->null/0
2025-02-26T10:13:30.106Z,1740564810.106 [MissionManager](INFO): sci2_slowyo_test:Science:HighestChlPeakReport->sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal/0
2025-02-26T10:13:30.107Z,1740564810.107 [MissionManager](INFO): sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal->null/0
2025-02-26T10:13:30.107Z,1740564810.107 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectNO3->sci2_slowyo_test:Science:PeakDetectNO3:A/0
2025-02-26T10:13:30.107Z,1740564810.107 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectNO3:A->null/0
2025-02-26T10:13:30.108Z,1740564810.108 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectOil->sci2_slowyo_test:Science:PeakDetectOil:A/0
2025-02-26T10:13:30.108Z,1740564810.108 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectOil:A->null/0
2025-02-26T10:13:30.108Z,1740564810.108 [MissionManager](INFO): sci2_slowyo_test:Science:HighestOilPeakReport->sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal/0
2025-02-26T10:13:30.109Z,1740564810.109 [MissionManager](INFO): sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal->null/0
2025-02-26T10:13:30.109Z,1740564810.109 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectFDOM->sci2_slowyo_test:Science:PeakDetectFDOM:A/0
2025-02-26T10:13:30.110Z,1740564810.110 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectFDOM:A->null/0
2025-02-26T10:13:30.110Z,1740564810.110 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectSalinity->sci2_slowyo_test:Science:PeakDetectSalinity:A/0
2025-02-26T10:13:30.110Z,1740564810.110 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectSalinity:A->null/0
2025-02-26T10:13:30.111Z,1740564810.111 [MissionManager](INFO): sci2_slowyo_test:Science:HighestSaltPeakReport->sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal/0
2025-02-26T10:13:30.111Z,1740564810.111 [MissionManager](INFO): sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal->null/0
2025-02-26T10:13:30.112Z,1740564810.112 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI->sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A/0
2025-02-26T10:13:30.112Z,1740564810.112 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A->null/0
2025-02-26T10:13:30.112Z,1740564810.112 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI->sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A/0
2025-02-26T10:13:30.113Z,1740564810.113 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A->null/0
2025-02-26T10:13:30.113Z,1740564810.113 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI->sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A/0
2025-02-26T10:13:30.114Z,1740564810.114 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A->null/0
2025-02-26T10:13:30.114Z,1740564810.114 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms->sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A/0
2025-02-26T10:13:30.114Z,1740564810.114 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A->null/0
2025-02-26T10:13:30.115Z,1740564810.115 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates->sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A/0
2025-02-26T10:13:30.115Z,1740564810.115 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A->null/0
2025-02-26T10:13:30.116Z,1740564810.116 [MissionManager](INFO): sci2_slowyo_test:Science:ChlThreshTrigger->sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect/0
2025-02-26T10:13:30.116Z,1740564810.116 [MissionManager](INFO): sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect->null/0
2025-02-26T10:13:30.116Z,1740564810.116 [MissionManager](INFO): sci2_slowyo_test:NeedComms->null/0
2025-02-26T10:13:30.117Z,1740564810.117 [MissionManager](INFO): sci2_slowyo_test:NeedComms:A->null/0
2025-02-26T10:13:30.117Z,1740564810.117 [MissionManager](INFO): sci2_slowyo_test:NeedComms:B.GoToSurface->null/0
2025-02-26T10:13:30.117Z,1740564810.117 [MissionManager](INFO): sci2_slowyo_test:NeedComms:C->null/0
2025-02-26T10:13:30.118Z,1740564810.118 [MissionManager](INFO): sci2_slowyo_test:NeedComms:D->null/0
2025-02-26T10:13:30.118Z,1740564810.118 [MissionManager](INFO): sci2_slowyo_test:NeedComms:E->null/0
2025-02-26T10:13:30.119Z,1740564810.119 [MissionManager](INFO): sci2_slowyo_test:C->null/0
2025-02-26T10:13:30.119Z,1740564810.119 [MissionManager](INFO): sci2_slowyo_test:E->null/0
2025-02-26T10:13:30.119Z,1740564810.119 [MissionManager](INFO): sci2_slowyo_test:F->null/0
2025-02-26T10:13:30.120Z,1740564810.120 [MissionManager](INFO): sci2_slowyo_test:G->null/0
2025-02-26T10:13:30.120Z,1740564810.120 [MissionManager](INFO): sci2_slowyo_test:BackseatDriver->sci2_slowyo_test:BackseatDriver:A.BackseatDriver/0
2025-02-26T10:13:30.120Z,1740564810.120 [MissionManager](INFO): sci2_slowyo_test:BackseatDriver:A.BackseatDriver->null/0
2025-02-26T10:13:30.121Z,1740564810.121 [MissionManager](INFO): sci2_slowyo_test:PowerOnly->sci2_slowyo_test:PowerOnly:E.Wait/0
2025-02-26T10:13:30.121Z,1740564810.121 [MissionManager](INFO): sci2_slowyo_test:PowerOnly:E.Wait->null/0
2025-02-26T10:13:30.122Z,1740564810.122 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms->null/0
2025-02-26T10:13:30.122Z,1740564810.122 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:A->null/0
2025-02-26T10:13:30.122Z,1740564810.122 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:B->null/0
2025-02-26T10:13:30.123Z,1740564810.123 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setInitial->null/0
2025-02-26T10:13:30.123Z,1740564810.123 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setInitial:A->null/0
2025-02-26T10:13:30.123Z,1740564810.123 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setSink->sci2_slowyo_test:SurfaceComms:setSink:A/0
2025-02-26T10:13:30.124Z,1740564810.124 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setSink:A->null/0
2025-02-26T10:13:30.124Z,1740564810.124 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink->sci2_slowyo_test:DiveCmd:SurfaceSink:sink/0
2025-02-26T10:13:30.124Z,1740564810.124 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink:sink->sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C/0
2025-02-26T10:13:30.125Z,1740564810.125 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C->null/0
2025-02-26T10:13:30.125Z,1740564810.125 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive->null/0
2025-02-26T10:13:30.126Z,1740564810.126 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive->null/0
2025-02-26T10:13:30.126Z,1740564810.126 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:C->null/0
2025-02-26T10:13:30.126Z,1740564810.126 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait->null/0
2025-02-26T10:13:30.127Z,1740564810.127 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:E->null/0
2025-02-26T10:13:30.127Z,1740564810.127 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth->null/0
2025-02-26T10:13:30.128Z,1740564810.128 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch->null/0
2025-02-26T10:13:30.128Z,1740564810.128 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:G->null/0
2025-02-26T10:13:30.128Z,1740564810.128 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask->sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop/0
2025-02-26T10:13:30.129Z,1740564810.129 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop->sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo/0
2025-02-26T10:13:30.129Z,1740564810.129 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo->null/0
2025-02-26T10:13:30.130Z,1740564810.130 [MissionManager](INFO): sci2_slowyo_test:StartingMission->null/0
2025-02-26T10:13:30.130Z,1740564810.130 [MissionManager](INFO): sci2_slowyo_test:Lap->sci2_slowyo_test:Lap:Wpt1/0
2025-02-26T10:13:30.130Z,1740564810.130 [MissionManager](INFO): sci2_slowyo_test:Lap:Dive->sci2_slowyo_test:Lap:Dive:A/0
2025-02-26T10:13:30.131Z,1740564810.131 [MissionManager](INFO): sci2_slowyo_test:Lap:Dive:A->null/0
2025-02-26T10:13:30.131Z,1740564810.131 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt1->sci2_slowyo_test:Lap:Wpt1:A.Waypoint/0
2025-02-26T10:13:30.131Z,1740564810.131 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt1:A.Waypoint->null/0
2025-02-26T10:13:30.132Z,1740564810.132 [CommandExec](IMPORTANT): Resuming mission and schedule
2025-02-26T10:13:30.132Z,1740564810.132 [CommandExec](IMPORTANT): Scheduling is resumed
2025-02-26T10:13:30.134Z,1740564810.134 [CommandExec](IMPORTANT): Scheduled #4 (#1 of 3 with id='2bxvb'): "load Science/sci2_slowyo_test.tl;set sci2_slowyo_test.MissionTimeout 6 h;set sci2_slowyo_test.NeedCommsTime 3 h;set sci2_slowyo_test.Lat1 36.806966 degree;set sci2_slowyo_test.Lon1 -121.824326 degree", AFTER MISSION
2025-02-26T10:13:30.135Z,1740564810.135 [CommandExec](IMPORTANT): Scheduled #5 (#2 of 3 with id='2bxvb'): "set sci2_slowyo_test.SlowYoDiveAngle 10 degree;set sci2_slowyo_test.Speed SpeedControl.rollOptimum m/s;set sci2_slowyo_test.SlowYoMaxDepth 20 m;set sci2_slowyo_test.SlowYoTurningWindow 20 m;set sci2_slowyo_test.MassDefault NaN mm", AFTER MISSION
2025-02-26T10:13:30.136Z,1740564810.136 [CommandExec](IMPORTANT): Scheduled #6 (#3 of 3 with id='2bxvb'): "set sci2_slowyo_test.MinAltitude 20 m;set sci2_slowyo_test.MaxDepth 50 m;set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool;run", AFTER MISSION
2025-02-26T10:13:30.137Z,1740564810.137 [CommandExec](IMPORTANT): Scheduled #7 (#1 of 2 with id='2bxx7'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 8 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 20 m", AFTER MISSION
2025-02-26T10:13:30.138Z,1740564810.138 [CommandExec](IMPORTANT): Scheduled #8 (#2 of 2 with id='2bxx7'): "set keepstation.MaxDepth 35 m;run", AFTER MISSION
2025-02-26T10:13:30.138Z,1740564810.138 [CommandExec](IMPORTANT): got command schedule resume
2025-02-26T10:13:30.243Z,1740564810.243 [Default] Stopped
2025-02-26T10:13:30.243Z,1740564810.243 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T10:13:30.243Z,1740564810.243 [Default:B.GoToSurface] Stopped
2025-02-26T10:13:30.243Z,1740564810.243 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T10:13:30.243Z,1740564810.243 [Default:CheckIn] Stopped
2025-02-26T10:13:30.243Z,1740564810.243 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T10:13:30.243Z,1740564810.243 [Default:CheckIn:C.Wait] Stopped
2025-02-26T10:13:30.243Z,1740564810.243 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T10:13:30.243Z,1740564810.243 [MissionManager](IMPORTANT): Started mission sci2_slowyo_test
2025-02-26T10:13:30.244Z,1740564810.244 [sci2_slowyo_test] Running Loop=1
2025-02-26T10:13:30.244Z,1740564810.244 [sci2_slowyo_test](DEBUG): Aggregate::initialize sci2_slowyo_test
2025-02-26T10:13:30.244Z,1740564810.244 [sci2_slowyo_test:Science] Running Loop=1
2025-02-26T10:13:30.244Z,1740564810.244 [sci2_slowyo_test:Science](DEBUG): Aggregate::initialize sci2_slowyo_test:Science
2025-02-26T10:13:30.244Z,1740564810.244 [sci2_slowyo_test:Science:A] Running Loop=1
2025-02-26T10:13:30.244Z,1740564810.244 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-26T10:13:30.244Z,1740564810.244 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-26T10:13:30.244Z,1740564810.244 [sci2_slowyo_test:Science:D] Running Loop=1
2025-02-26T10:13:30.244Z,1740564810.244 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-26T10:13:30.244Z,1740564810.244 [sci2_slowyo_test:Science:F] Running Loop=1
2025-02-26T10:13:30.244Z,1740564810.244 [sci2_slowyo_test:Science:Read_Oil] Running Loop=1
2025-02-26T10:13:30.244Z,1740564810.244 [sci2_slowyo_test:Science:PeakDetectChl] Running Loop=1
2025-02-26T10:13:30.245Z,1740564810.245 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-26T10:13:30.253Z,1740564810.253 [sci2_slowyo_test:Science:PeakDetectChl:A] Running Loop=1
2025-02-26T10:13:30.253Z,1740564810.253 [sci2_slowyo_test:Science:EdgeDetectChl] Running Loop=1
2025-02-26T10:13:30.253Z,1740564810.253 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-26T10:13:30.253Z,1740564810.253 [sci2_slowyo_test:Science:EdgeDetectChl:A] Running Loop=1
2025-02-26T10:13:30.253Z,1740564810.253 [sci2_slowyo_test:Science:HighestChlPeakReport] Running Loop=1
2025-02-26T10:13:30.253Z,1740564810.253 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-26T10:13:30.254Z,1740564810.254 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T10:13:30.254Z,1740564810.254 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T10:13:30.254Z,1740564810.254 [sci2_slowyo_test:Science:PeakDetectNO3] Running Loop=1
2025-02-26T10:13:30.254Z,1740564810.254 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-26T10:13:30.254Z,1740564810.254 [sci2_slowyo_test:Science:PeakDetectNO3:A] Running Loop=1
2025-02-26T10:13:30.254Z,1740564810.254 [sci2_slowyo_test:Science:PeakDetectOil] Running Loop=1
2025-02-26T10:13:30.254Z,1740564810.254 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-26T10:13:30.255Z,1740564810.255 [sci2_slowyo_test:Science:PeakDetectOil:A] Running Loop=1
2025-02-26T10:13:30.255Z,1740564810.255 [sci2_slowyo_test:Science:HighestOilPeakReport] Running Loop=1
2025-02-26T10:13:30.255Z,1740564810.255 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-26T10:13:30.255Z,1740564810.255 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T10:13:30.255Z,1740564810.255 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T10:13:30.255Z,1740564810.255 [sci2_slowyo_test:Science:PeakDetectFDOM] Running Loop=1
2025-02-26T10:13:30.255Z,1740564810.255 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-26T10:13:30.255Z,1740564810.255 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-26T10:13:30.255Z,1740564810.255 [sci2_slowyo_test:Science:PeakDetectSalinity] Running Loop=1
2025-02-26T10:13:30.256Z,1740564810.256 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-26T10:13:30.256Z,1740564810.256 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-26T10:13:30.256Z,1740564810.256 [sci2_slowyo_test:Science:HighestSaltPeakReport] Running Loop=1
2025-02-26T10:13:30.256Z,1740564810.256 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-26T10:13:30.256Z,1740564810.256 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T10:13:30.256Z,1740564810.256 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T10:13:30.256Z,1740564810.256 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T10:13:30.256Z,1740564810.256 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T10:13:30.261Z,1740564810.261 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T10:13:30.261Z,1740564810.261 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T10:13:30.261Z,1740564810.261 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T10:13:30.261Z,1740564810.261 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T10:13:30.261Z,1740564810.261 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-26T10:13:30.261Z,1740564810.261 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T10:13:30.261Z,1740564810.261 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-26T10:13:30.262Z,1740564810.262 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-26T10:13:30.262Z,1740564810.262 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T10:13:30.262Z,1740564810.262 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-26T10:13:30.262Z,1740564810.262 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-26T10:13:30.262Z,1740564810.262 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T10:13:30.262Z,1740564810.262 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-26T10:13:30.262Z,1740564810.262 [sci2_slowyo_test:Science:ChlThreshTrigger] Running Loop=1
2025-02-26T10:13:30.262Z,1740564810.262 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-26T10:13:30.262Z,1740564810.262 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-26T10:13:30.262Z,1740564810.262 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-26T10:13:30.263Z,1740564810.263 [sci2_slowyo_test:Science:OceanCurrent] Running Loop=1
2025-02-26T10:13:30.263Z,1740564810.263 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:OceanCurrent
2025-02-26T10:13:30.263Z,1740564810.263 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T10:13:30.263Z,1740564810.263 [sci2_slowyo_test:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-26T10:13:30.263Z,1740564810.263 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-26T10:13:30.263Z,1740564810.263 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_slowyo_test:StandardEnvelopes
2025-02-26T10:13:30.263Z,1740564810.263 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T10:13:30.263Z,1740564810.263 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-26T10:13:30.263Z,1740564810.263 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T10:13:30.264Z,1740564810.264 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-26T10:13:30.264Z,1740564810.264 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T10:13:30.264Z,1740564810.264 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-26T10:13:30.264Z,1740564810.264 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-26T10:13:30.264Z,1740564810.264 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::initialize sci2_slowyo_test:BackseatDriver
2025-02-26T10:13:30.264Z,1740564810.264 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-26T10:13:30.264Z,1740564810.264 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-26T10:13:30.264Z,1740564810.264 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::initialize sci2_slowyo_test:PowerOnly
2025-02-26T10:13:30.264Z,1740564810.264 [sci2_slowyo_test:PowerOnly:A] Running Loop=1
2025-02-26T10:13:30.264Z,1740564810.264 [sci2_slowyo_test:PowerOnly:B] Running Loop=1
2025-02-26T10:13:30.264Z,1740564810.264 [sci2_slowyo_test:PowerOnly:C] Running Loop=1
2025-02-26T10:13:30.264Z,1740564810.264 [sci2_slowyo_test:PowerOnly:D] Running Loop=1
2025-02-26T10:13:30.265Z,1740564810.265 [sci2_slowyo_test:PowerOnly:E.Wait] Running Loop=1
2025-02-26T10:13:30.269Z,1740564810.269 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-26T10:13:30.269Z,1740564810.269 [sci2_slowyo_test:Lap] Running Loop=1
2025-02-26T10:13:30.269Z,1740564810.269 [sci2_slowyo_test:Lap](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap
2025-02-26T10:13:30.269Z,1740564810.269 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-26T10:13:30.269Z,1740564810.269 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive
2025-02-26T10:13:30.269Z,1740564810.269 [sci2_slowyo_test:Lap:Dive:A] Running Loop=1
2025-02-26T10:13:30.270Z,1740564810.270 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive:A
2025-02-26T10:13:30.270Z,1740564810.270 [sci2_slowyo_test:Lap:Wpt1] Running Loop=1
2025-02-26T10:13:30.270Z,1740564810.270 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt1
2025-02-26T10:13:30.270Z,1740564810.270 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-02-26T10:13:30.270Z,1740564810.270 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T10:13:30.271Z,1740564810.271 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.797002,-121.846996
2025-02-26T10:13:30.282Z,1740564810.282 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.797002,-121.846996
2025-02-26T10:13:30.283Z,1740564810.283 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-26T10:13:30.283Z,1740564810.283 [sci2_slowyo_test:DiveCmd] Running Loop=1
2025-02-26T10:13:30.283Z,1740564810.283 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd
2025-02-26T10:13:30.283Z,1740564810.283 [sci2_slowyo_test:DiveCmd:SurfaceSink] Running Loop=1
2025-02-26T10:13:30.283Z,1740564810.283 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-26T10:13:30.283Z,1740564810.283 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-02-26T10:13:30.283Z,1740564810.283 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-26T10:13:30.283Z,1740564810.283 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-26T10:13:30.283Z,1740564810.283 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T10:13:30.283Z,1740564810.283 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-02-26T10:13:30.284Z,1740564810.284 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-02-26T10:13:30.284Z,1740564810.284 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-02-26T10:13:30.284Z,1740564810.284 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-02-26T10:13:30.284Z,1740564810.284 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T10:13:30.284Z,1740564810.284 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Running Loop=1
2025-02-26T10:13:30.284Z,1740564810.284 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T10:13:30.284Z,1740564810.284 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-02-26T10:13:30.284Z,1740564810.284 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Initialize.
2025-02-26T10:13:30.284Z,1740564810.284 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-26T10:13:30.284Z,1740564810.284 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T10:13:30.284Z,1740564810.284 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Running Loop=1
2025-02-26T10:13:30.285Z,1740564810.285 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T10:13:30.289Z,1740564810.289 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T10:13:30.289Z,1740564810.289 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T10:13:30.289Z,1740564810.289 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T10:13:30.289Z,1740564810.289 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T10:13:30.289Z,1740564810.289 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T10:13:30.289Z,1740564810.289 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T10:13:30.289Z,1740564810.289 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T10:13:30.290Z,1740564810.290 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T10:13:30.290Z,1740564810.290 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T10:13:30.290Z,1740564810.290 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T10:13:30.290Z,1740564810.290 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T10:13:30.290Z,1740564810.290 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T10:13:30.290Z,1740564810.290 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T10:13:30.291Z,1740564810.291 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T10:13:30.291Z,1740564810.291 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T10:13:30.291Z,1740564810.291 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T10:13:30.292Z,1740564810.292 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T10:13:30.292Z,1740564810.292 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T10:13:30.292Z,1740564810.292 [sci2_slowyo_test:DiveCmd:InitialDive] Stopped
2025-02-26T10:13:30.292Z,1740564810.292 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T10:13:30.292Z,1740564810.292 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Stopped
2025-02-26T10:13:30.292Z,1740564810.293 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T10:13:30.293Z,1740564810.293 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Stopped
2025-02-26T10:13:30.297Z,1740564810.297 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Uninitialize.
2025-02-26T10:13:30.297Z,1740564810.297 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-02-26T10:13:30.298Z,1740564810.298 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T10:13:30.298Z,1740564810.298 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Stopped
2025-02-26T10:13:30.298Z,1740564810.298 [sci2_slowyo_test:DiveCmd:SurfaceSink] Stopped
2025-02-26T10:13:30.298Z,1740564810.298 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-26T10:13:30.298Z,1740564810.298 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Stopped
2025-02-26T10:13:30.298Z,1740564810.298 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-26T10:13:30.298Z,1740564810.298 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-02-26T10:13:30.298Z,1740564810.298 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T10:13:30.298Z,1740564810.298 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-02-26T10:13:30.298Z,1740564810.298 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-02-26T10:13:30.298Z,1740564810.298 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Stopped
2025-02-26T10:13:30.298Z,1740564810.298 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-26T10:13:30.299Z,1740564810.299 [sci2_slowyo_test:PowerOnly:D] Stopped
2025-02-26T10:13:30.299Z,1740564810.299 [sci2_slowyo_test:PowerOnly:C] Stopped
2025-02-26T10:13:30.299Z,1740564810.299 [sci2_slowyo_test:PowerOnly:B] Stopped
2025-02-26T10:13:30.299Z,1740564810.299 [sci2_slowyo_test:PowerOnly:A] Stopped
2025-02-26T10:13:30.299Z,1740564810.299 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-26T10:13:30.299Z,1740564810.299 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-26T10:13:30.371Z,1740564810.371 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-26T10:13:30.371Z,1740564810.371 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T10:13:30.371Z,1740564810.371 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T10:13:30.372Z,1740564810.372 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T10:13:30.372Z,1740564810.372 [sci2_slowyo_test:Science] Running Loop=1
2025-02-26T10:13:30.379Z,1740564810.379 [sci2_slowyo_test:Science:ChlThreshTrigger] Stopped
2025-02-26T10:13:30.379Z,1740564810.379 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-26T10:13:30.379Z,1740564810.379 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-26T10:13:30.379Z,1740564810.379 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-26T10:13:30.379Z,1740564810.379 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-26T10:13:30.379Z,1740564810.379 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T10:13:30.379Z,1740564810.379 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-26T10:13:30.379Z,1740564810.379 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-26T10:13:30.380Z,1740564810.380 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T10:13:30.380Z,1740564810.380 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-26T10:13:30.380Z,1740564810.380 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-26T10:13:30.380Z,1740564810.380 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T10:13:30.380Z,1740564810.380 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-26T10:13:30.380Z,1740564810.380 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-26T10:13:30.380Z,1740564810.380 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T10:13:30.380Z,1740564810.380 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T10:13:30.380Z,1740564810.380 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-26T10:13:30.380Z,1740564810.380 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T10:13:30.380Z,1740564810.380 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T10:13:30.380Z,1740564810.380 [sci2_slowyo_test:Science:HighestSaltPeakReport] Stopped
2025-02-26T10:13:30.381Z,1740564810.381 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-26T10:13:30.385Z,1740564810.385 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T10:13:30.385Z,1740564810.385 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T10:13:30.385Z,1740564810.385 [sci2_slowyo_test:Science:PeakDetectSalinity] Stopped
2025-02-26T10:13:30.385Z,1740564810.385 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-26T10:13:30.385Z,1740564810.385 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Stopped
2025-02-26T10:13:30.385Z,1740564810.385 [sci2_slowyo_test:Science:PeakDetectFDOM] Stopped
2025-02-26T10:13:30.385Z,1740564810.385 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-26T10:13:30.385Z,1740564810.385 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Stopped
2025-02-26T10:13:30.386Z,1740564810.386 [sci2_slowyo_test:Science:HighestOilPeakReport] Stopped
2025-02-26T10:13:30.386Z,1740564810.386 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-26T10:13:30.386Z,1740564810.386 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T10:13:30.386Z,1740564810.386 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T10:13:30.386Z,1740564810.386 [sci2_slowyo_test:Science:PeakDetectOil] Stopped
2025-02-26T10:13:30.386Z,1740564810.386 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-26T10:13:30.386Z,1740564810.386 [sci2_slowyo_test:Science:PeakDetectOil:A] Stopped
2025-02-26T10:13:30.386Z,1740564810.386 [sci2_slowyo_test:Science:PeakDetectNO3] Stopped
2025-02-26T10:13:30.386Z,1740564810.386 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-26T10:13:30.386Z,1740564810.386 [sci2_slowyo_test:Science:PeakDetectNO3:A] Stopped
2025-02-26T10:13:30.386Z,1740564810.386 [sci2_slowyo_test:Science:HighestChlPeakReport] Stopped
2025-02-26T10:13:30.386Z,1740564810.386 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-26T10:13:30.386Z,1740564810.386 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T10:13:30.387Z,1740564810.387 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T10:13:30.387Z,1740564810.387 [sci2_slowyo_test:Science:EdgeDetectChl] Stopped
2025-02-26T10:13:30.387Z,1740564810.387 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-26T10:13:30.387Z,1740564810.387 [sci2_slowyo_test:Science:EdgeDetectChl:A] Stopped
2025-02-26T10:13:30.387Z,1740564810.387 [sci2_slowyo_test:Science:PeakDetectChl] Stopped
2025-02-26T10:13:30.387Z,1740564810.387 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-26T10:13:30.387Z,1740564810.387 [sci2_slowyo_test:Science:PeakDetectChl:A] Stopped
2025-02-26T10:13:30.387Z,1740564810.387 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T10:13:30.387Z,1740564810.387 [sci2_slowyo_test:Science:Read_Oil] Stopped
2025-02-26T10:13:30.387Z,1740564810.387 [sci2_slowyo_test:Science:F] Stopped
2025-02-26T10:13:30.387Z,1740564810.387 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-26T10:13:30.388Z,1740564810.388 [sci2_slowyo_test:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-26T10:13:30.388Z,1740564810.388 [sci2_slowyo_test:Science:D] Stopped
2025-02-26T10:13:30.388Z,1740564810.388 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-26T10:13:30.388Z,1740564810.388 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-26T10:13:30.393Z,1740564810.393 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-26T10:13:30.393Z,1740564810.393 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-26T10:13:30.394Z,1740564810.394 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-26T10:13:30.394Z,1740564810.394 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-26T10:13:30.394Z,1740564810.394 [sci2_slowyo_test:Science:A] Stopped
2025-02-26T10:13:30.453Z,1740564810.453 [BackseatComponent](INFO): Powering up
2025-02-26T10:13:30.454Z,1740564810.454 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-26T10:13:30.543Z,1740564810.543 [WetLabsBB2FL](INFO): Powering up
2025-02-26T10:13:31.822Z,1740564811.822 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-26T10:13:33.475Z,1740564813.475 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-26T10:14:38.049Z,1740564878.049 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250226T101437
2025-02-26T10:15:07.477Z,1740564907.477 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T10:15:41.418Z,1740564941.418 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2119
2025-02-26T10:16:15.549Z,1740564975.549 [ThrusterHE](INFO): Failure count cleared after critical for ThrusterHE
2025-02-26T10:16:43.321Z,1740565003.321 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T10:17:06.371Z,1740565026.371 [CTD_Seabird](ERROR): Failed to parse device response: .86014,2816.28
2025-02-26T10:17:18.206Z,1740565038.206 [ThrusterHE](FAULT): Unrecognized Command
2025-02-26T10:17:18.206Z,1740565038.206 [ThrusterHE] Hardware Fault, FailCount= 1
2025-02-26T10:17:18.206Z,1740565038.206 [ThrusterHE](ERROR): Hardware Fault
2025-02-26T10:17:18.232Z,1740565038.232 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-02-26T10:17:18.594Z,1740565038.594 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T10:17:18.594Z,1740565038.594 [ThrusterHE](INFO): Powering down
2025-02-26T10:17:19.833Z,1740565039.833 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-02-26T10:17:19.833Z,1740565039.833 [ThrusterHE] No Fault, FailCount= 1
2025-02-26T10:17:20.370Z,1740565040.370 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T10:17:20.371Z,1740565040.371 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T10:17:25.874Z,1740565045.874 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-02-26T10:18:44.990Z,1740565124.990 [ThrusterHE](FAULT): Unrecognized Command
2025-02-26T10:18:44.990Z,1740565124.990 [ThrusterHE] Hardware Fault, FailCount= 2
2025-02-26T10:18:44.990Z,1740565124.990 [ThrusterHE](ERROR): Hardware Fault
2025-02-26T10:18:45.022Z,1740565125.022 [CBIT](ERROR): Hardware Fault in component: ThrusterHE
2025-02-26T10:18:45.326Z,1740565125.326 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T10:18:45.326Z,1740565125.326 [ThrusterHE](INFO): Powering down
2025-02-26T10:18:46.098Z,1740565126.098 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-02-26T10:18:46.218Z,1740565126.218 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-02-26T10:18:46.222Z,1740565126.222 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-02-26T10:18:46.222Z,1740565126.222 [ThrusterHE] No Fault, FailCount= 2
2025-02-26T10:19:39.280Z,1740565179.280 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2120
2025-02-26T10:24:53.225Z,1740565493.225 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T10:24:57.318Z,1740565497.318 [Radio_Surface](INFO): Powering down
2025-02-26T10:25:24.349Z,1740565524.349 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T10:25:25.353Z,1740565525.353 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T10:26:29.612Z,1740565589.612 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.031982
2025-02-26T11:04:18.957Z,1740567858.957 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.797002,-121.846996
2025-02-26T11:04:18.957Z,1740567858.957 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Stopped
2025-02-26T11:04:18.957Z,1740567858.957 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T11:04:18.957Z,1740567858.957 [sci2_slowyo_test:Lap:Wpt1](INFO): Completed sci2_slowyo_test:Lap:Wpt1
2025-02-26T11:04:18.957Z,1740567858.957 [sci2_slowyo_test:Lap:Wpt1] Stopped
2025-02-26T11:04:18.958Z,1740567858.958 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt1
2025-02-26T11:04:18.958Z,1740567858.958 [sci2_slowyo_test:Lap:Wpt2] Running Loop=1
2025-02-26T11:04:18.958Z,1740567858.958 [sci2_slowyo_test:Lap:Wpt2](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt2
2025-02-26T11:04:18.958Z,1740567858.958 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint] Running Loop=1
2025-02-26T11:04:18.958Z,1740567858.958 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T11:04:19.369Z,1740567859.369 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint] Stopped
2025-02-26T11:04:19.369Z,1740567859.369 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T11:04:19.370Z,1740567859.370 [sci2_slowyo_test:Lap:Wpt2](INFO): Completed sci2_slowyo_test:Lap:Wpt2
2025-02-26T11:04:19.370Z,1740567859.370 [sci2_slowyo_test:Lap:Wpt2] Stopped
2025-02-26T11:04:19.370Z,1740567859.370 [sci2_slowyo_test:Lap:Wpt2](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt2
2025-02-26T11:04:19.370Z,1740567859.370 [sci2_slowyo_test:Lap:Wpt3] Running Loop=1
2025-02-26T11:04:19.370Z,1740567859.370 [sci2_slowyo_test:Lap:Wpt3](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt3
2025-02-26T11:04:19.370Z,1740567859.370 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint] Running Loop=1
2025-02-26T11:04:19.370Z,1740567859.370 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T11:04:19.766Z,1740567859.766 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint] Stopped
2025-02-26T11:04:19.766Z,1740567859.766 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T11:04:19.766Z,1740567859.766 [sci2_slowyo_test:Lap:Wpt3](INFO): Completed sci2_slowyo_test:Lap:Wpt3
2025-02-26T11:04:19.767Z,1740567859.767 [sci2_slowyo_test:Lap:Wpt3] Stopped
2025-02-26T11:04:19.767Z,1740567859.767 [sci2_slowyo_test:Lap:Wpt3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt3
2025-02-26T11:04:19.767Z,1740567859.767 [sci2_slowyo_test:Lap:Wpt4] Running Loop=1
2025-02-26T11:04:19.767Z,1740567859.767 [sci2_slowyo_test:Lap:Wpt4](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt4
2025-02-26T11:04:19.767Z,1740567859.767 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint] Running Loop=1
2025-02-26T11:04:19.767Z,1740567859.767 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T11:04:20.174Z,1740567860.174 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint] Stopped
2025-02-26T11:04:20.174Z,1740567860.174 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T11:04:20.174Z,1740567860.174 [sci2_slowyo_test:Lap:Wpt4](INFO): Completed sci2_slowyo_test:Lap:Wpt4
2025-02-26T11:04:20.174Z,1740567860.174 [sci2_slowyo_test:Lap:Wpt4] Stopped
2025-02-26T11:04:20.174Z,1740567860.174 [sci2_slowyo_test:Lap:Wpt4](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt4
2025-02-26T11:04:20.174Z,1740567860.174 [sci2_slowyo_test:Lap:Wpt5] Running Loop=1
2025-02-26T11:04:20.174Z,1740567860.174 [sci2_slowyo_test:Lap:Wpt5](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt5
2025-02-26T11:04:20.175Z,1740567860.175 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint] Running Loop=1
2025-02-26T11:04:20.175Z,1740567860.175 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T11:04:20.597Z,1740567860.597 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint] Stopped
2025-02-26T11:04:20.597Z,1740567860.597 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T11:04:20.598Z,1740567860.598 [sci2_slowyo_test:Lap:Wpt5](INFO): Completed sci2_slowyo_test:Lap:Wpt5
2025-02-26T11:04:20.598Z,1740567860.598 [sci2_slowyo_test:Lap:Wpt5] Stopped
2025-02-26T11:04:20.598Z,1740567860.598 [sci2_slowyo_test:Lap:Wpt5](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt5
2025-02-26T11:04:20.598Z,1740567860.598 [sci2_slowyo_test:Lap:Wpt6] Running Loop=1
2025-02-26T11:04:20.598Z,1740567860.598 [sci2_slowyo_test:Lap:Wpt6](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt6
2025-02-26T11:04:20.598Z,1740567860.598 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint] Running Loop=1
2025-02-26T11:04:20.598Z,1740567860.598 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T11:04:21.005Z,1740567861.005 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint] Stopped
2025-02-26T11:04:21.005Z,1740567861.005 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T11:04:21.005Z,1740567861.005 [sci2_slowyo_test:Lap:Wpt6](INFO): Completed sci2_slowyo_test:Lap:Wpt6
2025-02-26T11:04:21.005Z,1740567861.005 [sci2_slowyo_test:Lap:Wpt6] Stopped
2025-02-26T11:04:21.005Z,1740567861.005 [sci2_slowyo_test:Lap:Wpt6](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt6
2025-02-26T11:04:21.005Z,1740567861.005 [sci2_slowyo_test:Lap:Wpt7] Running Loop=1
2025-02-26T11:04:21.005Z,1740567861.005 [sci2_slowyo_test:Lap:Wpt7](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt7
2025-02-26T11:04:21.006Z,1740567861.006 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint] Running Loop=1
2025-02-26T11:04:21.006Z,1740567861.006 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T11:04:21.405Z,1740567861.405 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint] Stopped
2025-02-26T11:04:21.406Z,1740567861.406 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T11:04:21.406Z,1740567861.406 [sci2_slowyo_test:Lap:Wpt7](INFO): Completed sci2_slowyo_test:Lap:Wpt7
2025-02-26T11:04:21.406Z,1740567861.406 [sci2_slowyo_test:Lap:Wpt7] Stopped
2025-02-26T11:04:21.406Z,1740567861.406 [sci2_slowyo_test:Lap:Wpt7](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt7
2025-02-26T11:04:21.406Z,1740567861.406 [sci2_slowyo_test:Lap](INFO): Completed sci2_slowyo_test:Lap
2025-02-26T11:04:21.406Z,1740567861.406 [sci2_slowyo_test:Lap] Stopped
2025-02-26T11:04:21.406Z,1740567861.406 [sci2_slowyo_test:Lap](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap
2025-02-26T11:04:21.406Z,1740567861.406 [sci2_slowyo_test:Lap:Dive] Stopped
2025-02-26T11:04:21.406Z,1740567861.406 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive
2025-02-26T11:04:21.406Z,1740567861.406 [sci2_slowyo_test:Lap:Dive:A] Stopped
2025-02-26T11:04:21.407Z,1740567861.407 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive:A
2025-02-26T11:04:21.416Z,1740567861.416 [sci2_slowyo_test](INFO): Completed sci2_slowyo_test
2025-02-26T11:04:21.416Z,1740567861.416 [MissionManager](INFO): sci2_slowyo_test is completed.
2025-02-26T11:04:21.417Z,1740567861.417 [MissionManager](INFO): Uninitializing Mission sci2_slowyo_test
2025-02-26T11:04:21.417Z,1740567861.417 [sci2_slowyo_test] Stopped
2025-02-26T11:04:21.417Z,1740567861.417 [sci2_slowyo_test](DEBUG): Aggregate::uninitialize sci2_slowyo_test
2025-02-26T11:04:21.417Z,1740567861.417 [sci2_slowyo_test:Science] Stopped
2025-02-26T11:04:21.417Z,1740567861.417 [sci2_slowyo_test:Science](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science
2025-02-26T11:04:21.417Z,1740567861.417 [sci2_slowyo_test:Science:B] Stopped
2025-02-26T11:04:21.417Z,1740567861.417 [sci2_slowyo_test:Science:C] Stopped
2025-02-26T11:04:21.417Z,1740567861.417 [sci2_slowyo_test:Science:E] Stopped
2025-02-26T11:04:21.417Z,1740567861.417 [sci2_slowyo_test:Science:OceanCurrent] Stopped
2025-02-26T11:04:21.417Z,1740567861.417 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:OceanCurrent
2025-02-26T11:04:21.417Z,1740567861.417 [sci2_slowyo_test:Science:OceanCurrent:A.] Stopped
2025-02-26T11:04:21.418Z,1740567861.418 [sci2_slowyo_test:StandardEnvelopes] Stopped
2025-02-26T11:04:21.418Z,1740567861.418 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StandardEnvelopes
2025-02-26T11:04:21.418Z,1740567861.418 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-26T11:04:21.418Z,1740567861.418 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-26T11:04:21.418Z,1740567861.418 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-26T11:04:21.418Z,1740567861.418 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-26T11:04:21.418Z,1740567861.418 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-26T11:04:21.418Z,1740567861.418 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-26T11:04:21.418Z,1740567861.418 [sci2_slowyo_test:BackseatDriver] Stopped
2025-02-26T11:04:21.418Z,1740567861.418 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_slowyo_test:BackseatDriver
2025-02-26T11:04:21.418Z,1740567861.418 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Stopped
2025-02-26T11:04:21.418Z,1740567861.418 [sci2_slowyo_test:PowerOnly] Stopped
2025-02-26T11:04:21.419Z,1740567861.419 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::uninitialize sci2_slowyo_test:PowerOnly
2025-02-26T11:04:21.419Z,1740567861.419 [sci2_slowyo_test:PowerOnly:E.Wait] Stopped
2025-02-26T11:04:21.419Z,1740567861.419 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T11:04:21.419Z,1740567861.419 [sci2_slowyo_test:DiveCmd] Stopped
2025-02-26T11:04:21.419Z,1740567861.419 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd
2025-02-26T11:04:21.419Z,1740567861.419 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-26T11:04:21.419Z,1740567861.419 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T11:04:21.419Z,1740567861.419 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-26T11:04:21.419Z,1740567861.419 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:04:21.419Z,1740567861.419 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-26T11:04:21.419Z,1740567861.419 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T11:04:21.419Z,1740567861.419 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-26T11:04:21.420Z,1740567861.420 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-26T11:04:21.420Z,1740567861.420 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-26T11:04:21.420Z,1740567861.420 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T11:04:21.420Z,1740567861.420 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:04:21.420Z,1740567861.420 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T11:04:21.420Z,1740567861.420 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T11:04:21.593Z,1740567861.593 [WetLabsBB2FL](INFO): Powering down
2025-02-26T11:04:21.629Z,1740567861.629 [CommandExec](IMPORTANT): got command load ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T11:04:21.672Z,1740567861.672 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T11:04:21.673Z,1740567861.673 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T11:04:21.676Z,1740567861.676 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T11:04:22.102Z,1740567862.102 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-26T11:04:22.103Z,1740567862.103 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-26T11:04:25.869Z,1740567865.869 [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>

2025-02-26T11:04:25.886Z,1740567865.886 [MissionManager](INFO): DefineArg sci2_slowyo_test.MissionTimeout = 2.000000 h
2025-02-26T11:04:25.888Z,1740567865.888 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsTime = 60.000000 min
2025-02-26T11:04:25.890Z,1740567865.890 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsSurfaceDepthRate = 0.300000 m/s
2025-02-26T11:04:25.892Z,1740567865.892 [MissionManager](INFO): DefineArg sci2_slowyo_test.Repeat = 1.000000 count
2025-02-26T11:04:25.895Z,1740567865.895 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat1 = nan arcdeg
2025-02-26T11:04:25.897Z,1740567865.897 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat2 = nan arcdeg
2025-02-26T11:04:25.899Z,1740567865.899 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat3 = nan arcdeg
2025-02-26T11:04:25.901Z,1740567865.901 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat4 = nan arcdeg
2025-02-26T11:04:25.908Z,1740567865.908 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat5 = nan arcdeg
2025-02-26T11:04:25.910Z,1740567865.910 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat6 = nan arcdeg
2025-02-26T11:04:25.912Z,1740567865.912 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat7 = nan arcdeg
2025-02-26T11:04:25.915Z,1740567865.915 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon1 = nan arcdeg
2025-02-26T11:04:25.917Z,1740567865.917 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon2 = nan arcdeg
2025-02-26T11:04:25.919Z,1740567865.919 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon3 = nan arcdeg
2025-02-26T11:04:25.921Z,1740567865.921 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon4 = nan arcdeg
2025-02-26T11:04:25.923Z,1740567865.923 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon5 = nan arcdeg
2025-02-26T11:04:25.946Z,1740567865.946 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon6 = nan arcdeg
2025-02-26T11:04:25.948Z,1740567865.948 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon7 = nan arcdeg
2025-02-26T11:04:25.962Z,1740567865.962 [MissionManager](INFO): DefineArg sci2_slowyo_test.ApproachDepthTimeout = 15.000000 min
2025-02-26T11:04:25.964Z,1740567865.964 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoDiveAngle = 15.000000 arcdeg
2025-02-26T11:04:25.971Z,1740567865.971 [MissionManager](INFO): DefineArg sci2_slowyo_test.Speed = 1.000000 m/s
2025-02-26T11:04:25.977Z,1740567865.977 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMinDepth = 10.000000 m
2025-02-26T11:04:25.980Z,1740567865.980 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMaxDepth = 40.000000 m
2025-02-26T11:04:25.982Z,1740567865.982 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoNumYoYos = 1.000000 count
2025-02-26T11:04:25.984Z,1740567865.984 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoTurningWindow = 10.000000 m
2025-02-26T11:04:25.986Z,1740567865.986 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkOffSurface = 0 bool
2025-02-26T11:04:25.988Z,1740567865.988 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepth = 10.000000 m
2025-02-26T11:04:26.016Z,1740567866.016 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepthTimeout = 10.000000 min
2025-02-26T11:04:26.019Z,1740567866.019 [MissionManager](INFO): DefineArg sci2_slowyo_test.CaptureRadius = nan m
2025-02-26T11:04:26.020Z,1740567866.020 [MissionManager](INFO): DefineArg sci2_slowyo_test.PeakDetectChl = 0 bool
2025-02-26T11:04:26.022Z,1740567866.022 [MissionManager](INFO): DefineArg sci2_slowyo_test.ShallowBoundChl = nan m
2025-02-26T11:04:26.024Z,1740567866.024 [MissionManager](INFO): DefineArg sci2_slowyo_test.DeepBoundChl = nan m
2025-02-26T11:04:26.041Z,1740567866.041 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlThreshTrigger = 0 bool
2025-02-26T11:04:26.043Z,1740567866.043 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlLowerThreshold = nan ug/l
2025-02-26T11:04:26.045Z,1740567866.045 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlUpperThreshold = nan ug/l
2025-02-26T11:04:26.047Z,1740567866.047 [MissionManager](INFO): DefineArg sci2_slowyo_test.NumProfilesThreshold = 5.000000 count
2025-02-26T11:04:26.064Z,1740567866.064 [MissionManager](INFO): DefineArg sci2_slowyo_test.BuoyancyNeutral = 305.318329 cc
2025-02-26T11:04:26.071Z,1740567866.071 [MissionManager](INFO): DefineArg sci2_slowyo_test.ElevatorDefault = 0.000000 arcdeg
2025-02-26T11:04:26.074Z,1740567866.074 [MissionManager](INFO): DefineArg sci2_slowyo_test.MassDefault = 1.164778 cm
2025-02-26T11:04:26.076Z,1740567866.076 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinAltitude = 7.000000 m
2025-02-26T11:04:26.078Z,1740567866.078 [MissionManager](INFO): DefineArg sci2_slowyo_test.MaxDepth = 60.000000 m
2025-02-26T11:04:26.080Z,1740567866.080 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinOffshore = 2.000000 km
2025-02-26T11:04:26.131Z,1740567866.131 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DiveMode = 0.000000 count
2025-02-26T11:04:26.138Z,1740567866.138 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DoingComms = 0.000000 count
2025-02-26T11:04:26.157Z,1740567866.157 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SurfaceSink = 1.000000 count
2025-02-26T11:04:26.160Z,1740567866.160 [MissionManager](INFO): DefineOutput sci2_slowyo_test.InitialDive = 2.000000 count
2025-02-26T11:04:26.166Z,1740567866.166 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SlowYo = 3.000000 count
2025-02-26T11:04:26.167Z,1740567866.167 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-26T11:04:26.167Z,1740567866.167 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-26T11:04:26.190Z,1740567866.190 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-26T11:04:28.727Z,1740567868.727 [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>

2025-02-26T11:04:28.757Z,1740567868.757 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectChlActive = 0 bool
2025-02-26T11:04:28.759Z,1740567868.759 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectChlActive = 0 bool
2025-02-26T11:04:28.761Z,1740567868.761 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.TimeWindowPeakReport = nan min
2025-02-26T11:04:28.763Z,1740567868.763 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestChlPeakReportActive = 0 bool
2025-02-26T11:04:28.765Z,1740567868.765 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestSaltPeakReportActive = 0 bool
2025-02-26T11:04:28.767Z,1740567868.767 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestOilPeakReportActive = 0 bool
2025-02-26T11:04:28.769Z,1740567868.769 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PatchTracking = 0 bool
2025-02-26T11:04:28.771Z,1740567868.771 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.FilterWidthHorizontal = 3.000000 count
2025-02-26T11:04:28.774Z,1740567868.774 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-26T11:04:28.776Z,1740567868.776 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-26T11:04:28.778Z,1740567868.778 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectNO3Active = 0 bool
2025-02-26T11:04:28.780Z,1740567868.780 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectOilActive = 0 bool
2025-02-26T11:04:28.802Z,1740567868.802 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectFDOMActive = 0 bool
2025-02-26T11:04:28.804Z,1740567868.804 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectSalinityActive = 0 bool
2025-02-26T11:04:28.822Z,1740567868.822 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T11:04:28.828Z,1740567868.828 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T11:04:28.835Z,1740567868.835 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-26T11:04:28.841Z,1740567868.841 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-26T11:04:28.843Z,1740567868.843 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-26T11:04:28.849Z,1740567868.849 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-26T11:04:28.852Z,1740567868.852 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledAanderaaO2 = 0 bool
2025-02-26T11:04:28.859Z,1740567868.859 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledNeilBrown = 0 bool
2025-02-26T11:04:28.873Z,1740567868.873 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledSeabird = 1 bool
2025-02-26T11:04:28.876Z,1740567868.876 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-26T11:04:28.883Z,1740567868.883 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-26T11:04:28.890Z,1740567868.890 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsUBAT = 0 bool
2025-02-26T11:04:28.892Z,1740567868.892 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.LowPassWindowLength = 20.000000 count
2025-02-26T11:04:28.899Z,1740567868.899 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.MedianFilterLen = 5.000000 count
2025-02-26T11:04:28.905Z,1740567868.905 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ShallowBound = nan m
2025-02-26T11:04:28.907Z,1740567868.907 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DeepBound = nan m
2025-02-26T11:04:28.942Z,1740567868.942 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-26T11:04:28.944Z,1740567868.944 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionVertical = nan %
2025-02-26T11:04:28.950Z,1740567868.950 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-26T11:04:28.952Z,1740567868.952 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = 0 bool
2025-02-26T11:04:28.971Z,1740567868.971 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlLowerThresh = nan ug/l
2025-02-26T11:04:28.973Z,1740567868.973 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlUpperThresh = nan ug/l
2025-02-26T11:04:28.983Z,1740567868.983 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesThresh = 5.000000 count
2025-02-26T11:04:28.993Z,1740567868.993 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-26T11:04:28.995Z,1740567868.995 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.GoDown = 1 bool
2025-02-26T11:04:29.002Z,1740567869.002 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChl = nan ug/l
2025-02-26T11:04:29.004Z,1740567869.004 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlDepth = nan m
2025-02-26T11:04:29.011Z,1740567869.011 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlTemperature = nan degC
2025-02-26T11:04:29.019Z,1740567869.019 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLatitude = nan arcdeg
2025-02-26T11:04:29.038Z,1740567869.038 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLongitude = nan arcdeg
2025-02-26T11:04:29.041Z,1740567869.041 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChl = nan ug/l
2025-02-26T11:04:29.043Z,1740567869.043 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlDepth = nan m
2025-02-26T11:04:29.049Z,1740567869.049 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlTemperature = nan degC
2025-02-26T11:04:29.052Z,1740567869.052 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLatitude = nan arcdeg
2025-02-26T11:04:29.057Z,1740567869.057 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLongitude = nan arcdeg
2025-02-26T11:04:29.071Z,1740567869.071 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3 = nan umol/l
2025-02-26T11:04:29.077Z,1740567869.077 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Depth = nan m
2025-02-26T11:04:29.082Z,1740567869.082 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Latitude = nan arcdeg
2025-02-26T11:04:29.084Z,1740567869.084 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Longitude = nan arcdeg
2025-02-26T11:04:29.086Z,1740567869.086 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOil = nan kg/m3
2025-02-26T11:04:29.089Z,1740567869.089 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilDepth = nan m
2025-02-26T11:04:29.102Z,1740567869.102 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLatitude = nan arcdeg
2025-02-26T11:04:29.104Z,1740567869.104 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLongitude = nan arcdeg
2025-02-26T11:04:29.111Z,1740567869.111 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOM = nan ppb
2025-02-26T11:04:29.117Z,1740567869.117 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMDepth = nan m
2025-02-26T11:04:29.120Z,1740567869.120 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMTemperature = nan degC
2025-02-26T11:04:29.126Z,1740567869.126 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLatitude = nan arcdeg
2025-02-26T11:04:29.128Z,1740567869.128 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLongitude = nan arcdeg
2025-02-26T11:04:29.139Z,1740567869.139 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSalt = nan psu
2025-02-26T11:04:29.146Z,1740567869.146 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltDepth = nan m
2025-02-26T11:04:29.153Z,1740567869.153 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltTemperature = nan degC
2025-02-26T11:04:29.155Z,1740567869.155 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLatitude = nan arcdeg
2025-02-26T11:04:29.161Z,1740567869.161 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLongitude = nan arcdeg
2025-02-26T11:04:29.164Z,1740567869.164 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-26T11:04:29.166Z,1740567869.166 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-26T11:04:29.168Z,1740567869.168 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-26T11:04:29.179Z,1740567869.179 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T11:04:29.185Z,1740567869.185 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T11:04:29.188Z,1740567869.188 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-26T11:04:29.190Z,1740567869.190 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-26T11:04:29.192Z,1740567869.192 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-26T11:04:29.207Z,1740567869.207 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T11:04:29.213Z,1740567869.213 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T11:04:29.216Z,1740567869.216 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-26T11:04:29.219Z,1740567869.219 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-26T11:04:29.242Z,1740567869.242 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-26T11:04:29.244Z,1740567869.244 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-26T11:04:29.251Z,1740567869.251 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-26T11:04:29.261Z,1740567869.261 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-26T11:04:29.264Z,1740567869.264 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-26T11:04:29.269Z,1740567869.269 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-26T11:04:29.285Z,1740567869.285 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-26T11:04:29.287Z,1740567869.287 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-26T11:04:29.290Z,1740567869.290 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-26T11:04:29.292Z,1740567869.292 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-26T11:04:29.309Z,1740567869.309 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-26T11:04:29.311Z,1740567869.311 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-26T11:04:29.313Z,1740567869.313 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-26T11:04:29.315Z,1740567869.315 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChl = nan ug/l
2025-02-26T11:04:29.362Z,1740567869.362 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDepth = nan m
2025-02-26T11:04:29.364Z,1740567869.364 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLatitude = nan arcdeg
2025-02-26T11:04:29.394Z,1740567869.394 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLongitude = nan arcdeg
2025-02-26T11:04:29.401Z,1740567869.401 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDistance = nan m
2025-02-26T11:04:29.404Z,1740567869.404 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSalt = nan psu
2025-02-26T11:04:29.426Z,1740567869.426 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDepth = nan m
2025-02-26T11:04:29.428Z,1740567869.428 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLatitude = nan arcdeg
2025-02-26T11:04:29.435Z,1740567869.435 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLongitude = nan arcdeg
2025-02-26T11:04:29.441Z,1740567869.441 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDistance = nan m
2025-02-26T11:04:29.444Z,1740567869.444 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOil = nan psu
2025-02-26T11:04:29.447Z,1740567869.447 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDepth = nan m
2025-02-26T11:04:29.458Z,1740567869.458 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLatitude = nan arcdeg
2025-02-26T11:04:29.460Z,1740567869.460 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLongitude = nan arcdeg
2025-02-26T11:04:29.467Z,1740567869.467 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDistance = nan m
2025-02-26T11:04:29.468Z,1740567869.468 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.TriggeredOnChl = 0 bool
2025-02-26T11:04:29.475Z,1740567869.475 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.ChlTriggering = nan ug/l
2025-02-26T11:04:29.548Z,1740567869.548 [sci2_slowyo_test:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:04:29.577Z,1740567869.577 [sci2_slowyo_test:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T11:04:29.638Z,1740567869.638 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T11:04:29.659Z,1740567869.659 [sci2_slowyo_test:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:04:29.682Z,1740567869.682 [sci2_slowyo_test:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:04:29.695Z,1740567869.695 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T11:04:29.760Z,1740567869.760 [sci2_slowyo_test:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:04:29.803Z,1740567869.803 [sci2_slowyo_test:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:04:29.851Z,1740567869.851 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T11:04:29.893Z,1740567869.893 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:04:29.923Z,1740567869.923 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T11:04:29.982Z,1740567869.982 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:04:30.006Z,1740567870.006 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:04:30.024Z,1740567870.024 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:04:30.035Z,1740567870.035 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-26T11:04:30.045Z,1740567870.045 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDetectChlActive = reader:sci2_slowyo_test.PeakDetectChl
2025-02-26T11:04:30.046Z,1740567870.046 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ShallowBound = reader:sci2_slowyo_test.ShallowBoundChl
2025-02-26T11:04:30.048Z,1740567870.048 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.DeepBound = reader:sci2_slowyo_test.DeepBoundChl
2025-02-26T11:04:30.049Z,1740567870.049 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = reader:sci2_slowyo_test.ChlThreshTrigger
2025-02-26T11:04:30.051Z,1740567870.051 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlLowerThresh = reader:sci2_slowyo_test.ChlLowerThreshold
2025-02-26T11:04:30.052Z,1740567870.052 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlUpperThresh = reader:sci2_slowyo_test.ChlUpperThreshold
2025-02-26T11:04:30.054Z,1740567870.054 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.NumProfilesThresh = reader:sci2_slowyo_test.NumProfilesThreshold
2025-02-26T11:04:30.054Z,1740567870.054 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-26T11:04:30.054Z,1740567870.054 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-26T11:04:30.055Z,1740567870.055 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-26T11:04:30.337Z,1740567870.337 [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>

2025-02-26T11:04:30.342Z,1740567870.342 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.DiveInterval = 1.000000 h
2025-02-26T11:04:30.344Z,1740567870.344 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-26T11:04:30.346Z,1740567870.346 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-26T11:04:30.348Z,1740567870.348 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceDepthRate = nan m/s
2025-02-26T11:04:30.350Z,1740567870.350 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-26T11:04:30.352Z,1740567870.352 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-26T11:04:30.355Z,1740567870.355 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.GPSTimeout = 7.000000 min
2025-02-26T11:04:30.358Z,1740567870.358 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.CommsTimeout = 30.000000 min
2025-02-26T11:04:30.363Z,1740567870.363 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T11:04:30.378Z,1740567870.378 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-26T11:04:30.379Z,1740567870.379 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-26T11:04:30.380Z,1740567870.380 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-26T11:04:30.495Z,1740567870.495 [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>

2025-02-26T11:04:30.498Z,1740567870.498 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-26T11:04:30.500Z,1740567870.500 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-26T11:04:30.503Z,1740567870.503 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-26T11:04:30.505Z,1740567870.505 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-26T11:04:30.506Z,1740567870.506 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-26T11:04:30.511Z,1740567870.511 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-26T11:04:30.517Z,1740567870.517 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-26T11:04:30.525Z,1740567870.525 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-26T11:04:30.525Z,1740567870.525 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-26T11:04:30.528Z,1740567870.528 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-26T11:04:30.619Z,1740567870.619 [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>

2025-02-26T11:04:30.622Z,1740567870.622 [MissionManager](INFO): DefineArg sci2_slowyo_test:BackseatDriver.EnableBackseat = 0 bool
2025-02-26T11:04:30.624Z,1740567870.624 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-26T11:04:30.627Z,1740567870.627 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-26T11:04:30.628Z,1740567870.628 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-26T11:04:31.451Z,1740567871.451 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-26T11:04:31.631Z,1740567871.631 [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>

2025-02-26T11:04:31.635Z,1740567871.635 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleAll = 0 bool
2025-02-26T11:04:31.637Z,1740567871.637 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad1 = 0 bool
2025-02-26T11:04:31.639Z,1740567871.639 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad2 = 0 bool
2025-02-26T11:04:31.640Z,1740567871.640 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad3 = 0 bool
2025-02-26T11:04:31.643Z,1740567871.643 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-26T11:04:31.649Z,1740567871.649 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-26T11:04:31.664Z,1740567871.664 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T11:04:31.666Z,1740567871.666 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-02-26T11:04:31.670Z,1740567871.670 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-02-26T11:04:31.711Z,1740567871.711 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Construct.
2025-02-26T11:04:31.718Z,1740567871.718 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T11:04:31.720Z,1740567871.720 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Construct Wait.
2025-02-26T11:04:31.728Z,1740567871.728 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-02-26T11:04:31.733Z,1740567871.733 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-02-26T11:04:31.739Z,1740567871.739 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-26T11:04:31.768Z,1740567871.768 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T11:04:31.774Z,1740567871.774 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Construct.
2025-02-26T11:04:31.794Z,1740567871.794 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Construct.
2025-02-26T11:04:31.809Z,1740567871.809 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Construct SlowYo.
2025-02-26T11:04:31.820Z,1740567871.820 [sci2_slowyo_test:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-02-26T11:04:31.842Z,1740567871.842 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T11:04:31.852Z,1740567871.852 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T11:04:31.863Z,1740567871.863 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T11:04:31.868Z,1740567871.868 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T11:04:31.873Z,1740567871.873 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T11:04:31.878Z,1740567871.878 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T11:04:31.883Z,1740567871.883 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T11:04:31.946Z,1740567871.946 [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]
        }
      }
    }
  }
}


2025-02-26T11:04:31.947Z,1740567871.947 [CommandExec](IMPORTANT): Loaded ./Missions/Science/sci2_slowyo_test.tl id=sci2_slowyo_test
2025-02-26T11:04:32.180Z,1740567872.180 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T11:04:32.181Z,1740567872.181 [Default] Running Loop=1
2025-02-26T11:04:32.185Z,1740567872.185 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T11:04:32.185Z,1740567872.185 [Default:B.GoToSurface] Running Loop=1
2025-02-26T11:04:32.185Z,1740567872.185 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T11:04:32.185Z,1740567872.185 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T11:04:32.186Z,1740567872.186 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T11:04:32.186Z,1740567872.186 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T11:04:32.186Z,1740567872.186 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T11:04:32.187Z,1740567872.187 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T11:04:32.187Z,1740567872.187 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T11:04:32.187Z,1740567872.187 [Default:A.Wait] Running Loop=1
2025-02-26T11:04:32.187Z,1740567872.187 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T11:04:32.781Z,1740567872.781 [Radio_Surface](INFO): Powering up
2025-02-26T11:04:38.050Z,1740567878.050 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T11:04:40.286Z,1740567880.286 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-26T11:04:40.286Z,1740567880.286 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-26T11:04:40.287Z,1740567880.287 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-26T11:04:45.514Z,1740567885.514 [Default:A.Wait](INFO): Done Waiting.
2025-02-26T11:04:45.514Z,1740567885.514 [Default:A.Wait] Stopped
2025-02-26T11:04:45.514Z,1740567885.514 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T11:04:48.660Z,1740567888.660 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MissionTimeout 6 hour
2025-02-26T11:04:48.662Z,1740567888.662 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.NeedCommsTime 3 hour
2025-02-26T11:04:48.666Z,1740567888.666 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lat1 36.806966 degree
2025-02-26T11:04:48.668Z,1740567888.668 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Lon1 -121.824326 degree
2025-02-26T11:04:50.657Z,1740567890.657 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-02-26T11:04:59.228Z,1740567899.228 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T11:05:08.185Z,1740567908.185 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:05:13.052Z,1740567913.052 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T11:05:13.395Z,1740567913.395 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoDiveAngle 10 degree
2025-02-26T11:05:13.396Z,1740567913.396 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.Speed SpeedControl.rollOptimum
2025-02-26T11:05:13.396Z,1740567913.396 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoMaxDepth 20 meter
2025-02-26T11:05:13.397Z,1740567913.397 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.SlowYoTurningWindow 20 meter
2025-02-26T11:05:13.398Z,1740567913.398 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MassDefault NaN millimeter
2025-02-26T11:05:26.263Z,1740567926.263 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T11:05:29.744Z,1740567929.744 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MinAltitude 20 meter
2025-02-26T11:05:29.745Z,1740567929.745 [CommandExec](IMPORTANT): got command set sci2_slowyo_test.MaxDepth 50 meter
2025-02-26T11:05:29.770Z,1740567929.770 [CommandExec](IMPORTANT): got command set sci2_slowyo_test:BackseatDriver.EnableBackseat 1 bool
2025-02-26T11:05:29.770Z,1740567929.770 [CommandExec](IMPORTANT): got command run
2025-02-26T11:05:29.772Z,1740567929.772 [CommandExec](IMPORTANT): Running 
2025-02-26T11:05:29.773Z,1740567929.773 [Default] Stopped
2025-02-26T11:05:29.773Z,1740567929.773 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T11:05:29.773Z,1740567929.773 [Default:B.GoToSurface] Stopped
2025-02-26T11:05:29.773Z,1740567929.773 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T11:05:29.774Z,1740567929.774 [MissionManager](IMPORTANT): Started mission sci2_slowyo_test
2025-02-26T11:05:29.774Z,1740567929.774 [sci2_slowyo_test] Running Loop=1
2025-02-26T11:05:29.774Z,1740567929.774 [sci2_slowyo_test](DEBUG): Aggregate::initialize sci2_slowyo_test
2025-02-26T11:05:29.774Z,1740567929.774 [sci2_slowyo_test:Science] Running Loop=1
2025-02-26T11:05:29.774Z,1740567929.774 [sci2_slowyo_test:Science](DEBUG): Aggregate::initialize sci2_slowyo_test:Science
2025-02-26T11:05:29.774Z,1740567929.774 [sci2_slowyo_test:Science:A] Running Loop=1
2025-02-26T11:05:29.774Z,1740567929.774 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-26T11:05:29.774Z,1740567929.774 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-26T11:05:29.775Z,1740567929.775 [sci2_slowyo_test:Science:D] Running Loop=1
2025-02-26T11:05:29.775Z,1740567929.775 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-26T11:05:29.775Z,1740567929.775 [sci2_slowyo_test:Science:F] Running Loop=1
2025-02-26T11:05:29.775Z,1740567929.775 [sci2_slowyo_test:Science:Read_Oil] Running Loop=1
2025-02-26T11:05:29.775Z,1740567929.775 [sci2_slowyo_test:Science:PeakDetectChl] Running Loop=1
2025-02-26T11:05:29.775Z,1740567929.775 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-26T11:05:29.775Z,1740567929.775 [sci2_slowyo_test:Science:PeakDetectChl:A] Running Loop=1
2025-02-26T11:05:29.775Z,1740567929.775 [sci2_slowyo_test:Science:EdgeDetectChl] Running Loop=1
2025-02-26T11:05:29.775Z,1740567929.775 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-26T11:05:29.775Z,1740567929.775 [sci2_slowyo_test:Science:EdgeDetectChl:A] Running Loop=1
2025-02-26T11:05:29.775Z,1740567929.775 [sci2_slowyo_test:Science:HighestChlPeakReport] Running Loop=1
2025-02-26T11:05:29.776Z,1740567929.776 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-26T11:05:29.776Z,1740567929.776 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T11:05:29.776Z,1740567929.776 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T11:05:29.776Z,1740567929.776 [sci2_slowyo_test:Science:PeakDetectNO3] Running Loop=1
2025-02-26T11:05:29.776Z,1740567929.776 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-26T11:05:29.776Z,1740567929.776 [sci2_slowyo_test:Science:PeakDetectNO3:A] Running Loop=1
2025-02-26T11:05:29.776Z,1740567929.776 [sci2_slowyo_test:Science:PeakDetectOil] Running Loop=1
2025-02-26T11:05:29.777Z,1740567929.777 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-26T11:05:29.777Z,1740567929.777 [sci2_slowyo_test:Science:PeakDetectOil:A] Running Loop=1
2025-02-26T11:05:29.777Z,1740567929.777 [sci2_slowyo_test:Science:HighestOilPeakReport] Running Loop=1
2025-02-26T11:05:29.778Z,1740567929.778 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-26T11:05:29.778Z,1740567929.778 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T11:05:29.778Z,1740567929.778 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T11:05:29.778Z,1740567929.778 [sci2_slowyo_test:Science:PeakDetectFDOM] Running Loop=1
2025-02-26T11:05:29.778Z,1740567929.778 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-26T11:05:29.779Z,1740567929.779 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-26T11:05:29.779Z,1740567929.779 [sci2_slowyo_test:Science:PeakDetectSalinity] Running Loop=1
2025-02-26T11:05:29.779Z,1740567929.779 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-26T11:05:29.779Z,1740567929.779 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-26T11:05:29.779Z,1740567929.779 [sci2_slowyo_test:Science:HighestSaltPeakReport] Running Loop=1
2025-02-26T11:05:29.779Z,1740567929.779 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-26T11:05:29.779Z,1740567929.779 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T11:05:29.779Z,1740567929.779 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T11:05:29.780Z,1740567929.780 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T11:05:29.780Z,1740567929.780 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T11:05:29.780Z,1740567929.780 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T11:05:29.780Z,1740567929.780 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T11:05:29.780Z,1740567929.780 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T11:05:29.780Z,1740567929.780 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T11:05:29.781Z,1740567929.781 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-26T11:05:29.785Z,1740567929.785 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T11:05:29.785Z,1740567929.785 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-26T11:05:29.785Z,1740567929.785 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-26T11:05:29.785Z,1740567929.785 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T11:05:29.785Z,1740567929.785 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-26T11:05:29.786Z,1740567929.786 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-26T11:05:29.786Z,1740567929.786 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T11:05:29.786Z,1740567929.786 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-26T11:05:29.786Z,1740567929.786 [sci2_slowyo_test:Science:ChlThreshTrigger] Running Loop=1
2025-02-26T11:05:29.786Z,1740567929.786 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-26T11:05:29.786Z,1740567929.786 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-26T11:05:29.786Z,1740567929.786 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-26T11:05:29.787Z,1740567929.787 [sci2_slowyo_test:Science:OceanCurrent] Running Loop=1
2025-02-26T11:05:29.787Z,1740567929.787 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:OceanCurrent
2025-02-26T11:05:29.787Z,1740567929.787 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T11:05:29.787Z,1740567929.787 [sci2_slowyo_test:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-26T11:05:29.787Z,1740567929.787 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-26T11:05:29.787Z,1740567929.787 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_slowyo_test:StandardEnvelopes
2025-02-26T11:05:29.787Z,1740567929.787 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T11:05:29.787Z,1740567929.787 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-26T11:05:29.787Z,1740567929.787 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T11:05:29.787Z,1740567929.787 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-26T11:05:29.788Z,1740567929.788 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T11:05:29.788Z,1740567929.788 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-26T11:05:29.788Z,1740567929.788 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-26T11:05:29.788Z,1740567929.788 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::initialize sci2_slowyo_test:BackseatDriver
2025-02-26T11:05:29.788Z,1740567929.788 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-26T11:05:29.788Z,1740567929.788 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-26T11:05:29.788Z,1740567929.788 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::initialize sci2_slowyo_test:PowerOnly
2025-02-26T11:05:29.788Z,1740567929.788 [sci2_slowyo_test:PowerOnly:A] Running Loop=1
2025-02-26T11:05:29.788Z,1740567929.788 [sci2_slowyo_test:PowerOnly:B] Running Loop=1
2025-02-26T11:05:29.788Z,1740567929.788 [sci2_slowyo_test:PowerOnly:C] Running Loop=1
2025-02-26T11:05:29.788Z,1740567929.788 [sci2_slowyo_test:PowerOnly:D] Running Loop=1
2025-02-26T11:05:29.793Z,1740567929.793 [sci2_slowyo_test:PowerOnly:E.Wait] Running Loop=1
2025-02-26T11:05:29.794Z,1740567929.794 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-26T11:05:29.794Z,1740567929.794 [sci2_slowyo_test:C] Running Loop=1
2025-02-26T11:05:29.796Z,1740567929.796 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-26T11:05:29.796Z,1740567929.796 [sci2_slowyo_test:PowerOnly:D] Stopped
2025-02-26T11:05:29.796Z,1740567929.796 [sci2_slowyo_test:PowerOnly:C] Stopped
2025-02-26T11:05:29.796Z,1740567929.796 [sci2_slowyo_test:PowerOnly:B] Stopped
2025-02-26T11:05:29.796Z,1740567929.796 [sci2_slowyo_test:PowerOnly:A] Stopped
2025-02-26T11:05:29.796Z,1740567929.796 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-26T11:05:29.801Z,1740567929.801 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-26T11:05:29.851Z,1740567929.851 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-26T11:05:29.851Z,1740567929.851 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T11:05:29.851Z,1740567929.851 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T11:05:29.852Z,1740567929.852 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T11:05:29.852Z,1740567929.852 [sci2_slowyo_test:C] Stopped
2025-02-26T11:05:29.852Z,1740567929.852 [sci2_slowyo_test:E] Running Loop=1
2025-02-26T11:05:29.852Z,1740567929.852 [sci2_slowyo_test:Science] Running Loop=1
2025-02-26T11:05:29.859Z,1740567929.859 [sci2_slowyo_test:Science:ChlThreshTrigger] Stopped
2025-02-26T11:05:29.860Z,1740567929.860 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-26T11:05:29.860Z,1740567929.860 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-26T11:05:29.860Z,1740567929.860 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-26T11:05:29.860Z,1740567929.860 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-26T11:05:29.860Z,1740567929.860 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T11:05:29.860Z,1740567929.860 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-26T11:05:29.860Z,1740567929.860 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-26T11:05:29.860Z,1740567929.860 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T11:05:29.860Z,1740567929.860 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-26T11:05:29.860Z,1740567929.860 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-26T11:05:29.860Z,1740567929.860 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T11:05:29.860Z,1740567929.860 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-26T11:05:29.860Z,1740567929.860 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-26T11:05:29.861Z,1740567929.861 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T11:05:29.867Z,1740567929.867 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T11:05:29.867Z,1740567929.867 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-26T11:05:29.867Z,1740567929.867 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T11:05:29.867Z,1740567929.867 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T11:05:29.867Z,1740567929.867 [sci2_slowyo_test:Science:HighestSaltPeakReport] Stopped
2025-02-26T11:05:29.867Z,1740567929.867 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-26T11:05:29.867Z,1740567929.867 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T11:05:29.867Z,1740567929.867 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T11:05:29.867Z,1740567929.867 [sci2_slowyo_test:Science:PeakDetectSalinity] Stopped
2025-02-26T11:05:29.867Z,1740567929.867 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-26T11:05:29.868Z,1740567929.868 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Stopped
2025-02-26T11:05:29.868Z,1740567929.868 [sci2_slowyo_test:Science:PeakDetectFDOM] Stopped
2025-02-26T11:05:29.868Z,1740567929.868 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-26T11:05:29.868Z,1740567929.868 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Stopped
2025-02-26T11:05:29.868Z,1740567929.868 [sci2_slowyo_test:Science:HighestOilPeakReport] Stopped
2025-02-26T11:05:29.868Z,1740567929.868 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-26T11:05:29.868Z,1740567929.868 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T11:05:29.868Z,1740567929.868 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T11:05:29.868Z,1740567929.868 [sci2_slowyo_test:Science:PeakDetectOil] Stopped
2025-02-26T11:05:29.868Z,1740567929.868 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-26T11:05:29.868Z,1740567929.868 [sci2_slowyo_test:Science:PeakDetectOil:A] Stopped
2025-02-26T11:05:29.868Z,1740567929.868 [sci2_slowyo_test:Science:PeakDetectNO3] Stopped
2025-02-26T11:05:29.868Z,1740567929.868 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-26T11:05:29.869Z,1740567929.869 [sci2_slowyo_test:Science:PeakDetectNO3:A] Stopped
2025-02-26T11:05:29.873Z,1740567929.873 [sci2_slowyo_test:Science:HighestChlPeakReport] Stopped
2025-02-26T11:05:29.874Z,1740567929.874 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-26T11:05:29.874Z,1740567929.874 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T11:05:29.874Z,1740567929.874 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T11:05:29.874Z,1740567929.874 [sci2_slowyo_test:Science:EdgeDetectChl] Stopped
2025-02-26T11:05:29.874Z,1740567929.874 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-26T11:05:29.874Z,1740567929.874 [sci2_slowyo_test:Science:EdgeDetectChl:A] Stopped
2025-02-26T11:05:29.874Z,1740567929.874 [sci2_slowyo_test:Science:PeakDetectChl] Stopped
2025-02-26T11:05:29.874Z,1740567929.874 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-26T11:05:29.874Z,1740567929.874 [sci2_slowyo_test:Science:PeakDetectChl:A] Stopped
2025-02-26T11:05:29.874Z,1740567929.874 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T11:05:29.874Z,1740567929.874 [sci2_slowyo_test:Science:Read_Oil] Stopped
2025-02-26T11:05:29.874Z,1740567929.874 [sci2_slowyo_test:Science:F] Stopped
2025-02-26T11:05:29.874Z,1740567929.874 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-26T11:05:29.875Z,1740567929.875 [sci2_slowyo_test:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-26T11:05:29.875Z,1740567929.875 [sci2_slowyo_test:Science:D] Stopped
2025-02-26T11:05:29.875Z,1740567929.875 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-26T11:05:29.876Z,1740567929.876 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-26T11:05:29.876Z,1740567929.876 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-26T11:05:29.876Z,1740567929.876 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-26T11:05:29.881Z,1740567929.881 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-26T11:05:29.881Z,1740567929.881 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-26T11:05:29.881Z,1740567929.881 [sci2_slowyo_test:Science:A] Stopped
2025-02-26T11:05:29.925Z,1740567929.925 [BackseatComponent](INFO): Powering up
2025-02-26T11:05:29.926Z,1740567929.926 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-26T11:05:30.043Z,1740567930.043 [WetLabsBB2FL](INFO): Powering up
2025-02-26T11:05:30.417Z,1740567930.417 [sci2_slowyo_test:E] Stopped
2025-02-26T11:05:30.417Z,1740567930.417 [sci2_slowyo_test:F] Running Loop=1
2025-02-26T11:05:30.817Z,1740567930.817 [sci2_slowyo_test:F] Stopped
2025-02-26T11:05:30.817Z,1740567930.817 [sci2_slowyo_test:G] Running Loop=1
2025-02-26T11:05:31.233Z,1740567931.233 [sci2_slowyo_test:G] Stopped
2025-02-26T11:05:31.233Z,1740567931.233 [sci2_slowyo_test:StartingMission] Running Loop=1
2025-02-26T11:05:31.233Z,1740567931.233 [sci2_slowyo_test:StartingMission](DEBUG): Aggregate::initialize sci2_slowyo_test:StartingMission
2025-02-26T11:05:31.621Z,1740567931.621 [sci2_slowyo_test:SurfaceComms] Running Loop=1
2025-02-26T11:05:31.621Z,1740567931.621 [sci2_slowyo_test:SurfaceComms](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms
2025-02-26T11:05:31.621Z,1740567931.621 [sci2_slowyo_test:SurfaceComms:A] Running Loop=1
2025-02-26T11:05:31.621Z,1740567931.621 [sci2_slowyo_test:SurfaceComms:A] Stopped
2025-02-26T11:05:31.621Z,1740567931.621 [sci2_slowyo_test:SurfaceComms:B] Running Loop=1
2025-02-26T11:05:31.622Z,1740567931.622 [sci2_slowyo_test:SurfaceComms:B](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:B
2025-02-26T11:05:31.626Z,1740567931.626 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-26T11:05:32.042Z,1740567932.042 [sci2_slowyo_test:NeedComms] Running Loop=1
2025-02-26T11:05:32.042Z,1740567932.042 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::initialize sci2_slowyo_test:NeedComms
2025-02-26T11:05:32.042Z,1740567932.042 [sci2_slowyo_test:NeedComms:B.GoToSurface] Running Loop=1
2025-02-26T11:05:32.042Z,1740567932.042 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T11:05:32.043Z,1740567932.043 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received depth rate setting 0.300000 m/s.
2025-02-26T11:05:32.043Z,1740567932.043 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-26T11:05:32.044Z,1740567932.044 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-26T11:05:32.044Z,1740567932.044 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-26T11:05:32.044Z,1740567932.044 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T11:05:32.045Z,1740567932.045 [sci2_slowyo_test:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T11:05:32.045Z,1740567932.045 [sci2_slowyo_test:NeedComms:A] Running Loop=1
2025-02-26T11:05:32.047Z,1740567932.047 [sci2_slowyo_test:NeedComms:A](INFO): last time_fix was:  1740564685.000000 second since 1970/01/01T00:00:00Z 
2025-02-26T11:05:32.047Z,1740567932.047 [sci2_slowyo_test:NeedComms:A] Stopped
2025-02-26T11:05:33.410Z,1740567933.410 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-26T11:05:37.517Z,1740567937.517 [MassServo](FAULT): Overload Error
2025-02-26T11:05:37.517Z,1740567937.517 [MassServo] Hardware Fault, FailCount= 4
2025-02-26T11:05:37.518Z,1740567937.518 [MassServo](ERROR): Hardware Fault
2025-02-26T11:05:37.836Z,1740567937.836 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-02-26T11:05:38.034Z,1740567938.034 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-26T11:05:38.034Z,1740567938.034 [MassServo](INFO): Powering down
2025-02-26T11:05:38.713Z,1740567938.713 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T11:05:38.714Z,1740567938.714 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-02-26T11:05:38.922Z,1740567938.922 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-26T11:05:39.042Z,1740567939.042 [MassServo](DEBUG): Initializing MassServo.
2025-02-26T11:05:39.252Z,1740567939.252 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-26T11:05:39.253Z,1740567939.253 [MassServo] No Fault, FailCount= 4
2025-02-26T11:05:39.313Z,1740567939.313 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:05:52.205Z,1740567952.205 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T11:06:05.286Z,1740567965.286 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T11:06:10.437Z,1740567970.437 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:06:18.176Z,1740567978.176 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T11:06:29.596Z,1740567989.596 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250226T110628
2025-02-26T11:06:31.209Z,1740567991.209 [Radio_Surface](INFO): Powering down
2025-02-26T11:06:41.565Z,1740568001.565 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:06:42.569Z,1740568002.569 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T11:07:29.019Z,1740568049.019 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2119
2025-02-26T11:10:25.283Z,1740568225.283 [sci2_slowyo_test:NeedComms:C] Running Loop=1
2025-02-26T11:10:25.799Z,1740568225.799 [sci2_slowyo_test:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T11:10:25.981Z,1740568225.981 [Radio_Surface](INFO): Powering up
2025-02-26T11:10:31.533Z,1740568231.533 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T11:11:01.653Z,1740568261.653 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:11:21.723Z,1740568281.723 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T11:11:22.536Z,1740568282.536 [BPC1](ERROR): Battery stick #56 (s/n: 009B) reported OVER_TEMP_ALARM. Status code: 0x1717.
2025-02-26T11:11:22.537Z,1740568282.537 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-26T11:11:22.537Z,1740568282.537 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 6.
2025-02-26T11:11:22.540Z,1740568282.540 [BPC1](INFO): Received data from all battery sticks.
2025-02-26T11:11:30.364Z,1740568290.364 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2120
2025-02-26T11:11:32.786Z,1740568292.786 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:11:43.581Z,1740568303.581 [Radio_Surface](INFO): Powering down
2025-02-26T11:11:57.317Z,1740568317.317 [Radio_Surface](INFO): Powering up
2025-02-26T11:12:03.922Z,1740568323.922 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:12:21.476Z,1740568341.476 [NAL9602](INFO): SBD MO Status=2, MOMSN=13540, MT Status=2, MTMSN=0
2025-02-26T11:12:21.476Z,1740568341.476 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T11:12:35.045Z,1740568355.045 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:12:39.656Z,1740568359.656 [NAL9602](INFO): SBD MO Status=2, MOMSN=13540, MT Status=2, MTMSN=0
2025-02-26T11:12:39.656Z,1740568359.656 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T11:12:54.598Z,1740568374.598 [NAL9602](INFO): SBD MO Status=2, MOMSN=13540, MT Status=2, MTMSN=0
2025-02-26T11:12:54.598Z,1740568374.598 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T11:13:06.173Z,1740568386.173 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:13:11.163Z,1740568391.163 [NAL9602](INFO): SBD MO Status=0, MOMSN=13540, MT Status=0, MTMSN=0
2025-02-26T11:13:11.164Z,1740568391.164 [NAL9602](INFO): No messages in MT queue
2025-02-26T11:13:12.384Z,1740568392.384 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,111311.00,A,3647.86767,N,12150.97244,W,1.127,341.10,260225,,,D*7D
2025-02-26T11:13:12.386Z,1740568392.386 [NAL9602](INFO): GPS fix at 20250226T111311: (36.797795, -121.849541)
2025-02-26T11:13:12.400Z,1740568392.400 [UniversalFixResidualReporter](INFO): Fix residual: 8.3 %DT, over the last 2689.6 m. Residual distance 223.2 m at bearing 108.7 degrees. Fix at (36.7978, -121.8495) with 2070.6 m made good.
2025-02-26T11:13:12.406Z,1740568392.406 [sci2_slowyo_test:NeedComms:C] Stopped
2025-02-26T11:13:12.406Z,1740568392.406 [sci2_slowyo_test:NeedComms:D] Running Loop=1
2025-02-26T11:13:12.863Z,1740568392.863 [sci2_slowyo_test:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-26T11:13:31.479Z,1740568411.479 [NAL9602](INFO): SBD MO Status=1, MOMSN=13541, MT Status=0, MTMSN=0
2025-02-26T11:13:31.537Z,1740568411.537 [NAL9602](INFO): Sent 94 bytes from file Logs/20250226T074052/Courier0073.lzma
2025-02-26T11:13:31.537Z,1740568411.537 [NAL9602](INFO): Packets left to send: 0
2025-02-26T11:13:37.318Z,1740568417.318 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:13:56.739Z,1740568436.739 [NAL9602](INFO): SBD MO Status=1, MOMSN=13542, MT Status=0, MTMSN=0
2025-02-26T11:13:56.797Z,1740568436.797 [NAL9602](INFO): Sent 332 bytes from file Logs/20250226T074052/Express0074.lzma
2025-02-26T11:13:56.798Z,1740568436.798 [NAL9602](INFO): Packets left to send: 4
2025-02-26T11:14:06.289Z,1740568446.289 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.010380
2025-02-26T11:14:11.145Z,1740568451.145 [NAL9602](INFO): SBD MO Status=1, MOMSN=13543, MT Status=0, MTMSN=0
2025-02-26T11:14:11.213Z,1740568451.213 [NAL9602](INFO): Sent 332 bytes from file Logs/20250226T074052/Express0074.lzma
2025-02-26T11:14:11.213Z,1740568451.213 [NAL9602](INFO): Packets left to send: 3
2025-02-26T11:14:21.233Z,1740568461.233 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250226T074052/Courier0076.lzma
2025-02-26T11:14:22.235Z,1740568462.235 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0076.lzma.bak
2025-02-26T11:14:22.236Z,1740568462.236 [DataOverHttps](INFO): SBD MOMSN=23978858
2025-02-26T11:14:43.126Z,1740568483.126 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T11:14:47.588Z,1740568487.588 [DataOverHttps](INFO): Sending 1375 bytes from file Logs/20250226T074052/Express0074.lzma
2025-02-26T11:14:48.587Z,1740568488.587 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0074.lzma.bak
2025-02-26T11:14:48.587Z,1740568488.587 [DataOverHttps](INFO): SBD MOMSN=23978862
2025-02-26T11:15:20.691Z,1740568520.691 [DataOverHttps](INFO): Sending 99 bytes from file Logs/20250226T074052/Express0077.lzma
2025-02-26T11:15:21.695Z,1740568521.695 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0077.lzma.bak
2025-02-26T11:15:21.695Z,1740568521.695 [DataOverHttps](INFO): SBD MOMSN=23978903
2025-02-26T11:15:25.098Z,1740568525.098 [sci2_slowyo_test:NeedComms:D] Stopped
2025-02-26T11:15:25.098Z,1740568525.098 [sci2_slowyo_test:NeedComms:E] Running Loop=1
2025-02-26T11:15:25.518Z,1740568525.518 [sci2_slowyo_test:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T11:15:27.075Z,1740568527.075 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,111526.00,A,3647.88365,N,12150.98368,W,0.778,304.28,260225,,,A*75
2025-02-26T11:15:27.085Z,1740568527.085 [NAL9602](INFO): GPS fix at 20250226T111526: (36.798061, -121.849728)
2025-02-26T11:15:27.170Z,1740568527.170 [sci2_slowyo_test:NeedComms:E] Stopped
2025-02-26T11:15:27.171Z,1740568527.171 [sci2_slowyo_test:NeedComms](INFO): Completed sci2_slowyo_test:NeedComms
2025-02-26T11:15:27.171Z,1740568527.171 [sci2_slowyo_test:NeedComms] Stopped
2025-02-26T11:15:27.171Z,1740568527.171 [sci2_slowyo_test:NeedComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:NeedComms
2025-02-26T11:15:27.171Z,1740568527.171 [sci2_slowyo_test:NeedComms:B.GoToSurface] Stopped
2025-02-26T11:15:27.171Z,1740568527.171 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T11:15:27.632Z,1740568527.632 [sci2_slowyo_test:SurfaceComms:B](INFO): Completed sci2_slowyo_test:SurfaceComms:B
2025-02-26T11:15:27.632Z,1740568527.632 [sci2_slowyo_test:SurfaceComms:B] Stopped
2025-02-26T11:15:27.632Z,1740568527.632 [sci2_slowyo_test:SurfaceComms:B](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:B
2025-02-26T11:15:27.645Z,1740568527.645 [sci2_slowyo_test:SurfaceComms:setInitial] Running Loop=1
2025-02-26T11:15:27.646Z,1740568527.646 [sci2_slowyo_test:SurfaceComms:setInitial](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:setInitial
2025-02-26T11:15:27.646Z,1740568527.646 [sci2_slowyo_test:SurfaceComms:setInitial:A] Running Loop=1
2025-02-26T11:15:27.931Z,1740568527.931 [sci2_slowyo_test:SurfaceComms:setInitial:A] Stopped
2025-02-26T11:15:27.932Z,1740568527.932 [sci2_slowyo_test:SurfaceComms:setInitial](INFO): Completed sci2_slowyo_test:SurfaceComms:setInitial
2025-02-26T11:15:27.932Z,1740568527.932 [sci2_slowyo_test:SurfaceComms:setInitial] Stopped
2025-02-26T11:15:27.932Z,1740568527.932 [sci2_slowyo_test:SurfaceComms:setInitial](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:setInitial
2025-02-26T11:15:27.932Z,1740568527.932 [sci2_slowyo_test:SurfaceComms:setSink] Running Loop=1
2025-02-26T11:15:27.932Z,1740568527.932 [sci2_slowyo_test:SurfaceComms:setSink](DEBUG): Aggregate::initialize sci2_slowyo_test:SurfaceComms:setSink
2025-02-26T11:15:27.932Z,1740568527.932 [sci2_slowyo_test:SurfaceComms:setSink:A] Running Loop=1
2025-02-26T11:15:28.364Z,1740568528.364 [sci2_slowyo_test:SurfaceComms:setSink] Stopped
2025-02-26T11:15:28.364Z,1740568528.364 [sci2_slowyo_test:SurfaceComms:setSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms:setSink
2025-02-26T11:15:28.364Z,1740568528.364 [sci2_slowyo_test:SurfaceComms:setSink:A] Stopped
2025-02-26T11:15:28.377Z,1740568528.377 [sci2_slowyo_test:SurfaceComms](INFO): Completed sci2_slowyo_test:SurfaceComms
2025-02-26T11:15:28.377Z,1740568528.377 [sci2_slowyo_test:SurfaceComms] Stopped
2025-02-26T11:15:28.377Z,1740568528.377 [sci2_slowyo_test:SurfaceComms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:SurfaceComms
2025-02-26T11:15:28.836Z,1740568528.836 [sci2_slowyo_test:StartingMission](INFO): Completed sci2_slowyo_test:StartingMission
2025-02-26T11:15:28.836Z,1740568528.836 [sci2_slowyo_test:StartingMission] Stopped
2025-02-26T11:15:28.853Z,1740568528.853 [sci2_slowyo_test:StartingMission](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StartingMission
2025-02-26T11:15:28.853Z,1740568528.853 [sci2_slowyo_test:Lap] Running Loop=1
2025-02-26T11:15:28.853Z,1740568528.853 [sci2_slowyo_test:Lap](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap
2025-02-26T11:15:28.853Z,1740568528.853 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-26T11:15:28.853Z,1740568528.853 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive
2025-02-26T11:15:28.854Z,1740568528.854 [sci2_slowyo_test:Lap:Dive:A] Running Loop=1
2025-02-26T11:15:28.854Z,1740568528.854 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive:A
2025-02-26T11:15:28.854Z,1740568528.854 [sci2_slowyo_test:Lap:Wpt1] Running Loop=1
2025-02-26T11:15:28.854Z,1740568528.854 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt1
2025-02-26T11:15:28.854Z,1740568528.854 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-02-26T11:15:28.854Z,1740568528.854 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T11:15:28.855Z,1740568528.855 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.806965,-121.824326
2025-02-26T11:15:29.419Z,1740568529.419 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.806965,-121.824326
2025-02-26T11:15:29.420Z,1740568529.420 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-26T11:15:29.420Z,1740568529.420 [sci2_slowyo_test:DiveCmd] Running Loop=1
2025-02-26T11:15:29.420Z,1740568529.420 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd
2025-02-26T11:15:29.420Z,1740568529.420 [sci2_slowyo_test:DiveCmd:SurfaceSink] Running Loop=1
2025-02-26T11:15:29.420Z,1740568529.420 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-26T11:15:29.420Z,1740568529.420 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-02-26T11:15:29.465Z,1740568529.465 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-26T11:15:29.465Z,1740568529.465 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-26T11:15:29.465Z,1740568529.465 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T11:15:29.465Z,1740568529.465 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-02-26T11:15:29.465Z,1740568529.465 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-02-26T11:15:29.465Z,1740568529.465 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-02-26T11:15:29.465Z,1740568529.465 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-02-26T11:15:29.466Z,1740568529.466 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T11:15:29.466Z,1740568529.466 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Running Loop=1
2025-02-26T11:15:29.466Z,1740568529.466 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T11:15:29.466Z,1740568529.466 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-02-26T11:15:29.466Z,1740568529.466 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Initialize.
2025-02-26T11:15:29.466Z,1740568529.466 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-26T11:15:29.466Z,1740568529.466 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T11:15:29.467Z,1740568529.467 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Running Loop=1
2025-02-26T11:15:29.467Z,1740568529.467 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T11:15:29.467Z,1740568529.467 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T11:15:29.467Z,1740568529.467 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T11:15:29.467Z,1740568529.467 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:15:29.468Z,1740568529.468 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T11:15:29.468Z,1740568529.468 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T11:15:29.468Z,1740568529.468 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T11:15:29.468Z,1740568529.468 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T11:15:29.468Z,1740568529.468 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T11:15:29.468Z,1740568529.468 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T11:15:29.468Z,1740568529.468 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T11:15:29.468Z,1740568529.468 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:15:29.469Z,1740568529.469 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T11:15:29.474Z,1740568529.474 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T11:15:29.475Z,1740568529.475 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-26T11:15:29.475Z,1740568529.475 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T11:15:29.475Z,1740568529.475 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-26T11:15:29.475Z,1740568529.475 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:15:29.475Z,1740568529.475 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-26T11:15:29.475Z,1740568529.475 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T11:15:29.475Z,1740568529.475 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-26T11:15:29.475Z,1740568529.475 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-26T11:15:29.475Z,1740568529.475 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-26T11:15:29.476Z,1740568529.476 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T11:15:29.476Z,1740568529.476 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:15:29.476Z,1740568529.476 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T11:15:29.476Z,1740568529.476 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T11:15:29.476Z,1740568529.476 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-02-26T11:15:29.476Z,1740568529.476 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C](INFO): Waiting for 1 minute while pumping down to neutral.
2025-02-26T11:15:29.476Z,1740568529.476 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Stopped
2025-02-26T11:15:29.476Z,1740568529.476 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait] Running Loop=1
2025-02-26T11:15:29.476Z,1740568529.476 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Initialize Wait Component.
2025-02-26T11:15:29.476Z,1740568529.476 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-26T11:15:29.497Z,1740568529.497 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-02-26T11:15:29.497Z,1740568529.497 [sci2_slowyo_test:DiveCmd:SurfaceSink] Stopped
2025-02-26T11:15:29.497Z,1740568529.497 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-26T11:15:29.498Z,1740568529.498 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Stopped
2025-02-26T11:15:29.498Z,1740568529.498 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-26T11:15:29.498Z,1740568529.498 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-02-26T11:15:29.498Z,1740568529.498 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T11:15:29.498Z,1740568529.498 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-02-26T11:15:29.498Z,1740568529.498 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-02-26T11:15:29.498Z,1740568529.498 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Stopped
2025-02-26T11:15:55.167Z,1740568555.167 [NAL9602](INFO): SBD MO Status=0, MOMSN=13544, MT Status=0, MTMSN=0
2025-02-26T11:15:55.167Z,1740568555.167 [NAL9602](INFO): No messages in MT queue
2025-02-26T11:16:25.920Z,1740568585.920 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T11:16:29.960Z,1740568589.960 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](INFO): Done Waiting.
2025-02-26T11:16:29.960Z,1740568589.960 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait] Stopped
2025-02-26T11:16:29.961Z,1740568589.961 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T11:16:29.961Z,1740568589.961 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E] Running Loop=1
2025-02-26T11:16:30.362Z,1740568590.362 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E](INFO): Moving to  10.000000 m 
2025-02-26T11:16:30.362Z,1740568590.362 [sci2_slowyo_test:DiveCmd:InitialDive:dive:E] Stopped
2025-02-26T11:16:30.362Z,1740568590.362 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth] Running Loop=1
2025-02-26T11:16:30.362Z,1740568590.362 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-26T11:16:30.363Z,1740568590.363 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-02-26T11:16:30.363Z,1740568590.363 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2025-02-26T11:16:30.363Z,1740568590.363 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Running Loop=1
2025-02-26T11:16:30.363Z,1740568590.363 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2025-02-26T11:16:30.780Z,1740568590.780 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Running Loop=1
2025-02-26T11:18:46.495Z,1740568726.495 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:19:02.785Z,1740568742.785 [Radio_Surface](INFO): Powering down
2025-02-26T11:19:17.622Z,1740568757.622 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:19:18.625Z,1740568758.625 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T11:19:41.231Z,1740568781.231 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch] Stopped
2025-02-26T11:19:41.232Z,1740568781.232 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-26T11:19:41.232Z,1740568781.232 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth] Stopped
2025-02-26T11:19:41.232Z,1740568781.232 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth
2025-02-26T11:19:41.232Z,1740568781.232 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed] Stopped
2025-02-26T11:19:41.232Z,1740568781.232 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-02-26T11:19:41.232Z,1740568781.232 [sci2_slowyo_test:DiveCmd:InitialDive:dive:G] Running Loop=1
2025-02-26T11:19:41.639Z,1740568781.639 [sci2_slowyo_test:DiveCmd:InitialDive:dive:G] Stopped
2025-02-26T11:19:41.639Z,1740568781.639 [sci2_slowyo_test:DiveCmd:InitialDive:dive](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T11:19:41.639Z,1740568781.639 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Stopped
2025-02-26T11:19:41.640Z,1740568781.640 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T11:19:41.640Z,1740568781.640 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Stopped
2025-02-26T11:19:41.640Z,1740568781.640 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Uninitialize.
2025-02-26T11:19:41.640Z,1740568781.640 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-02-26T11:19:41.640Z,1740568781.640 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T11:19:41.640Z,1740568781.640 [sci2_slowyo_test:DiveCmd:InitialDive](INFO): Completed sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T11:19:42.056Z,1740568782.056 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T11:19:42.057Z,1740568782.057 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T11:19:42.057Z,1740568782.057 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T11:19:42.057Z,1740568782.057 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:19:42.057Z,1740568782.057 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T11:19:42.057Z,1740568782.057 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T11:19:42.057Z,1740568782.057 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T11:19:42.057Z,1740568782.057 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T11:19:42.057Z,1740568782.057 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T11:19:42.058Z,1740568782.058 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T11:19:42.058Z,1740568782.058 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T11:19:42.058Z,1740568782.058 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:19:42.058Z,1740568782.058 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T11:19:42.058Z,1740568782.058 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T11:19:42.058Z,1740568782.058 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T11:19:42.058Z,1740568782.058 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T11:19:42.059Z,1740568782.059 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T11:19:42.059Z,1740568782.059 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T11:19:42.059Z,1740568782.059 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T11:20:55.009Z,1740568855.009 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.722549
2025-02-26T11:22:53.451Z,1740568973.451 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-26T11:22:53.451Z,1740568973.451 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T11:22:53.451Z,1740568973.451 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T11:22:53.452Z,1740568973.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:22:53.452Z,1740568973.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T11:22:53.452Z,1740568973.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:22:53.453Z,1740568973.453 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:22:53.863Z,1740568973.863 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T11:22:53.863Z,1740568973.863 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:22:53.863Z,1740568973.863 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T11:22:53.863Z,1740568973.863 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T11:22:53.863Z,1740568973.863 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T11:22:53.863Z,1740568973.863 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T11:22:53.863Z,1740568973.863 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T11:22:53.863Z,1740568973.863 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T11:22:53.864Z,1740568973.864 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T11:22:53.864Z,1740568973.864 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:22:53.864Z,1740568973.864 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T11:22:53.864Z,1740568973.864 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T11:29:11.164Z,1740569351.164 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-26T11:29:11.164Z,1740569351.164 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T11:29:11.164Z,1740569351.164 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T11:29:11.165Z,1740569351.165 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:29:11.165Z,1740569351.165 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T11:29:11.165Z,1740569351.165 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:29:11.166Z,1740569351.166 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:29:11.622Z,1740569351.622 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T11:29:11.622Z,1740569351.622 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:29:11.623Z,1740569351.623 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T11:29:11.623Z,1740569351.623 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T11:29:11.623Z,1740569351.623 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T11:29:11.623Z,1740569351.623 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T11:29:11.623Z,1740569351.623 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T11:29:11.623Z,1740569351.623 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T11:29:11.623Z,1740569351.623 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T11:29:11.623Z,1740569351.623 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:29:11.623Z,1740569351.623 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T11:29:11.623Z,1740569351.623 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T11:31:59.066Z,1740569519.066 [CTD_Seabird](ERROR): Failed to parse device response: 8
2025-02-26T11:35:11.882Z,1740569711.882 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-26T11:35:11.883Z,1740569711.883 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T11:35:11.883Z,1740569711.883 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T11:35:11.883Z,1740569711.883 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:35:11.883Z,1740569711.883 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T11:35:11.883Z,1740569711.883 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:35:11.884Z,1740569711.884 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:35:12.348Z,1740569712.348 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T11:35:12.348Z,1740569712.348 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:35:12.348Z,1740569712.348 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T11:35:12.348Z,1740569712.348 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T11:35:12.348Z,1740569712.348 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T11:35:12.348Z,1740569712.348 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T11:35:12.349Z,1740569712.349 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T11:35:12.349Z,1740569712.349 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T11:35:12.349Z,1740569712.349 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T11:35:12.349Z,1740569712.349 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:35:12.349Z,1740569712.349 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T11:35:12.349Z,1740569712.349 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T11:40:21.591Z,1740570021.591 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-26T11:40:21.591Z,1740570021.591 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T11:40:21.591Z,1740570021.591 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T11:40:21.592Z,1740570021.592 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:40:21.592Z,1740570021.592 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T11:40:21.592Z,1740570021.592 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:40:21.597Z,1740570021.597 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:40:21.944Z,1740570021.944 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T11:40:21.944Z,1740570021.944 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:40:21.944Z,1740570021.944 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T11:40:21.944Z,1740570021.944 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T11:40:21.944Z,1740570021.944 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T11:40:21.944Z,1740570021.944 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T11:40:21.944Z,1740570021.944 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T11:40:21.944Z,1740570021.944 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T11:40:21.944Z,1740570021.944 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T11:40:21.945Z,1740570021.945 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:40:21.945Z,1740570021.945 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T11:40:21.945Z,1740570021.945 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T11:43:42.223Z,1740570222.223 [MassServo](ERROR): getPosition uart error serial timeout
2025-02-26T11:43:42.224Z,1740570222.224 [MassServo](FAULT): Invalid EZ Servo response:"\377"
2025-02-26T11:43:42.224Z,1740570222.224 [MassServo] Communications Fault, FailCount= 5
2025-02-26T11:43:42.224Z,1740570222.224 [MassServo](ERROR): Communications Fault
2025-02-26T11:43:42.301Z,1740570222.301 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-26T11:43:42.301Z,1740570222.301 [CBIT](CRITICAL): Communications Fault in component: MassServo
2025-02-26T11:43:42.562Z,1740570222.562 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-26T11:43:42.562Z,1740570222.562 [MassServo](INFO): Powering down
2025-02-26T11:43:42.639Z,1740570222.639 [CommandExec](FAULT): Scheduling is paused for 2 commands
2025-02-26T11:43:42.639Z,1740570222.639 [CBIT](INFO): Critical error at 20250226T114342
2025-02-26T11:43:42.639Z,1740570222.639 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-02-26T11:43:42.940Z,1740570222.940 [MissionManager](INFO): MissionManager is completed.
2025-02-26T11:43:42.940Z,1740570222.940 [MissionManager](INFO): Uninitializing Mission sci2_slowyo_test
2025-02-26T11:43:42.940Z,1740570222.940 [sci2_slowyo_test] Stopped
2025-02-26T11:43:42.940Z,1740570222.940 [sci2_slowyo_test](DEBUG): Aggregate::uninitialize sci2_slowyo_test
2025-02-26T11:43:42.940Z,1740570222.940 [sci2_slowyo_test:Science] Stopped
2025-02-26T11:43:42.940Z,1740570222.940 [sci2_slowyo_test:Science](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science
2025-02-26T11:43:42.940Z,1740570222.940 [sci2_slowyo_test:Science:B] Stopped
2025-02-26T11:43:42.940Z,1740570222.940 [sci2_slowyo_test:Science:C] Stopped
2025-02-26T11:43:42.940Z,1740570222.940 [sci2_slowyo_test:Science:E] Stopped
2025-02-26T11:43:42.940Z,1740570222.940 [sci2_slowyo_test:Science:OceanCurrent] Stopped
2025-02-26T11:43:42.941Z,1740570222.941 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:OceanCurrent
2025-02-26T11:43:42.941Z,1740570222.941 [sci2_slowyo_test:Science:OceanCurrent:A.] Stopped
2025-02-26T11:43:42.941Z,1740570222.941 [sci2_slowyo_test:StandardEnvelopes] Stopped
2025-02-26T11:43:42.941Z,1740570222.941 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StandardEnvelopes
2025-02-26T11:43:42.941Z,1740570222.941 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-26T11:43:42.941Z,1740570222.941 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-26T11:43:42.941Z,1740570222.941 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-26T11:43:42.941Z,1740570222.941 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-26T11:43:42.941Z,1740570222.941 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-26T11:43:42.941Z,1740570222.941 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-26T11:43:42.941Z,1740570222.941 [sci2_slowyo_test:BackseatDriver] Stopped
2025-02-26T11:43:42.942Z,1740570222.942 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_slowyo_test:BackseatDriver
2025-02-26T11:43:42.942Z,1740570222.942 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Stopped
2025-02-26T11:43:42.942Z,1740570222.942 [sci2_slowyo_test:PowerOnly] Stopped
2025-02-26T11:43:42.942Z,1740570222.942 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::uninitialize sci2_slowyo_test:PowerOnly
2025-02-26T11:43:42.942Z,1740570222.942 [sci2_slowyo_test:PowerOnly:E.Wait] Stopped
2025-02-26T11:43:42.942Z,1740570222.942 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T11:43:42.942Z,1740570222.942 [sci2_slowyo_test:DiveCmd] Stopped
2025-02-26T11:43:42.942Z,1740570222.942 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd
2025-02-26T11:43:42.942Z,1740570222.942 [sci2_slowyo_test:DiveCmd:InitialDive] Stopped
2025-02-26T11:43:42.942Z,1740570222.942 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T11:43:42.942Z,1740570222.942 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-26T11:43:42.943Z,1740570222.943 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T11:43:42.943Z,1740570222.943 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-26T11:43:42.943Z,1740570222.943 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:43:42.943Z,1740570222.943 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-26T11:43:42.943Z,1740570222.943 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T11:43:42.943Z,1740570222.943 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-26T11:43:42.943Z,1740570222.943 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-26T11:43:42.943Z,1740570222.943 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-26T11:43:42.943Z,1740570222.943 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T11:43:42.943Z,1740570222.943 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:43:42.943Z,1740570222.943 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T11:43:42.943Z,1740570222.943 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T11:43:42.943Z,1740570222.943 [sci2_slowyo_test:Lap] Stopped
2025-02-26T11:43:42.944Z,1740570222.944 [sci2_slowyo_test:Lap](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap
2025-02-26T11:43:42.944Z,1740570222.944 [sci2_slowyo_test:Lap:Dive] Stopped
2025-02-26T11:43:42.944Z,1740570222.944 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive
2025-02-26T11:43:42.944Z,1740570222.944 [sci2_slowyo_test:Lap:Dive:A] Stopped
2025-02-26T11:43:42.944Z,1740570222.944 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive:A
2025-02-26T11:43:42.944Z,1740570222.944 [sci2_slowyo_test:Lap:Wpt1] Stopped
2025-02-26T11:43:42.944Z,1740570222.944 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt1
2025-02-26T11:43:42.944Z,1740570222.944 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Stopped
2025-02-26T11:43:42.944Z,1740570222.944 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T11:43:43.331Z,1740570223.331 [WetLabsBB2FL](INFO): Powering down
2025-02-26T11:43:43.341Z,1740570223.341 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T11:43:43.342Z,1740570223.342 [Default] Running Loop=1
2025-02-26T11:43:43.342Z,1740570223.342 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T11:43:43.342Z,1740570223.342 [Default:B.GoToSurface] Running Loop=1
2025-02-26T11:43:43.342Z,1740570223.342 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T11:43:43.342Z,1740570223.342 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T11:43:43.342Z,1740570223.342 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T11:43:43.343Z,1740570223.343 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T11:43:43.343Z,1740570223.343 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T11:43:43.343Z,1740570223.343 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T11:43:43.344Z,1740570223.344 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T11:43:43.344Z,1740570223.344 [Default:A.Wait] Running Loop=1
2025-02-26T11:43:43.344Z,1740570223.344 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T11:43:43.352Z,1740570223.352 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-26T11:43:43.471Z,1740570223.471 [MassServo](DEBUG): Initializing MassServo.
2025-02-26T11:43:43.742Z,1740570223.742 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-26T11:43:43.742Z,1740570223.742 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-26T11:43:43.813Z,1740570223.813 [Radio_Surface](INFO): Powering up
2025-02-26T11:43:49.785Z,1740570229.785 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T11:43:56.676Z,1740570236.676 [Default:A.Wait](INFO): Done Waiting.
2025-02-26T11:43:56.676Z,1740570236.676 [Default:A.Wait] Stopped
2025-02-26T11:43:56.676Z,1740570236.676 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T11:44:01.913Z,1740570241.913 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-26T11:44:01.914Z,1740570241.914 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-26T11:44:01.914Z,1740570241.914 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-26T11:44:19.917Z,1740570259.917 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:44:51.041Z,1740570291.041 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:45:22.173Z,1740570322.173 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:45:23.120Z,1740570323.120 [Default:B.GoToSurface](ERROR): Pitch down timeout. Pitch: -12.17
2025-02-26T11:45:53.297Z,1740570353.297 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:46:24.421Z,1740570384.421 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:46:55.547Z,1740570415.547 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:47:26.699Z,1740570446.699 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:47:36.037Z,1740570456.037 [Default:CheckIn] Running Loop=1
2025-02-26T11:47:36.037Z,1740570456.037 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T11:47:36.037Z,1740570456.037 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T11:47:57.821Z,1740570477.821 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:48:17.639Z,1740570497.639 [NAL9602](INFO): SBD MO Status=0, MOMSN=13545, MT Status=0, MTMSN=0
2025-02-26T11:48:17.639Z,1740570497.639 [NAL9602](INFO): No messages in MT queue
2025-02-26T11:48:18.856Z,1740570498.856 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,114818.00,A,3648.18360,N,12150.25233,W,0.622,3.37,260225,,,A*7E
2025-02-26T11:48:18.858Z,1740570498.858 [NAL9602](INFO): GPS fix at 20250226T114818: (36.803060, -121.837539)
2025-02-26T11:48:18.891Z,1740570498.891 [UniversalFixResidualReporter](INFO): Fix residual: 19.5 %DT, over the last 1033.1 m. Residual distance 201.0 m at bearing -136.5 degrees. Fix at (36.8031, -121.8375) with 1219.4 m made good.
2025-02-26T11:48:18.892Z,1740570498.892 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T11:48:18.892Z,1740570498.892 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T11:48:26.649Z,1740570506.649 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002919
2025-02-26T11:48:34.173Z,1740570514.173 [DataOverHttps](INFO): Sending 134 bytes from file Logs/20250226T074052/Courier0079.lzma
2025-02-26T11:48:35.175Z,1740570515.175 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0079.lzma.bak
2025-02-26T11:48:35.175Z,1740570515.175 [DataOverHttps](INFO): SBD MOMSN=23978907
2025-02-26T11:48:42.582Z,1740570522.582 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-26T11:48:42.582Z,1740570522.582 [MassServo] No Fault, FailCount= 5
2025-02-26T11:48:56.320Z,1740570536.320 [NAL9602](INFO): SBD MO Status=2, MOMSN=13546, MT Status=2, MTMSN=0
2025-02-26T11:48:56.320Z,1740570536.320 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T11:48:58.457Z,1740570538.457 [DataOverHttps](INFO): Sending 542 bytes from file Logs/20250226T074052/Express0080.lzma
2025-02-26T11:48:59.459Z,1740570539.459 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0080.lzma.bak
2025-02-26T11:48:59.459Z,1740570539.459 [DataOverHttps](INFO): SBD MOMSN=23978911
2025-02-26T11:49:01.673Z,1740570541.673 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T11:49:01.685Z,1740570541.685 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T11:49:01.685Z,1740570541.685 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T11:49:26.742Z,1740570566.742 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T11:50:27.858Z,1740570627.858 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T115026
2025-02-26T11:50:35.466Z,1740570635.466 [DataOverHttps](INFO): Received command: resume; schedule resume
2025-02-26T11:50:35.560Z,1740570635.560 [CommandExec](IMPORTANT): got command resume
2025-02-26T11:50:35.560Z,1740570635.560 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T11:50:35.560Z,1740570635.560 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T11:50:35.569Z,1740570635.569 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Science/sci2_slowyo_test.tl
2025-02-26T11:50:39.438Z,1740570639.438 [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>

2025-02-26T11:50:39.468Z,1740570639.468 [MissionManager](INFO): DefineArg sci2_slowyo_test.MissionTimeout = 2.000000 h
2025-02-26T11:50:39.475Z,1740570639.475 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsTime = 60.000000 min
2025-02-26T11:50:39.503Z,1740570639.503 [MissionManager](INFO): DefineArg sci2_slowyo_test.NeedCommsSurfaceDepthRate = 0.300000 m/s
2025-02-26T11:50:39.506Z,1740570639.506 [MissionManager](INFO): DefineArg sci2_slowyo_test.Repeat = 1.000000 count
2025-02-26T11:50:39.508Z,1740570639.508 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat1 = nan arcdeg
2025-02-26T11:50:39.514Z,1740570639.514 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat2 = nan arcdeg
2025-02-26T11:50:39.516Z,1740570639.516 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat3 = nan arcdeg
2025-02-26T11:50:39.522Z,1740570639.522 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat4 = nan arcdeg
2025-02-26T11:50:39.524Z,1740570639.524 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat5 = nan arcdeg
2025-02-26T11:50:39.548Z,1740570639.548 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat6 = nan arcdeg
2025-02-26T11:50:39.555Z,1740570639.555 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lat7 = nan arcdeg
2025-02-26T11:50:39.561Z,1740570639.561 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon1 = nan arcdeg
2025-02-26T11:50:39.563Z,1740570639.563 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon2 = nan arcdeg
2025-02-26T11:50:39.569Z,1740570639.569 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon3 = nan arcdeg
2025-02-26T11:50:39.586Z,1740570639.586 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon4 = nan arcdeg
2025-02-26T11:50:39.588Z,1740570639.588 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon5 = nan arcdeg
2025-02-26T11:50:39.599Z,1740570639.599 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon6 = nan arcdeg
2025-02-26T11:50:39.605Z,1740570639.605 [MissionManager](INFO): DefineArg sci2_slowyo_test.Lon7 = nan arcdeg
2025-02-26T11:50:39.607Z,1740570639.607 [MissionManager](INFO): DefineArg sci2_slowyo_test.ApproachDepthTimeout = 15.000000 min
2025-02-26T11:50:39.614Z,1740570639.614 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoDiveAngle = 15.000000 arcdeg
2025-02-26T11:50:39.616Z,1740570639.616 [MissionManager](INFO): DefineArg sci2_slowyo_test.Speed = 1.000000 m/s
2025-02-26T11:50:39.626Z,1740570639.626 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMinDepth = 10.000000 m
2025-02-26T11:50:39.628Z,1740570639.628 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoMaxDepth = 40.000000 m
2025-02-26T11:50:39.633Z,1740570639.633 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoNumYoYos = 1.000000 count
2025-02-26T11:50:39.649Z,1740570639.649 [MissionManager](INFO): DefineArg sci2_slowyo_test.SlowYoTurningWindow = 10.000000 m
2025-02-26T11:50:39.651Z,1740570639.651 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkOffSurface = 0 bool
2025-02-26T11:50:39.663Z,1740570639.663 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepth = 10.000000 m
2025-02-26T11:50:39.702Z,1740570639.702 [MissionManager](INFO): DefineArg sci2_slowyo_test.SinkDepthTimeout = 10.000000 min
2025-02-26T11:50:39.711Z,1740570639.711 [MissionManager](INFO): DefineArg sci2_slowyo_test.CaptureRadius = nan m
2025-02-26T11:50:39.712Z,1740570639.712 [MissionManager](INFO): DefineArg sci2_slowyo_test.PeakDetectChl = 0 bool
2025-02-26T11:50:39.723Z,1740570639.723 [MissionManager](INFO): DefineArg sci2_slowyo_test.ShallowBoundChl = nan m
2025-02-26T11:50:39.729Z,1740570639.729 [MissionManager](INFO): DefineArg sci2_slowyo_test.DeepBoundChl = nan m
2025-02-26T11:50:39.731Z,1740570639.731 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlThreshTrigger = 0 bool
2025-02-26T11:50:39.737Z,1740570639.737 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlLowerThreshold = nan ug/l
2025-02-26T11:50:39.739Z,1740570639.739 [MissionManager](INFO): DefineArg sci2_slowyo_test.ChlUpperThreshold = nan ug/l
2025-02-26T11:50:39.742Z,1740570639.742 [MissionManager](INFO): DefineArg sci2_slowyo_test.NumProfilesThreshold = 5.000000 count
2025-02-26T11:50:39.744Z,1740570639.744 [MissionManager](INFO): DefineArg sci2_slowyo_test.BuoyancyNeutral = 305.318329 cc
2025-02-26T11:50:39.763Z,1740570639.763 [MissionManager](INFO): DefineArg sci2_slowyo_test.ElevatorDefault = 0.000000 arcdeg
2025-02-26T11:50:39.770Z,1740570639.770 [MissionManager](INFO): DefineArg sci2_slowyo_test.MassDefault = 1.164778 cm
2025-02-26T11:50:39.772Z,1740570639.772 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinAltitude = 7.000000 m
2025-02-26T11:50:39.783Z,1740570639.783 [MissionManager](INFO): DefineArg sci2_slowyo_test.MaxDepth = 60.000000 m
2025-02-26T11:50:39.785Z,1740570639.785 [MissionManager](INFO): DefineArg sci2_slowyo_test.MinOffshore = 2.000000 km
2025-02-26T11:50:39.787Z,1740570639.787 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DiveMode = 0.000000 count
2025-02-26T11:50:39.802Z,1740570639.802 [MissionManager](INFO): DefineOutput sci2_slowyo_test.DoingComms = 0.000000 count
2025-02-26T11:50:39.804Z,1740570639.804 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SurfaceSink = 1.000000 count
2025-02-26T11:50:39.810Z,1740570639.810 [MissionManager](INFO): DefineOutput sci2_slowyo_test.InitialDive = 2.000000 count
2025-02-26T11:50:39.817Z,1740570639.817 [MissionManager](INFO): DefineOutput sci2_slowyo_test.SlowYo = 3.000000 count
2025-02-26T11:50:39.818Z,1740570639.818 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-26T11:50:39.818Z,1740570639.818 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-26T11:50:39.826Z,1740570639.826 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-26T11:50:42.622Z,1740570642.622 [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>

2025-02-26T11:50:42.642Z,1740570642.642 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectChlActive = 0 bool
2025-02-26T11:50:42.644Z,1740570642.644 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectChlActive = 0 bool
2025-02-26T11:50:42.646Z,1740570642.646 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.TimeWindowPeakReport = nan min
2025-02-26T11:50:42.648Z,1740570642.648 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestChlPeakReportActive = 0 bool
2025-02-26T11:50:42.650Z,1740570642.650 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestSaltPeakReportActive = 0 bool
2025-02-26T11:50:42.652Z,1740570642.652 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.HighestOilPeakReportActive = 0 bool
2025-02-26T11:50:42.655Z,1740570642.655 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PatchTracking = 0 bool
2025-02-26T11:50:42.657Z,1740570642.657 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.FilterWidthHorizontal = 3.000000 count
2025-02-26T11:50:42.660Z,1740570642.660 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-26T11:50:42.662Z,1740570642.662 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-26T11:50:42.664Z,1740570642.664 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectNO3Active = 0 bool
2025-02-26T11:50:42.671Z,1740570642.671 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectOilActive = 0 bool
2025-02-26T11:50:42.673Z,1740570642.673 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectFDOMActive = 0 bool
2025-02-26T11:50:42.675Z,1740570642.675 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectSalinityActive = 0 bool
2025-02-26T11:50:42.701Z,1740570642.701 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T11:50:42.703Z,1740570642.703 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T11:50:42.709Z,1740570642.709 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-26T11:50:42.711Z,1740570642.711 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-26T11:50:42.717Z,1740570642.717 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-26T11:50:42.719Z,1740570642.719 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-26T11:50:42.726Z,1740570642.726 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledAanderaaO2 = 0 bool
2025-02-26T11:50:42.728Z,1740570642.728 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledNeilBrown = 0 bool
2025-02-26T11:50:42.734Z,1740570642.734 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledSeabird = 1 bool
2025-02-26T11:50:42.737Z,1740570642.737 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-26T11:50:42.739Z,1740570642.739 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-26T11:50:42.742Z,1740570642.742 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.EnabledWetLabsUBAT = 0 bool
2025-02-26T11:50:42.745Z,1740570642.745 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.LowPassWindowLength = 20.000000 count
2025-02-26T11:50:42.748Z,1740570642.748 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.MedianFilterLen = 5.000000 count
2025-02-26T11:50:42.750Z,1740570642.750 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ShallowBound = nan m
2025-02-26T11:50:42.754Z,1740570642.754 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DeepBound = nan m
2025-02-26T11:50:42.756Z,1740570642.756 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-26T11:50:42.758Z,1740570642.758 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.OffPeakFractionVertical = nan %
2025-02-26T11:50:42.760Z,1740570642.760 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-26T11:50:42.762Z,1740570642.762 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = 0 bool
2025-02-26T11:50:42.764Z,1740570642.764 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlLowerThresh = nan ug/l
2025-02-26T11:50:42.771Z,1740570642.771 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.ChlUpperThresh = nan ug/l
2025-02-26T11:50:42.774Z,1740570642.774 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.NumProfilesThresh = 5.000000 count
2025-02-26T11:50:42.776Z,1740570642.776 [MissionManager](INFO): DefineArg sci2_slowyo_test:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-26T11:50:42.778Z,1740570642.778 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.GoDown = 1 bool
2025-02-26T11:50:42.780Z,1740570642.780 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChl = nan ug/l
2025-02-26T11:50:42.783Z,1740570642.783 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlDepth = nan m
2025-02-26T11:50:42.785Z,1740570642.785 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlTemperature = nan degC
2025-02-26T11:50:42.787Z,1740570642.787 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLatitude = nan arcdeg
2025-02-26T11:50:42.790Z,1740570642.790 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakChlLongitude = nan arcdeg
2025-02-26T11:50:42.792Z,1740570642.792 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChl = nan ug/l
2025-02-26T11:50:42.794Z,1740570642.794 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlDepth = nan m
2025-02-26T11:50:42.796Z,1740570642.796 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlTemperature = nan degC
2025-02-26T11:50:42.799Z,1740570642.799 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLatitude = nan arcdeg
2025-02-26T11:50:42.801Z,1740570642.801 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgeChlLongitude = nan arcdeg
2025-02-26T11:50:42.803Z,1740570642.803 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3 = nan umol/l
2025-02-26T11:50:42.806Z,1740570642.806 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Depth = nan m
2025-02-26T11:50:42.808Z,1740570642.808 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Latitude = nan arcdeg
2025-02-26T11:50:42.819Z,1740570642.819 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakNO3Longitude = nan arcdeg
2025-02-26T11:50:42.821Z,1740570642.821 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOil = nan kg/m3
2025-02-26T11:50:42.823Z,1740570642.823 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilDepth = nan m
2025-02-26T11:50:42.826Z,1740570642.826 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLatitude = nan arcdeg
2025-02-26T11:50:42.828Z,1740570642.828 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakOilLongitude = nan arcdeg
2025-02-26T11:50:42.831Z,1740570642.831 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOM = nan ppb
2025-02-26T11:50:42.833Z,1740570642.833 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMDepth = nan m
2025-02-26T11:50:42.836Z,1740570642.836 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMTemperature = nan degC
2025-02-26T11:50:42.838Z,1740570642.838 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLatitude = nan arcdeg
2025-02-26T11:50:42.840Z,1740570642.840 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakFDOMLongitude = nan arcdeg
2025-02-26T11:50:42.851Z,1740570642.851 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSalt = nan psu
2025-02-26T11:50:42.854Z,1740570642.854 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltDepth = nan m
2025-02-26T11:50:42.856Z,1740570642.856 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltTemperature = nan degC
2025-02-26T11:50:42.858Z,1740570642.858 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLatitude = nan arcdeg
2025-02-26T11:50:42.861Z,1740570642.861 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakSaltLongitude = nan arcdeg
2025-02-26T11:50:42.864Z,1740570642.864 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-26T11:50:42.872Z,1740570642.872 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-26T11:50:42.877Z,1740570642.877 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-26T11:50:42.879Z,1740570642.879 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T11:50:42.882Z,1740570642.882 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T11:50:42.884Z,1740570642.884 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-26T11:50:42.887Z,1740570642.887 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-26T11:50:42.889Z,1740570642.889 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-26T11:50:42.891Z,1740570642.891 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T11:50:42.894Z,1740570642.894 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T11:50:42.896Z,1740570642.896 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-26T11:50:42.898Z,1740570642.898 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-26T11:50:42.900Z,1740570642.900 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-26T11:50:42.903Z,1740570642.903 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-26T11:50:42.905Z,1740570642.905 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-26T11:50:42.907Z,1740570642.907 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-26T11:50:42.909Z,1740570642.909 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-26T11:50:42.912Z,1740570642.912 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-26T11:50:42.914Z,1740570642.914 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-26T11:50:42.916Z,1740570642.916 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-26T11:50:42.919Z,1740570642.919 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-26T11:50:42.921Z,1740570642.921 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-26T11:50:42.924Z,1740570642.924 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-26T11:50:42.926Z,1740570642.926 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-26T11:50:42.928Z,1740570642.928 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-26T11:50:42.930Z,1740570642.930 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChl = nan ug/l
2025-02-26T11:50:42.933Z,1740570642.933 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDepth = nan m
2025-02-26T11:50:42.935Z,1740570642.935 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLatitude = nan arcdeg
2025-02-26T11:50:42.937Z,1740570642.937 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlLongitude = nan arcdeg
2025-02-26T11:50:42.939Z,1740570642.939 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchChlDistance = nan m
2025-02-26T11:50:42.942Z,1740570642.942 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSalt = nan psu
2025-02-26T11:50:42.944Z,1740570642.944 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDepth = nan m
2025-02-26T11:50:42.946Z,1740570642.946 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLatitude = nan arcdeg
2025-02-26T11:50:42.949Z,1740570642.949 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltLongitude = nan arcdeg
2025-02-26T11:50:42.952Z,1740570642.952 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchSaltDistance = nan m
2025-02-26T11:50:42.954Z,1740570642.954 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOil = nan psu
2025-02-26T11:50:42.956Z,1740570642.956 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDepth = nan m
2025-02-26T11:50:42.959Z,1740570642.959 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLatitude = nan arcdeg
2025-02-26T11:50:42.961Z,1740570642.961 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilLongitude = nan arcdeg
2025-02-26T11:50:42.963Z,1740570642.963 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.PatchOilDistance = nan m
2025-02-26T11:50:42.965Z,1740570642.965 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.TriggeredOnChl = 0 bool
2025-02-26T11:50:42.968Z,1740570642.968 [MissionManager](INFO): DefineOutput sci2_slowyo_test:Science.ChlTriggering = nan ug/l
2025-02-26T11:50:43.032Z,1740570643.032 [sci2_slowyo_test:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:50:43.076Z,1740570643.076 [sci2_slowyo_test:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T11:50:43.159Z,1740570643.159 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T11:50:43.191Z,1740570643.191 [sci2_slowyo_test:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:50:43.203Z,1740570643.203 [sci2_slowyo_test:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:50:43.230Z,1740570643.230 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T11:50:43.255Z,1740570643.255 [sci2_slowyo_test:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:50:43.287Z,1740570643.287 [sci2_slowyo_test:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:50:43.342Z,1740570643.342 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T11:50:43.383Z,1740570643.383 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:50:43.419Z,1740570643.419 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T11:50:43.515Z,1740570643.515 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:50:43.572Z,1740570643.572 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:50:43.621Z,1740570643.621 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T11:50:43.649Z,1740570643.649 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-26T11:50:43.661Z,1740570643.661 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.PeakDetectChlActive = reader:sci2_slowyo_test.PeakDetectChl
2025-02-26T11:50:43.666Z,1740570643.666 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ShallowBound = reader:sci2_slowyo_test.ShallowBoundChl
2025-02-26T11:50:43.668Z,1740570643.668 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.DeepBound = reader:sci2_slowyo_test.DeepBoundChl
2025-02-26T11:50:43.682Z,1740570643.682 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlThreshTriggerActive = reader:sci2_slowyo_test.ChlThreshTrigger
2025-02-26T11:50:43.684Z,1740570643.684 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlLowerThresh = reader:sci2_slowyo_test.ChlLowerThreshold
2025-02-26T11:50:43.706Z,1740570643.706 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.ChlUpperThresh = reader:sci2_slowyo_test.ChlUpperThreshold
2025-02-26T11:50:43.707Z,1740570643.707 [MissionManager](INFO): RedefineArg sci2_slowyo_test:Science.NumProfilesThresh = reader:sci2_slowyo_test.NumProfilesThreshold
2025-02-26T11:50:43.708Z,1740570643.708 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-26T11:50:43.708Z,1740570643.708 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-26T11:50:43.713Z,1740570643.713 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-26T11:50:44.183Z,1740570644.183 [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>

2025-02-26T11:50:44.191Z,1740570644.191 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.DiveInterval = 1.000000 h
2025-02-26T11:50:44.194Z,1740570644.194 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-26T11:50:44.196Z,1740570644.196 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-26T11:50:44.207Z,1740570644.207 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceDepthRate = nan m/s
2025-02-26T11:50:44.210Z,1740570644.210 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-26T11:50:44.212Z,1740570644.212 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-26T11:50:44.222Z,1740570644.222 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.GPSTimeout = 7.000000 min
2025-02-26T11:50:44.224Z,1740570644.224 [MissionManager](INFO): DefineArg sci2_slowyo_test:NeedComms.CommsTimeout = 30.000000 min
2025-02-26T11:50:44.239Z,1740570644.239 [sci2_slowyo_test:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T11:50:44.270Z,1740570644.270 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-26T11:50:44.270Z,1740570644.270 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-26T11:50:44.271Z,1740570644.271 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-26T11:50:44.474Z,1740570644.474 [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>

2025-02-26T11:50:44.482Z,1740570644.482 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-26T11:50:44.484Z,1740570644.484 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-26T11:50:44.486Z,1740570644.486 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-26T11:50:44.488Z,1740570644.488 [MissionManager](INFO): DefineArg sci2_slowyo_test:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-26T11:50:44.522Z,1740570644.522 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-26T11:50:44.528Z,1740570644.528 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-26T11:50:44.546Z,1740570644.546 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-26T11:50:44.561Z,1740570644.561 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-26T11:50:44.561Z,1740570644.561 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-26T11:50:44.562Z,1740570644.562 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-26T11:50:44.596Z,1740570644.596 [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>

2025-02-26T11:50:44.603Z,1740570644.603 [MissionManager](INFO): DefineArg sci2_slowyo_test:BackseatDriver.EnableBackseat = 0 bool
2025-02-26T11:50:44.610Z,1740570644.610 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-26T11:50:44.612Z,1740570644.612 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-26T11:50:44.612Z,1740570644.612 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-26T11:50:44.617Z,1740570644.617 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-26T11:50:44.838Z,1740570644.838 [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>

2025-02-26T11:50:44.842Z,1740570644.842 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleAll = 0 bool
2025-02-26T11:50:44.844Z,1740570644.844 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad1 = 0 bool
2025-02-26T11:50:44.846Z,1740570644.846 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad2 = 0 bool
2025-02-26T11:50:44.848Z,1740570644.848 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.SampleLoad3 = 0 bool
2025-02-26T11:50:44.850Z,1740570644.850 [MissionManager](INFO): DefineArg sci2_slowyo_test:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-26T11:50:44.857Z,1740570644.857 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-26T11:50:44.907Z,1740570644.907 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T11:50:44.911Z,1740570644.911 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Construct.
2025-02-26T11:50:44.924Z,1740570644.924 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:D.Pitch](DEBUG): Construct.
2025-02-26T11:50:44.940Z,1740570644.940 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Construct.
2025-02-26T11:50:44.942Z,1740570644.942 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T11:50:44.945Z,1740570644.945 [sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait](DEBUG): Construct Wait.
2025-02-26T11:50:44.948Z,1740570644.948 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2025-02-26T11:50:44.950Z,1740570644.950 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch](DEBUG): Construct.
2025-02-26T11:50:44.956Z,1740570644.956 [sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-26T11:50:44.961Z,1740570644.961 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T11:50:44.963Z,1740570644.963 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Construct.
2025-02-26T11:50:44.982Z,1740570644.982 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Construct.
2025-02-26T11:50:44.985Z,1740570644.985 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Construct SlowYo.
2025-02-26T11:50:44.991Z,1740570644.991 [sci2_slowyo_test:StopIfTriggered:A.Execute](DEBUG): Construct Execute.
2025-02-26T11:50:44.997Z,1740570644.997 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T11:50:45.002Z,1740570645.002 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T11:50:45.008Z,1740570645.008 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T11:50:45.013Z,1740570645.013 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T11:50:45.028Z,1740570645.028 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T11:50:45.033Z,1740570645.033 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T11:50:45.038Z,1740570645.038 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T11:50:45.094Z,1740570645.094 [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]
        }
      }
    }
  }
}


2025-02-26T11:50:45.136Z,1740570645.136 [MissionManager](IMPORTANT): Resuming from info in Logs/20250226T074052/Science_sci2_slowyo_test_tl.state
2025-02-26T11:50:45.198Z,1740570645.198 [MissionManager](INFO): Default->Default:CheckIn/0
2025-02-26T11:50:45.198Z,1740570645.198 [MissionManager](INFO): Default:A.Wait->null/0
2025-02-26T11:50:45.198Z,1740570645.198 [MissionManager](INFO): Default:B.GoToSurface->null/0
2025-02-26T11:50:45.199Z,1740570645.199 [MissionManager](INFO): Default:CheckIn->Default:CheckIn:C.Wait/0
2025-02-26T11:50:45.199Z,1740570645.199 [MissionManager](INFO): Default:CheckIn:Read_GPS->null/0
2025-02-26T11:50:45.199Z,1740570645.199 [MissionManager](INFO): Default:CheckIn:Read_Iridium->null/0
2025-02-26T11:50:45.200Z,1740570645.200 [MissionManager](INFO): Default:CheckIn:C.Wait->null/0
2025-02-26T11:50:45.200Z,1740570645.200 [MissionManager](INFO): sci2_slowyo_test->sci2_slowyo_test:Lap/0
2025-02-26T11:50:45.200Z,1740570645.200 [MissionManager](INFO): sci2_slowyo_test:Science->sci2_slowyo_test:Science:OceanCurrent/0
2025-02-26T11:50:45.205Z,1740570645.205 [MissionManager](INFO): sci2_slowyo_test:Science:OceanCurrent->null/0
2025-02-26T11:50:45.205Z,1740570645.205 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectChl->sci2_slowyo_test:Science:PeakDetectChl:A/0
2025-02-26T11:50:45.206Z,1740570645.206 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectChl:A->null/0
2025-02-26T11:50:45.206Z,1740570645.206 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectChl->sci2_slowyo_test:Science:EdgeDetectChl:A/0
2025-02-26T11:50:45.207Z,1740570645.207 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectChl:A->null/0
2025-02-26T11:50:45.207Z,1740570645.207 [MissionManager](INFO): sci2_slowyo_test:Science:HighestChlPeakReport->sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal/0
2025-02-26T11:50:45.207Z,1740570645.207 [MissionManager](INFO): sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal->null/0
2025-02-26T11:50:45.208Z,1740570645.208 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectNO3->sci2_slowyo_test:Science:PeakDetectNO3:A/0
2025-02-26T11:50:45.208Z,1740570645.208 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectNO3:A->null/0
2025-02-26T11:50:45.208Z,1740570645.208 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectOil->sci2_slowyo_test:Science:PeakDetectOil:A/0
2025-02-26T11:50:45.213Z,1740570645.213 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectOil:A->null/0
2025-02-26T11:50:45.214Z,1740570645.214 [MissionManager](INFO): sci2_slowyo_test:Science:HighestOilPeakReport->sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal/0
2025-02-26T11:50:45.214Z,1740570645.214 [MissionManager](INFO): sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal->null/0
2025-02-26T11:50:45.214Z,1740570645.214 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectFDOM->sci2_slowyo_test:Science:PeakDetectFDOM:A/0
2025-02-26T11:50:45.215Z,1740570645.215 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectFDOM:A->null/0
2025-02-26T11:50:45.215Z,1740570645.215 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectSalinity->sci2_slowyo_test:Science:PeakDetectSalinity:A/0
2025-02-26T11:50:45.215Z,1740570645.215 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectSalinity:A->null/0
2025-02-26T11:50:45.216Z,1740570645.216 [MissionManager](INFO): sci2_slowyo_test:Science:HighestSaltPeakReport->sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal/0
2025-02-26T11:50:45.216Z,1740570645.216 [MissionManager](INFO): sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal->null/0
2025-02-26T11:50:45.221Z,1740570645.221 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI->sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A/0
2025-02-26T11:50:45.221Z,1740570645.221 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A->null/0
2025-02-26T11:50:45.222Z,1740570645.222 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI->sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A/0
2025-02-26T11:50:45.222Z,1740570645.222 [MissionManager](INFO): sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A->null/0
2025-02-26T11:50:45.222Z,1740570645.222 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI->sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A/0
2025-02-26T11:50:45.223Z,1740570645.223 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A->null/0
2025-02-26T11:50:45.223Z,1740570645.223 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms->sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A/0
2025-02-26T11:50:45.223Z,1740570645.223 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A->null/0
2025-02-26T11:50:45.224Z,1740570645.224 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates->sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A/0
2025-02-26T11:50:45.224Z,1740570645.224 [MissionManager](INFO): sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A->null/0
2025-02-26T11:50:45.229Z,1740570645.229 [MissionManager](INFO): sci2_slowyo_test:Science:ChlThreshTrigger->sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect/0
2025-02-26T11:50:45.230Z,1740570645.230 [MissionManager](INFO): sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect->null/0
2025-02-26T11:50:45.230Z,1740570645.230 [MissionManager](INFO): sci2_slowyo_test:NeedComms->null/0
2025-02-26T11:50:45.231Z,1740570645.231 [MissionManager](INFO): sci2_slowyo_test:NeedComms:A->null/0
2025-02-26T11:50:45.231Z,1740570645.231 [MissionManager](INFO): sci2_slowyo_test:NeedComms:B.GoToSurface->null/0
2025-02-26T11:50:45.231Z,1740570645.231 [MissionManager](INFO): sci2_slowyo_test:NeedComms:C->null/0
2025-02-26T11:50:45.232Z,1740570645.232 [MissionManager](INFO): sci2_slowyo_test:NeedComms:D->null/0
2025-02-26T11:50:45.232Z,1740570645.232 [MissionManager](INFO): sci2_slowyo_test:NeedComms:E->null/0
2025-02-26T11:50:45.232Z,1740570645.232 [MissionManager](INFO): sci2_slowyo_test:C->null/0
2025-02-26T11:50:45.249Z,1740570645.249 [MissionManager](INFO): sci2_slowyo_test:E->null/0
2025-02-26T11:50:45.249Z,1740570645.249 [MissionManager](INFO): sci2_slowyo_test:F->null/0
2025-02-26T11:50:45.250Z,1740570645.250 [MissionManager](INFO): sci2_slowyo_test:G->null/0
2025-02-26T11:50:45.250Z,1740570645.250 [MissionManager](INFO): sci2_slowyo_test:BackseatDriver->sci2_slowyo_test:BackseatDriver:A.BackseatDriver/0
2025-02-26T11:50:45.251Z,1740570645.251 [MissionManager](INFO): sci2_slowyo_test:BackseatDriver:A.BackseatDriver->null/0
2025-02-26T11:50:45.251Z,1740570645.251 [MissionManager](INFO): sci2_slowyo_test:PowerOnly->sci2_slowyo_test:PowerOnly:E.Wait/0
2025-02-26T11:50:45.251Z,1740570645.251 [MissionManager](INFO): sci2_slowyo_test:PowerOnly:E.Wait->null/0
2025-02-26T11:50:45.252Z,1740570645.252 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms->null/0
2025-02-26T11:50:45.252Z,1740570645.252 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:A->null/0
2025-02-26T11:50:45.252Z,1740570645.252 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:B->null/0
2025-02-26T11:50:45.257Z,1740570645.257 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setInitial->null/0
2025-02-26T11:50:45.257Z,1740570645.257 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setInitial:A->null/0
2025-02-26T11:50:45.258Z,1740570645.258 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setSink->sci2_slowyo_test:SurfaceComms:setSink:A/0
2025-02-26T11:50:45.258Z,1740570645.258 [MissionManager](INFO): sci2_slowyo_test:SurfaceComms:setSink:A->null/0
2025-02-26T11:50:45.259Z,1740570645.259 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink->sci2_slowyo_test:DiveCmd:SurfaceSink:sink/0
2025-02-26T11:50:45.259Z,1740570645.259 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink:sink->sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C/0
2025-02-26T11:50:45.259Z,1740570645.259 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C->null/0
2025-02-26T11:50:45.260Z,1740570645.260 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive->null/0
2025-02-26T11:50:45.260Z,1740570645.260 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive->null/0
2025-02-26T11:50:45.260Z,1740570645.260 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:C->null/0
2025-02-26T11:50:45.265Z,1740570645.265 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:D.Wait->null/0
2025-02-26T11:50:45.265Z,1740570645.265 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:E->null/0
2025-02-26T11:50:45.266Z,1740570645.266 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth->null/0
2025-02-26T11:50:45.266Z,1740570645.266 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:ApproachDepth:B.Pitch->null/0
2025-02-26T11:50:45.266Z,1740570645.266 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:InitialDive:dive:G->null/0
2025-02-26T11:50:45.267Z,1740570645.267 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask->sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop/0
2025-02-26T11:50:45.267Z,1740570645.267 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop->sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo/0
2025-02-26T11:50:45.268Z,1740570645.268 [MissionManager](INFO): sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo->null/0
2025-02-26T11:50:45.268Z,1740570645.268 [MissionManager](INFO): sci2_slowyo_test:StartingMission->null/0
2025-02-26T11:50:45.268Z,1740570645.268 [MissionManager](INFO): sci2_slowyo_test:Lap->sci2_slowyo_test:Lap:Wpt1/0
2025-02-26T11:50:45.273Z,1740570645.273 [MissionManager](INFO): sci2_slowyo_test:Lap:Dive->sci2_slowyo_test:Lap:Dive:A/0
2025-02-26T11:50:45.274Z,1740570645.274 [MissionManager](INFO): sci2_slowyo_test:Lap:Dive:A->null/0
2025-02-26T11:50:45.274Z,1740570645.274 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt1->sci2_slowyo_test:Lap:Wpt1:A.Waypoint/0
2025-02-26T11:50:45.274Z,1740570645.274 [MissionManager](INFO): sci2_slowyo_test:Lap:Wpt1:A.Waypoint->null/0
2025-02-26T11:50:45.274Z,1740570645.274 [CommandExec](IMPORTANT): Resuming mission and schedule
2025-02-26T11:50:45.275Z,1740570645.275 [CommandExec](IMPORTANT): Scheduling is resumed
2025-02-26T11:50:45.275Z,1740570645.275 [CommandExec](IMPORTANT): Scheduled #7 (#1 of 2 with id='2bxx7'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 8 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 20 m", AFTER MISSION
2025-02-26T11:50:45.276Z,1740570645.276 [CommandExec](IMPORTANT): Scheduled #8 (#2 of 2 with id='2bxx7'): "set keepstation.MaxDepth 35 m;run", AFTER MISSION
2025-02-26T11:50:45.277Z,1740570645.277 [CommandExec](IMPORTANT): got command schedule resume
2025-02-26T11:50:45.549Z,1740570645.549 [Default] Stopped
2025-02-26T11:50:45.552Z,1740570645.552 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T11:50:45.552Z,1740570645.552 [Default:B.GoToSurface] Stopped
2025-02-26T11:50:45.552Z,1740570645.552 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T11:50:45.552Z,1740570645.552 [Default:CheckIn] Stopped
2025-02-26T11:50:45.552Z,1740570645.552 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T11:50:45.552Z,1740570645.552 [Default:CheckIn:C.Wait] Stopped
2025-02-26T11:50:45.552Z,1740570645.552 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T11:50:45.552Z,1740570645.552 [MissionManager](IMPORTANT): Started mission sci2_slowyo_test
2025-02-26T11:50:45.557Z,1740570645.557 [sci2_slowyo_test] Running Loop=1
2025-02-26T11:50:45.557Z,1740570645.557 [sci2_slowyo_test](DEBUG): Aggregate::initialize sci2_slowyo_test
2025-02-26T11:50:45.557Z,1740570645.557 [sci2_slowyo_test:Science] Running Loop=1
2025-02-26T11:50:45.557Z,1740570645.557 [sci2_slowyo_test:Science](DEBUG): Aggregate::initialize sci2_slowyo_test:Science
2025-02-26T11:50:45.557Z,1740570645.557 [sci2_slowyo_test:Science:A] Running Loop=1
2025-02-26T11:50:45.557Z,1740570645.557 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-26T11:50:45.557Z,1740570645.557 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-26T11:50:45.558Z,1740570645.558 [sci2_slowyo_test:Science:D] Running Loop=1
2025-02-26T11:50:45.558Z,1740570645.558 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-26T11:50:45.558Z,1740570645.558 [sci2_slowyo_test:Science:F] Running Loop=1
2025-02-26T11:50:45.558Z,1740570645.558 [sci2_slowyo_test:Science:Read_Oil] Running Loop=1
2025-02-26T11:50:45.558Z,1740570645.558 [sci2_slowyo_test:Science:PeakDetectChl] Running Loop=1
2025-02-26T11:50:45.558Z,1740570645.558 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-26T11:50:45.558Z,1740570645.558 [sci2_slowyo_test:Science:PeakDetectChl:A] Running Loop=1
2025-02-26T11:50:45.558Z,1740570645.558 [sci2_slowyo_test:Science:EdgeDetectChl] Running Loop=1
2025-02-26T11:50:45.558Z,1740570645.558 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-26T11:50:45.558Z,1740570645.558 [sci2_slowyo_test:Science:EdgeDetectChl:A] Running Loop=1
2025-02-26T11:50:45.558Z,1740570645.558 [sci2_slowyo_test:Science:HighestChlPeakReport] Running Loop=1
2025-02-26T11:50:45.558Z,1740570645.558 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-26T11:50:45.559Z,1740570645.559 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T11:50:45.559Z,1740570645.559 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T11:50:45.559Z,1740570645.559 [sci2_slowyo_test:Science:PeakDetectNO3] Running Loop=1
2025-02-26T11:50:45.559Z,1740570645.559 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-26T11:50:45.559Z,1740570645.559 [sci2_slowyo_test:Science:PeakDetectNO3:A] Running Loop=1
2025-02-26T11:50:45.559Z,1740570645.559 [sci2_slowyo_test:Science:PeakDetectOil] Running Loop=1
2025-02-26T11:50:45.559Z,1740570645.559 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-26T11:50:45.560Z,1740570645.560 [sci2_slowyo_test:Science:PeakDetectOil:A] Running Loop=1
2025-02-26T11:50:45.560Z,1740570645.560 [sci2_slowyo_test:Science:HighestOilPeakReport] Running Loop=1
2025-02-26T11:50:45.560Z,1740570645.560 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-26T11:50:45.560Z,1740570645.560 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T11:50:45.560Z,1740570645.560 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T11:50:45.560Z,1740570645.560 [sci2_slowyo_test:Science:PeakDetectFDOM] Running Loop=1
2025-02-26T11:50:45.560Z,1740570645.560 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-26T11:50:45.560Z,1740570645.560 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-26T11:50:45.561Z,1740570645.560 [sci2_slowyo_test:Science:PeakDetectSalinity] Running Loop=1
2025-02-26T11:50:45.569Z,1740570645.569 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-26T11:50:45.569Z,1740570645.569 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-26T11:50:45.569Z,1740570645.569 [sci2_slowyo_test:Science:HighestSaltPeakReport] Running Loop=1
2025-02-26T11:50:45.569Z,1740570645.569 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-26T11:50:45.569Z,1740570645.569 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T11:50:45.570Z,1740570645.570 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T11:50:45.570Z,1740570645.570 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T11:50:45.570Z,1740570645.570 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T11:50:45.570Z,1740570645.570 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T11:50:45.570Z,1740570645.570 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T11:50:45.570Z,1740570645.570 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T11:50:45.570Z,1740570645.570 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T11:50:45.570Z,1740570645.570 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-26T11:50:45.571Z,1740570645.571 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T11:50:45.571Z,1740570645.571 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-26T11:50:45.571Z,1740570645.571 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-26T11:50:45.571Z,1740570645.571 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T11:50:45.571Z,1740570645.571 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-26T11:50:45.571Z,1740570645.571 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-26T11:50:45.571Z,1740570645.571 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T11:50:45.571Z,1740570645.571 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-26T11:50:45.571Z,1740570645.571 [sci2_slowyo_test:Science:ChlThreshTrigger] Running Loop=1
2025-02-26T11:50:45.571Z,1740570645.571 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-26T11:50:45.571Z,1740570645.571 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-26T11:50:45.572Z,1740570645.572 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-26T11:50:45.572Z,1740570645.572 [sci2_slowyo_test:Science:OceanCurrent] Running Loop=1
2025-02-26T11:50:45.572Z,1740570645.572 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::initialize sci2_slowyo_test:Science:OceanCurrent
2025-02-26T11:50:45.572Z,1740570645.572 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T11:50:45.572Z,1740570645.572 [sci2_slowyo_test:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-26T11:50:45.572Z,1740570645.572 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-26T11:50:45.572Z,1740570645.572 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::initialize sci2_slowyo_test:StandardEnvelopes
2025-02-26T11:50:45.572Z,1740570645.572 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T11:50:45.572Z,1740570645.572 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-26T11:50:45.577Z,1740570645.577 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T11:50:45.577Z,1740570645.577 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-26T11:50:45.577Z,1740570645.577 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T11:50:45.577Z,1740570645.577 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-26T11:50:45.577Z,1740570645.577 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-26T11:50:45.578Z,1740570645.578 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::initialize sci2_slowyo_test:BackseatDriver
2025-02-26T11:50:45.578Z,1740570645.578 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-26T11:50:45.578Z,1740570645.578 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-26T11:50:45.578Z,1740570645.578 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::initialize sci2_slowyo_test:PowerOnly
2025-02-26T11:50:45.578Z,1740570645.578 [sci2_slowyo_test:PowerOnly:A] Running Loop=1
2025-02-26T11:50:45.578Z,1740570645.578 [sci2_slowyo_test:PowerOnly:B] Running Loop=1
2025-02-26T11:50:45.578Z,1740570645.578 [sci2_slowyo_test:PowerOnly:C] Running Loop=1
2025-02-26T11:50:45.578Z,1740570645.578 [sci2_slowyo_test:PowerOnly:D] Running Loop=1
2025-02-26T11:50:45.578Z,1740570645.578 [sci2_slowyo_test:PowerOnly:E.Wait] Running Loop=1
2025-02-26T11:50:45.578Z,1740570645.578 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-26T11:50:45.578Z,1740570645.578 [sci2_slowyo_test:Lap] Running Loop=1
2025-02-26T11:50:45.578Z,1740570645.578 [sci2_slowyo_test:Lap](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap
2025-02-26T11:50:45.579Z,1740570645.579 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-26T11:50:45.579Z,1740570645.579 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive
2025-02-26T11:50:45.579Z,1740570645.579 [sci2_slowyo_test:Lap:Dive:A] Running Loop=1
2025-02-26T11:50:45.579Z,1740570645.579 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Dive:A
2025-02-26T11:50:45.579Z,1740570645.579 [sci2_slowyo_test:Lap:Wpt1] Running Loop=1
2025-02-26T11:50:45.579Z,1740570645.579 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt1
2025-02-26T11:50:45.579Z,1740570645.579 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Running Loop=1
2025-02-26T11:50:45.579Z,1740570645.579 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T11:50:45.580Z,1740570645.580 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Navigating to waypoint: 36.806964,-121.824320
2025-02-26T11:50:45.586Z,1740570645.586 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](INFO): Navigating to waypoint: 36.806964,-121.824320
2025-02-26T11:50:45.587Z,1740570645.587 [sci2_slowyo_test:Lap:Dive] Running Loop=1
2025-02-26T11:50:45.587Z,1740570645.587 [sci2_slowyo_test:DiveCmd] Running Loop=1
2025-02-26T11:50:45.587Z,1740570645.587 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd
2025-02-26T11:50:45.587Z,1740570645.587 [sci2_slowyo_test:DiveCmd:SurfaceSink] Running Loop=1
2025-02-26T11:50:45.588Z,1740570645.588 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-26T11:50:45.588Z,1740570645.588 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Running Loop=1
2025-02-26T11:50:45.588Z,1740570645.588 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-26T11:50:45.588Z,1740570645.588 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Running Loop=1
2025-02-26T11:50:45.588Z,1740570645.588 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T11:50:45.588Z,1740570645.588 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Running Loop=1
2025-02-26T11:50:45.588Z,1740570645.588 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Initialize.
2025-02-26T11:50:45.588Z,1740570645.588 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Running Loop=1
2025-02-26T11:50:45.588Z,1740570645.588 [sci2_slowyo_test:DiveCmd:InitialDive] Running Loop=1
2025-02-26T11:50:45.588Z,1740570645.588 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T11:50:45.588Z,1740570645.588 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Running Loop=1
2025-02-26T11:50:45.588Z,1740570645.588 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T11:50:45.589Z,1740570645.589 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Running Loop=1
2025-02-26T11:50:45.593Z,1740570645.593 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Initialize.
2025-02-26T11:50:45.594Z,1740570645.594 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Running Loop=1
2025-02-26T11:50:45.594Z,1740570645.594 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T11:50:45.594Z,1740570645.594 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Running Loop=1
2025-02-26T11:50:45.594Z,1740570645.594 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T11:50:45.594Z,1740570645.594 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T11:50:45.594Z,1740570645.594 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T11:50:45.594Z,1740570645.594 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:50:45.594Z,1740570645.594 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T11:50:45.594Z,1740570645.594 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T11:50:45.594Z,1740570645.594 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T11:50:45.594Z,1740570645.594 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T11:50:45.595Z,1740570645.595 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T11:50:45.595Z,1740570645.595 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T11:50:45.595Z,1740570645.595 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T11:50:45.595Z,1740570645.595 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:50:45.595Z,1740570645.595 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T11:50:45.595Z,1740570645.595 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T11:50:45.596Z,1740570645.596 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Running Loop=1
2025-02-26T11:50:45.596Z,1740570645.596 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T11:50:45.596Z,1740570645.596 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T11:50:45.597Z,1740570645.597 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T11:50:45.601Z,1740570645.601 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T11:50:45.602Z,1740570645.602 [sci2_slowyo_test:DiveCmd:InitialDive] Stopped
2025-02-26T11:50:45.602Z,1740570645.602 [sci2_slowyo_test:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive
2025-02-26T11:50:45.602Z,1740570645.602 [sci2_slowyo_test:DiveCmd:InitialDive:dive] Stopped
2025-02-26T11:50:45.602Z,1740570645.602 [sci2_slowyo_test:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:InitialDive:dive
2025-02-26T11:50:45.602Z,1740570645.602 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass] Stopped
2025-02-26T11:50:45.602Z,1740570645.602 [sci2_slowyo_test:DiveCmd:InitialDive:dive:A.Mass](DEBUG): Uninitialize.
2025-02-26T11:50:45.602Z,1740570645.602 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy] Stopped
2025-02-26T11:50:45.602Z,1740570645.602 [sci2_slowyo_test:DiveCmd:InitialDive:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T11:50:45.602Z,1740570645.602 [sci2_slowyo_test:DiveCmd:InitialDive:dive:C] Stopped
2025-02-26T11:50:45.602Z,1740570645.602 [sci2_slowyo_test:DiveCmd:SurfaceSink] Stopped
2025-02-26T11:50:45.602Z,1740570645.602 [sci2_slowyo_test:DiveCmd:SurfaceSink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink
2025-02-26T11:50:45.602Z,1740570645.602 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink] Stopped
2025-02-26T11:50:45.603Z,1740570645.603 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SurfaceSink:sink
2025-02-26T11:50:45.603Z,1740570645.603 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy] Stopped
2025-02-26T11:50:45.603Z,1740570645.603 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T11:50:45.603Z,1740570645.603 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed] Stopped
2025-02-26T11:50:45.603Z,1740570645.603 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:B.SetSpeed](DEBUG): Uninitialize.
2025-02-26T11:50:45.603Z,1740570645.603 [sci2_slowyo_test:DiveCmd:SurfaceSink:sink:C] Stopped
2025-02-26T11:50:45.603Z,1740570645.603 [sci2_slowyo_test:PowerOnly] Running Loop=1
2025-02-26T11:50:45.603Z,1740570645.603 [sci2_slowyo_test:PowerOnly:D] Stopped
2025-02-26T11:50:45.603Z,1740570645.603 [sci2_slowyo_test:PowerOnly:C] Stopped
2025-02-26T11:50:45.603Z,1740570645.603 [sci2_slowyo_test:PowerOnly:B] Stopped
2025-02-26T11:50:45.604Z,1740570645.604 [sci2_slowyo_test:PowerOnly:A] Stopped
2025-02-26T11:50:45.604Z,1740570645.604 [sci2_slowyo_test:BackseatDriver] Running Loop=1
2025-02-26T11:50:45.604Z,1740570645.604 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-26T11:50:45.651Z,1740570645.651 [sci2_slowyo_test:StandardEnvelopes] Running Loop=1
2025-02-26T11:50:45.651Z,1740570645.651 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T11:50:45.652Z,1740570645.652 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T11:50:45.652Z,1740570645.652 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T11:50:45.652Z,1740570645.652 [sci2_slowyo_test:Science] Running Loop=1
2025-02-26T11:50:45.659Z,1740570645.659 [sci2_slowyo_test:Science:ChlThreshTrigger] Stopped
2025-02-26T11:50:45.659Z,1740570645.659 [sci2_slowyo_test:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:ChlThreshTrigger
2025-02-26T11:50:45.659Z,1740570645.659 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-26T11:50:45.659Z,1740570645.659 [sci2_slowyo_test:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-26T11:50:45.660Z,1740570645.660 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-26T11:50:45.660Z,1740570645.660 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T11:50:45.660Z,1740570645.660 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-26T11:50:45.660Z,1740570645.660 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-26T11:50:45.660Z,1740570645.660 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T11:50:45.660Z,1740570645.660 [sci2_slowyo_test:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-26T11:50:45.660Z,1740570645.660 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-26T11:50:45.660Z,1740570645.660 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T11:50:45.660Z,1740570645.660 [sci2_slowyo_test:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-26T11:50:45.660Z,1740570645.660 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-26T11:50:45.660Z,1740570645.660 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T11:50:45.660Z,1740570645.660 [sci2_slowyo_test:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T11:50:45.661Z,1740570645.661 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-26T11:50:45.661Z,1740570645.661 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T11:50:45.661Z,1740570645.661 [sci2_slowyo_test:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T11:50:45.661Z,1740570645.661 [sci2_slowyo_test:Science:HighestSaltPeakReport] Stopped
2025-02-26T11:50:45.661Z,1740570645.661 [sci2_slowyo_test:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestSaltPeakReport
2025-02-26T11:50:45.661Z,1740570645.661 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T11:50:45.661Z,1740570645.661 [sci2_slowyo_test:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T11:50:45.661Z,1740570645.661 [sci2_slowyo_test:Science:PeakDetectSalinity] Stopped
2025-02-26T11:50:45.662Z,1740570645.662 [sci2_slowyo_test:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectSalinity
2025-02-26T11:50:45.662Z,1740570645.662 [sci2_slowyo_test:Science:PeakDetectSalinity:A] Stopped
2025-02-26T11:50:45.662Z,1740570645.662 [sci2_slowyo_test:Science:PeakDetectFDOM] Stopped
2025-02-26T11:50:45.662Z,1740570645.662 [sci2_slowyo_test:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectFDOM
2025-02-26T11:50:45.662Z,1740570645.662 [sci2_slowyo_test:Science:PeakDetectFDOM:A] Stopped
2025-02-26T11:50:45.662Z,1740570645.662 [sci2_slowyo_test:Science:HighestOilPeakReport] Stopped
2025-02-26T11:50:45.662Z,1740570645.662 [sci2_slowyo_test:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestOilPeakReport
2025-02-26T11:50:45.662Z,1740570645.662 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T11:50:45.662Z,1740570645.662 [sci2_slowyo_test:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T11:50:45.662Z,1740570645.662 [sci2_slowyo_test:Science:PeakDetectOil] Stopped
2025-02-26T11:50:45.662Z,1740570645.662 [sci2_slowyo_test:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectOil
2025-02-26T11:50:45.662Z,1740570645.662 [sci2_slowyo_test:Science:PeakDetectOil:A] Stopped
2025-02-26T11:50:45.662Z,1740570645.662 [sci2_slowyo_test:Science:PeakDetectNO3] Stopped
2025-02-26T11:50:45.663Z,1740570645.663 [sci2_slowyo_test:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectNO3
2025-02-26T11:50:45.663Z,1740570645.663 [sci2_slowyo_test:Science:PeakDetectNO3:A] Stopped
2025-02-26T11:50:45.663Z,1740570645.663 [sci2_slowyo_test:Science:HighestChlPeakReport] Stopped
2025-02-26T11:50:45.663Z,1740570645.663 [sci2_slowyo_test:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:HighestChlPeakReport
2025-02-26T11:50:45.663Z,1740570645.663 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T11:50:45.663Z,1740570645.663 [sci2_slowyo_test:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T11:50:45.663Z,1740570645.663 [sci2_slowyo_test:Science:EdgeDetectChl] Stopped
2025-02-26T11:50:45.663Z,1740570645.663 [sci2_slowyo_test:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:EdgeDetectChl
2025-02-26T11:50:45.663Z,1740570645.663 [sci2_slowyo_test:Science:EdgeDetectChl:A] Stopped
2025-02-26T11:50:45.663Z,1740570645.663 [sci2_slowyo_test:Science:PeakDetectChl] Stopped
2025-02-26T11:50:45.663Z,1740570645.663 [sci2_slowyo_test:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:PeakDetectChl
2025-02-26T11:50:45.663Z,1740570645.663 [sci2_slowyo_test:Science:PeakDetectChl:A] Stopped
2025-02-26T11:50:45.663Z,1740570645.663 [sci2_slowyo_test:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T11:50:45.664Z,1740570645.664 [sci2_slowyo_test:Science:Read_Oil] Stopped
2025-02-26T11:50:45.664Z,1740570645.664 [sci2_slowyo_test:Science:F] Stopped
2025-02-26T11:50:45.664Z,1740570645.664 [sci2_slowyo_test:Science:E] Running Loop=1
2025-02-26T11:50:45.664Z,1740570645.664 [sci2_slowyo_test:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-26T11:50:45.664Z,1740570645.664 [sci2_slowyo_test:Science:D] Stopped
2025-02-26T11:50:45.664Z,1740570645.664 [sci2_slowyo_test:Science:C] Running Loop=1
2025-02-26T11:50:45.685Z,1740570645.685 [BackseatComponent](INFO): Powering up
2025-02-26T11:50:45.686Z,1740570645.686 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-26T11:50:45.688Z,1740570645.688 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-26T11:50:45.688Z,1740570645.688 [sci2_slowyo_test:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-26T11:50:45.688Z,1740570645.688 [sci2_slowyo_test:Science:B] Running Loop=1
2025-02-26T11:50:45.693Z,1740570645.693 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-26T11:50:45.694Z,1740570645.694 [sci2_slowyo_test:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-26T11:50:45.694Z,1740570645.694 [sci2_slowyo_test:Science:A] Stopped
2025-02-26T11:50:45.943Z,1740570645.943 [WetLabsBB2FL](INFO): Powering up
2025-02-26T11:50:47.165Z,1740570647.165 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-26T11:50:48.872Z,1740570648.872 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-26T11:51:55.780Z,1740570715.780 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250226T115155
2025-02-26T11:52:29.978Z,1740570749.978 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:52:54.642Z,1740570774.642 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2119
2025-02-26T11:53:00.805Z,1740570780.805 [Radio_Surface](INFO): Powering down
2025-02-26T11:53:01.102Z,1740570781.102 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T11:53:02.105Z,1740570782.105 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T11:54:39.522Z,1740570879.522 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.747314
2025-02-26T11:56:56.883Z,1740571016.883 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2120
2025-02-26T11:57:30.533Z,1740571050.533 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-26T11:57:30.534Z,1740571050.534 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T11:57:30.534Z,1740571050.534 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T11:57:30.534Z,1740571050.534 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:57:30.534Z,1740571050.534 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T11:57:30.534Z,1740571050.534 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:57:30.535Z,1740571050.535 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:57:31.008Z,1740571051.008 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T11:57:31.008Z,1740571051.008 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T11:57:31.008Z,1740571051.008 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T11:57:31.008Z,1740571051.008 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T11:57:31.008Z,1740571051.008 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T11:57:31.008Z,1740571051.008 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T11:57:31.008Z,1740571051.008 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T11:57:31.009Z,1740571051.009 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T11:57:31.009Z,1740571051.009 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T11:57:31.009Z,1740571051.009 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T11:57:31.009Z,1740571051.009 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T11:57:31.009Z,1740571051.009 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T12:03:29.483Z,1740571409.483 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-26T12:03:29.484Z,1740571409.484 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T12:03:29.484Z,1740571409.484 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T12:03:29.484Z,1740571409.484 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T12:03:29.484Z,1740571409.484 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T12:03:29.484Z,1740571409.484 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T12:03:29.486Z,1740571409.486 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T12:03:29.895Z,1740571409.895 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T12:03:29.895Z,1740571409.895 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T12:03:29.895Z,1740571409.895 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T12:03:29.895Z,1740571409.895 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T12:03:29.895Z,1740571409.895 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T12:03:29.895Z,1740571409.895 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T12:03:29.895Z,1740571409.895 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T12:03:29.896Z,1740571409.896 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T12:03:29.896Z,1740571409.896 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T12:03:29.896Z,1740571409.896 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T12:03:29.896Z,1740571409.896 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T12:03:29.896Z,1740571409.896 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T12:09:24.757Z,1740571764.757 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-26T12:09:24.762Z,1740571764.762 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T12:09:24.762Z,1740571764.762 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T12:09:24.762Z,1740571764.762 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T12:09:24.762Z,1740571764.762 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T12:09:24.762Z,1740571764.762 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T12:09:24.764Z,1740571764.764 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T12:09:25.139Z,1740571765.139 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T12:09:25.139Z,1740571765.139 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T12:09:25.139Z,1740571765.139 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T12:09:25.139Z,1740571765.139 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T12:09:25.140Z,1740571765.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T12:09:25.140Z,1740571765.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T12:09:25.140Z,1740571765.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T12:09:25.140Z,1740571765.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T12:09:25.140Z,1740571765.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T12:09:25.140Z,1740571765.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T12:09:25.140Z,1740571765.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T12:09:25.140Z,1740571765.140 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T12:12:29.148Z,1740571949.148 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:12:42.388Z,1740571962.388 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:12:55.984Z,1740571975.984 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:13:09.316Z,1740571989.316 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:13:22.352Z,1740572002.352 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:13:35.824Z,1740572015.824 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:13:48.755Z,1740572028.755 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:15:24.095Z,1740572124.095 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-26T12:15:24.095Z,1740572124.095 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T12:15:24.096Z,1740572124.096 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T12:15:24.096Z,1740572124.096 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T12:15:24.096Z,1740572124.096 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T12:15:24.096Z,1740572124.096 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T12:15:24.097Z,1740572124.097 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T12:15:24.556Z,1740572124.556 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T12:15:24.556Z,1740572124.556 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T12:15:24.556Z,1740572124.556 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T12:15:24.556Z,1740572124.556 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T12:15:24.556Z,1740572124.556 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T12:15:24.556Z,1740572124.556 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T12:15:24.556Z,1740572124.556 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T12:15:24.556Z,1740572124.556 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T12:15:24.557Z,1740572124.557 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T12:15:24.557Z,1740572124.557 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T12:15:24.557Z,1740572124.557 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T12:15:24.557Z,1740572124.557 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T12:18:47.235Z,1740572327.235 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:19:00.163Z,1740572340.163 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:19:12.688Z,1740572352.688 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:19:25.357Z,1740572365.357 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:19:38.395Z,1740572378.395 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:19:51.331Z,1740572391.331 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:20:03.725Z,1740572403.725 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:20:16.830Z,1740572416.830 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:20:29.929Z,1740572429.929 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:20:42.675Z,1740572442.675 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:20:54.861Z,1740572454.861 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:21:04.034Z,1740572464.034 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](INFO): Reached end of slow yo
2025-02-26T12:21:04.035Z,1740572464.035 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T12:21:04.035Z,1740572464.035 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T12:21:04.035Z,1740572464.035 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T12:21:04.035Z,1740572464.035 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T12:21:04.035Z,1740572464.035 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T12:21:04.036Z,1740572464.036 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](INFO): Completed sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T12:21:04.451Z,1740572464.451 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Running Loop=1
2025-02-26T12:21:04.451Z,1740572464.451 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T12:21:04.451Z,1740572464.451 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Running Loop=1
2025-02-26T12:21:04.451Z,1740572464.451 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T12:21:04.452Z,1740572464.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Running Loop=1
2025-02-26T12:21:04.452Z,1740572464.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch](DEBUG): Initialize.
2025-02-26T12:21:04.452Z,1740572464.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Running Loop=1
2025-02-26T12:21:04.452Z,1740572464.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Initialize.
2025-02-26T12:21:04.452Z,1740572464.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Running Loop=1
2025-02-26T12:21:04.452Z,1740572464.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::initialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T12:21:04.452Z,1740572464.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Running Loop=1
2025-02-26T12:21:04.452Z,1740572464.452 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Initialize SlowYoComponent.
2025-02-26T12:21:08.052Z,1740572468.052 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:21:19.048Z,1740572479.048 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:21:32.134Z,1740572492.134 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:21:44.780Z,1740572504.780 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:21:57.351Z,1740572517.351 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:22:09.923Z,1740572529.923 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:22:22.993Z,1740572542.993 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:22:36.038Z,1740572556.038 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:22:48.622Z,1740572568.622 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:22:56.049Z,1740572576.049 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](IMPORTANT): Reached waypoint: 36.806964,-121.824320
2025-02-26T12:22:56.065Z,1740572576.065 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint] Stopped
2025-02-26T12:22:56.065Z,1740572576.065 [sci2_slowyo_test:Lap:Wpt1:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T12:22:56.065Z,1740572576.065 [sci2_slowyo_test:Lap:Wpt1](INFO): Completed sci2_slowyo_test:Lap:Wpt1
2025-02-26T12:22:56.065Z,1740572576.065 [sci2_slowyo_test:Lap:Wpt1] Stopped
2025-02-26T12:22:56.066Z,1740572576.066 [sci2_slowyo_test:Lap:Wpt1](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt1
2025-02-26T12:22:56.066Z,1740572576.066 [sci2_slowyo_test:Lap:Wpt2] Running Loop=1
2025-02-26T12:22:56.066Z,1740572576.066 [sci2_slowyo_test:Lap:Wpt2](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt2
2025-02-26T12:22:56.066Z,1740572576.066 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint] Running Loop=1
2025-02-26T12:22:56.066Z,1740572576.066 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T12:22:56.484Z,1740572576.484 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint] Stopped
2025-02-26T12:22:56.484Z,1740572576.484 [sci2_slowyo_test:Lap:Wpt2:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T12:22:56.484Z,1740572576.484 [sci2_slowyo_test:Lap:Wpt2](INFO): Completed sci2_slowyo_test:Lap:Wpt2
2025-02-26T12:22:56.484Z,1740572576.484 [sci2_slowyo_test:Lap:Wpt2] Stopped
2025-02-26T12:22:56.484Z,1740572576.484 [sci2_slowyo_test:Lap:Wpt2](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt2
2025-02-26T12:22:56.484Z,1740572576.484 [sci2_slowyo_test:Lap:Wpt3] Running Loop=1
2025-02-26T12:22:56.484Z,1740572576.484 [sci2_slowyo_test:Lap:Wpt3](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt3
2025-02-26T12:22:56.485Z,1740572576.485 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint] Running Loop=1
2025-02-26T12:22:56.485Z,1740572576.485 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T12:22:56.901Z,1740572576.901 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint] Stopped
2025-02-26T12:22:56.901Z,1740572576.901 [sci2_slowyo_test:Lap:Wpt3:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T12:22:56.901Z,1740572576.901 [sci2_slowyo_test:Lap:Wpt3](INFO): Completed sci2_slowyo_test:Lap:Wpt3
2025-02-26T12:22:56.901Z,1740572576.901 [sci2_slowyo_test:Lap:Wpt3] Stopped
2025-02-26T12:22:56.901Z,1740572576.901 [sci2_slowyo_test:Lap:Wpt3](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt3
2025-02-26T12:22:56.902Z,1740572576.902 [sci2_slowyo_test:Lap:Wpt4] Running Loop=1
2025-02-26T12:22:56.902Z,1740572576.902 [sci2_slowyo_test:Lap:Wpt4](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt4
2025-02-26T12:22:56.902Z,1740572576.902 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint] Running Loop=1
2025-02-26T12:22:56.902Z,1740572576.902 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T12:22:57.285Z,1740572577.285 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint] Stopped
2025-02-26T12:22:57.285Z,1740572577.285 [sci2_slowyo_test:Lap:Wpt4:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T12:22:57.285Z,1740572577.285 [sci2_slowyo_test:Lap:Wpt4](INFO): Completed sci2_slowyo_test:Lap:Wpt4
2025-02-26T12:22:57.285Z,1740572577.285 [sci2_slowyo_test:Lap:Wpt4] Stopped
2025-02-26T12:22:57.285Z,1740572577.285 [sci2_slowyo_test:Lap:Wpt4](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt4
2025-02-26T12:22:57.285Z,1740572577.285 [sci2_slowyo_test:Lap:Wpt5] Running Loop=1
2025-02-26T12:22:57.285Z,1740572577.285 [sci2_slowyo_test:Lap:Wpt5](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt5
2025-02-26T12:22:57.286Z,1740572577.286 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint] Running Loop=1
2025-02-26T12:22:57.286Z,1740572577.286 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T12:22:57.689Z,1740572577.689 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint] Stopped
2025-02-26T12:22:57.690Z,1740572577.690 [sci2_slowyo_test:Lap:Wpt5:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T12:22:57.690Z,1740572577.690 [sci2_slowyo_test:Lap:Wpt5](INFO): Completed sci2_slowyo_test:Lap:Wpt5
2025-02-26T12:22:57.690Z,1740572577.690 [sci2_slowyo_test:Lap:Wpt5] Stopped
2025-02-26T12:22:57.690Z,1740572577.690 [sci2_slowyo_test:Lap:Wpt5](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt5
2025-02-26T12:22:57.690Z,1740572577.690 [sci2_slowyo_test:Lap:Wpt6] Running Loop=1
2025-02-26T12:22:57.690Z,1740572577.690 [sci2_slowyo_test:Lap:Wpt6](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt6
2025-02-26T12:22:57.690Z,1740572577.690 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint] Running Loop=1
2025-02-26T12:22:57.690Z,1740572577.690 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T12:22:58.095Z,1740572578.095 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint] Stopped
2025-02-26T12:22:58.095Z,1740572578.095 [sci2_slowyo_test:Lap:Wpt6:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T12:22:58.095Z,1740572578.095 [sci2_slowyo_test:Lap:Wpt6](INFO): Completed sci2_slowyo_test:Lap:Wpt6
2025-02-26T12:22:58.095Z,1740572578.095 [sci2_slowyo_test:Lap:Wpt6] Stopped
2025-02-26T12:22:58.095Z,1740572578.095 [sci2_slowyo_test:Lap:Wpt6](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt6
2025-02-26T12:22:58.096Z,1740572578.096 [sci2_slowyo_test:Lap:Wpt7] Running Loop=1
2025-02-26T12:22:58.096Z,1740572578.096 [sci2_slowyo_test:Lap:Wpt7](DEBUG): Aggregate::initialize sci2_slowyo_test:Lap:Wpt7
2025-02-26T12:22:58.096Z,1740572578.096 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint] Running Loop=1
2025-02-26T12:22:58.096Z,1740572578.096 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T12:22:58.509Z,1740572578.509 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint] Stopped
2025-02-26T12:22:58.509Z,1740572578.509 [sci2_slowyo_test:Lap:Wpt7:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T12:22:58.509Z,1740572578.509 [sci2_slowyo_test:Lap:Wpt7](INFO): Completed sci2_slowyo_test:Lap:Wpt7
2025-02-26T12:22:58.510Z,1740572578.510 [sci2_slowyo_test:Lap:Wpt7] Stopped
2025-02-26T12:22:58.510Z,1740572578.510 [sci2_slowyo_test:Lap:Wpt7](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Wpt7
2025-02-26T12:22:58.510Z,1740572578.510 [sci2_slowyo_test:Lap](INFO): Completed sci2_slowyo_test:Lap
2025-02-26T12:22:58.510Z,1740572578.510 [sci2_slowyo_test:Lap] Stopped
2025-02-26T12:22:58.510Z,1740572578.510 [sci2_slowyo_test:Lap](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap
2025-02-26T12:22:58.510Z,1740572578.510 [sci2_slowyo_test:Lap:Dive] Stopped
2025-02-26T12:22:58.510Z,1740572578.510 [sci2_slowyo_test:Lap:Dive](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive
2025-02-26T12:22:58.510Z,1740572578.510 [sci2_slowyo_test:Lap:Dive:A] Stopped
2025-02-26T12:22:58.510Z,1740572578.510 [sci2_slowyo_test:Lap:Dive:A](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Lap:Dive:A
2025-02-26T12:22:58.523Z,1740572578.523 [sci2_slowyo_test](INFO): Completed sci2_slowyo_test
2025-02-26T12:22:58.523Z,1740572578.523 [MissionManager](INFO): sci2_slowyo_test is completed.
2025-02-26T12:22:58.523Z,1740572578.523 [MissionManager](INFO): Uninitializing Mission sci2_slowyo_test
2025-02-26T12:22:58.523Z,1740572578.523 [sci2_slowyo_test] Stopped
2025-02-26T12:22:58.523Z,1740572578.523 [sci2_slowyo_test](DEBUG): Aggregate::uninitialize sci2_slowyo_test
2025-02-26T12:22:58.523Z,1740572578.523 [sci2_slowyo_test:Science] Stopped
2025-02-26T12:22:58.523Z,1740572578.523 [sci2_slowyo_test:Science](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science
2025-02-26T12:22:58.523Z,1740572578.523 [sci2_slowyo_test:Science:B] Stopped
2025-02-26T12:22:58.523Z,1740572578.523 [sci2_slowyo_test:Science:C] Stopped
2025-02-26T12:22:58.524Z,1740572578.524 [sci2_slowyo_test:Science:E] Stopped
2025-02-26T12:22:58.524Z,1740572578.524 [sci2_slowyo_test:Science:OceanCurrent] Stopped
2025-02-26T12:22:58.524Z,1740572578.524 [sci2_slowyo_test:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sci2_slowyo_test:Science:OceanCurrent
2025-02-26T12:22:58.524Z,1740572578.524 [sci2_slowyo_test:Science:OceanCurrent:A.] Stopped
2025-02-26T12:22:58.524Z,1740572578.524 [sci2_slowyo_test:StandardEnvelopes] Stopped
2025-02-26T12:22:58.524Z,1740572578.524 [sci2_slowyo_test:StandardEnvelopes](DEBUG): Aggregate::uninitialize sci2_slowyo_test:StandardEnvelopes
2025-02-26T12:22:58.524Z,1740572578.524 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-26T12:22:58.524Z,1740572578.524 [sci2_slowyo_test:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-26T12:22:58.525Z,1740572578.525 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-26T12:22:58.525Z,1740572578.525 [sci2_slowyo_test:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-26T12:22:58.525Z,1740572578.525 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-26T12:22:58.525Z,1740572578.525 [sci2_slowyo_test:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-26T12:22:58.526Z,1740572578.526 [sci2_slowyo_test:BackseatDriver] Stopped
2025-02-26T12:22:58.526Z,1740572578.526 [sci2_slowyo_test:BackseatDriver](DEBUG): Aggregate::uninitialize sci2_slowyo_test:BackseatDriver
2025-02-26T12:22:58.526Z,1740572578.526 [sci2_slowyo_test:BackseatDriver:A.BackseatDriver] Stopped
2025-02-26T12:22:58.526Z,1740572578.526 [sci2_slowyo_test:PowerOnly] Stopped
2025-02-26T12:22:58.526Z,1740572578.526 [sci2_slowyo_test:PowerOnly](DEBUG): Aggregate::uninitialize sci2_slowyo_test:PowerOnly
2025-02-26T12:22:58.526Z,1740572578.526 [sci2_slowyo_test:PowerOnly:E.Wait] Stopped
2025-02-26T12:22:58.526Z,1740572578.526 [sci2_slowyo_test:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T12:22:58.526Z,1740572578.526 [sci2_slowyo_test:DiveCmd] Stopped
2025-02-26T12:22:58.527Z,1740572578.527 [sci2_slowyo_test:DiveCmd](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd
2025-02-26T12:22:58.527Z,1740572578.527 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint] Stopped
2025-02-26T12:22:58.527Z,1740572578.527 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint
2025-02-26T12:22:58.527Z,1740572578.527 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask] Stopped
2025-02-26T12:22:58.527Z,1740572578.527 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask
2025-02-26T12:22:58.527Z,1740572578.527 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy] Stopped
2025-02-26T12:22:58.527Z,1740572578.527 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T12:22:58.527Z,1740572578.527 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:B.Pitch] Stopped
2025-02-26T12:22:58.527Z,1740572578.527 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed] Stopped
2025-02-26T12:22:58.527Z,1740572578.527 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:C.SetSpeed](DEBUG): Uninitialize.
2025-02-26T12:22:58.528Z,1740572578.528 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop] Stopped
2025-02-26T12:22:58.528Z,1740572578.528 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop](DEBUG): Aggregate::uninitialize sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop
2025-02-26T12:22:58.528Z,1740572578.528 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo] Stopped
2025-02-26T12:22:58.528Z,1740572578.528 [sci2_slowyo_test:DiveCmd:SlowYoToWaypoint:SlowYoTask:SlowYoLoop:A.SlowYo](DEBUG): Uninitialize SlowYoComponent.
2025-02-26T12:22:58.813Z,1740572578.813 [WetLabsBB2FL](INFO): Powering down
2025-02-26T12:22:59.017Z,1740572579.017 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-26T12:22:59.018Z,1740572579.018 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-26T12:22:59.052Z,1740572579.052 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T12:22:59.052Z,1740572579.052 [Default] Running Loop=1
2025-02-26T12:22:59.053Z,1740572579.053 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T12:22:59.053Z,1740572579.053 [Default:B.GoToSurface] Running Loop=1
2025-02-26T12:22:59.053Z,1740572579.053 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T12:22:59.053Z,1740572579.053 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T12:22:59.054Z,1740572579.054 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T12:22:59.054Z,1740572579.054 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T12:22:59.054Z,1740572579.054 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T12:22:59.054Z,1740572579.054 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T12:22:59.055Z,1740572579.055 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T12:22:59.055Z,1740572579.055 [Default:A.Wait] Running Loop=1
2025-02-26T12:22:59.055Z,1740572579.055 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T12:22:59.275Z,1740572579.275 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-26T12:22:59.276Z,1740572579.276 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-26T12:22:59.276Z,1740572579.276 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-26T12:22:59.354Z,1740572579.354 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-26T12:22:59.785Z,1740572579.785 [Radio_Surface](INFO): Powering up
2025-02-26T12:23:00.125Z,1740572580.125 [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>

2025-02-26T12:23:00.131Z,1740572580.131 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-26T12:23:00.134Z,1740572580.134 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-26T12:23:00.137Z,1740572580.137 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-26T12:23:00.140Z,1740572580.140 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-26T12:23:00.144Z,1740572580.144 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-26T12:23:00.147Z,1740572580.147 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-26T12:23:00.150Z,1740572580.150 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-26T12:23:00.153Z,1740572580.153 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-26T12:23:00.156Z,1740572580.156 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-26T12:23:00.160Z,1740572580.160 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-26T12:23:00.163Z,1740572580.163 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-26T12:23:00.163Z,1740572580.163 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-26T12:23:00.164Z,1740572580.164 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-26T12:23:00.190Z,1740572580.190 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-26T12:23:00.530Z,1740572580.530 [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>

2025-02-26T12:23:00.536Z,1740572580.536 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-26T12:23:00.540Z,1740572580.540 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-26T12:23:00.543Z,1740572580.543 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-26T12:23:00.562Z,1740572580.562 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-26T12:23:00.574Z,1740572580.574 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-26T12:23:00.582Z,1740572580.582 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-26T12:23:00.590Z,1740572580.590 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-26T12:23:00.597Z,1740572580.597 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-26T12:23:00.611Z,1740572580.611 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T12:23:00.706Z,1740572580.706 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-26T12:23:00.706Z,1740572580.706 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-26T12:23:00.707Z,1740572580.707 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-26T12:23:00.864Z,1740572580.864 [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>

2025-02-26T12:23:00.874Z,1740572580.874 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-26T12:23:00.885Z,1740572580.885 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-26T12:23:00.888Z,1740572580.888 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-26T12:23:00.896Z,1740572580.896 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-26T12:23:00.901Z,1740572580.901 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-26T12:23:00.918Z,1740572580.918 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-26T12:23:00.940Z,1740572580.940 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-26T12:23:00.967Z,1740572580.967 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-26T12:23:00.967Z,1740572580.967 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-26T12:23:00.968Z,1740572580.968 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-26T12:23:01.007Z,1740572581.007 [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>

2025-02-26T12:23:01.015Z,1740572581.015 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-26T12:23:01.022Z,1740572581.022 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-26T12:23:01.029Z,1740572581.029 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-26T12:23:01.029Z,1740572581.029 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-26T12:23:01.030Z,1740572581.030 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-26T12:23:01.368Z,1740572581.368 [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>

2025-02-26T12:23:01.385Z,1740572581.385 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-26T12:23:01.387Z,1740572581.387 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-26T12:23:01.390Z,1740572581.390 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-26T12:23:01.397Z,1740572581.397 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-26T12:23:01.410Z,1740572581.410 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-26T12:23:01.417Z,1740572581.417 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-26T12:23:01.419Z,1740572581.419 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-26T12:23:01.437Z,1740572581.437 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T12:23:01.440Z,1740572581.440 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-26T12:23:01.506Z,1740572581.506 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-26T12:23:01.525Z,1740572581.525 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T12:23:01.549Z,1740572581.549 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-26T12:23:01.571Z,1740572581.571 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-26T12:23:01.593Z,1740572581.593 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-26T12:23:01.607Z,1740572581.607 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:23:01.616Z,1740572581.616 [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
    }
  }
}


2025-02-26T12:23:01.616Z,1740572581.616 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-26T12:23:05.537Z,1740572585.537 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T12:23:12.401Z,1740572592.401 [Default:A.Wait](INFO): Done Waiting.
2025-02-26T12:23:12.421Z,1740572592.421 [Default:A.Wait] Stopped
2025-02-26T12:23:12.421Z,1740572592.421 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T12:23:14.909Z,1740572594.909 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:23:17.201Z,1740572597.201 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-26T12:23:17.202Z,1740572597.202 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-26T12:23:17.202Z,1740572597.202 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-26T12:23:20.536Z,1740572600.536 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 8 hour
2025-02-26T12:23:20.540Z,1740572600.540 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-02-26T12:23:20.542Z,1740572600.542 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.806966 degree
2025-02-26T12:23:20.543Z,1740572600.543 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.824326 degree
2025-02-26T12:23:20.544Z,1740572600.544 [CommandExec](IMPORTANT): got command set keepstation.Depth 20 meter
2025-02-26T12:23:24.042Z,1740572604.042 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 35 meter
2025-02-26T12:23:24.043Z,1740572604.043 [CommandExec](IMPORTANT): got command run
2025-02-26T12:23:24.045Z,1740572604.045 [CommandExec](IMPORTANT): Running 
2025-02-26T12:23:24.130Z,1740572604.130 [Default] Stopped
2025-02-26T12:23:24.130Z,1740572604.130 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T12:23:24.130Z,1740572604.130 [Default:B.GoToSurface] Stopped
2025-02-26T12:23:24.130Z,1740572604.130 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T12:23:24.130Z,1740572604.130 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-26T12:23:24.131Z,1740572604.131 [keepstation] Running Loop=1
2025-02-26T12:23:24.131Z,1740572604.131 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-26T12:23:24.131Z,1740572604.131 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-26T12:23:24.131Z,1740572604.131 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-26T12:23:24.131Z,1740572604.131 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T12:23:24.131Z,1740572604.131 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-26T12:23:24.131Z,1740572604.131 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T12:23:24.132Z,1740572604.132 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-26T12:23:24.132Z,1740572604.132 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T12:23:24.132Z,1740572604.132 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-26T12:23:24.132Z,1740572604.132 [keepstation:BackseatDriver] Running Loop=1
2025-02-26T12:23:24.132Z,1740572604.132 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-26T12:23:24.132Z,1740572604.132 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-26T12:23:24.132Z,1740572604.132 [keepstation:PowerOnly] Running Loop=1
2025-02-26T12:23:24.132Z,1740572604.132 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-26T12:23:24.132Z,1740572604.132 [keepstation:PowerOnly:A] Running Loop=1
2025-02-26T12:23:24.132Z,1740572604.132 [keepstation:PowerOnly:B] Running Loop=1
2025-02-26T12:23:24.132Z,1740572604.132 [keepstation:PowerOnly:C] Running Loop=1
2025-02-26T12:23:24.133Z,1740572604.133 [keepstation:PowerOnly:D] Running Loop=1
2025-02-26T12:23:24.137Z,1740572604.137 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-26T12:23:24.137Z,1740572604.137 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-26T12:23:24.137Z,1740572604.137 [keepstation:H.Pitch] Running Loop=1
2025-02-26T12:23:24.137Z,1740572604.137 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-26T12:23:24.137Z,1740572604.137 [keepstation:B] Running Loop=1
2025-02-26T12:23:24.138Z,1740572604.138 [keepstation:H.Pitch] Running Loop=1
2025-02-26T12:23:24.138Z,1740572604.138 [keepstation:PowerOnly] Running Loop=1
2025-02-26T12:23:24.139Z,1740572604.139 [keepstation:PowerOnly:D] Stopped
2025-02-26T12:23:24.139Z,1740572604.139 [keepstation:PowerOnly:C] Stopped
2025-02-26T12:23:24.139Z,1740572604.139 [keepstation:PowerOnly:B] Stopped
2025-02-26T12:23:24.139Z,1740572604.139 [keepstation:PowerOnly:A] Stopped
2025-02-26T12:23:24.139Z,1740572604.139 [keepstation:BackseatDriver] Running Loop=1
2025-02-26T12:23:24.139Z,1740572604.139 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-26T12:23:24.139Z,1740572604.139 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T12:23:24.139Z,1740572604.139 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T12:23:24.140Z,1740572604.140 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T12:23:24.140Z,1740572604.140 [keepstation:B] Stopped
2025-02-26T12:23:24.140Z,1740572604.140 [keepstation:D] Running Loop=1
2025-02-26T12:23:24.661Z,1740572604.661 [keepstation:D] Stopped
2025-02-26T12:23:24.661Z,1740572604.661 [keepstation:E] Running Loop=1
2025-02-26T12:23:25.126Z,1740572605.126 [keepstation:E] Stopped
2025-02-26T12:23:25.126Z,1740572605.126 [keepstation:StartingMission] Running Loop=1
2025-02-26T12:23:25.126Z,1740572605.126 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-26T12:23:25.518Z,1740572605.518 [keepstation:NeedComms] Running Loop=1
2025-02-26T12:23:25.519Z,1740572605.519 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-26T12:23:25.519Z,1740572605.519 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-26T12:23:25.519Z,1740572605.519 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T12:23:25.519Z,1740572605.519 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-26T12:23:25.519Z,1740572605.519 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-26T12:23:25.520Z,1740572605.520 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-26T12:23:25.520Z,1740572605.520 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-26T12:23:25.520Z,1740572605.520 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T12:23:25.521Z,1740572605.521 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T12:23:25.521Z,1740572605.521 [keepstation:NeedComms:A] Running Loop=1
2025-02-26T12:23:25.523Z,1740572605.523 [keepstation:NeedComms:A](INFO): last time_fix was:  1740570498.000000 second since 1970/01/01T00:00:00Z 
2025-02-26T12:23:25.523Z,1740572605.523 [keepstation:NeedComms:A] Stopped
2025-02-26T12:23:25.926Z,1740572605.926 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-26T12:23:27.124Z,1740572607.124 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:23:31.653Z,1740572611.653 [MassServo](FAULT): Overload Error
2025-02-26T12:23:31.653Z,1740572611.653 [MassServo] Hardware Fault, FailCount= 1
2025-02-26T12:23:31.653Z,1740572611.653 [MassServo](ERROR): Hardware Fault
2025-02-26T12:23:31.920Z,1740572611.920 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-02-26T12:23:32.026Z,1740572612.026 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-26T12:23:32.026Z,1740572612.026 [MassServo](INFO): Powering down
2025-02-26T12:23:32.834Z,1740572612.834 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-26T12:23:32.954Z,1740572612.954 [MassServo](DEBUG): Initializing MassServo.
2025-02-26T12:23:33.164Z,1740572613.164 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-26T12:23:33.164Z,1740572613.164 [MassServo] No Fault, FailCount= 1
2025-02-26T12:23:35.663Z,1740572615.663 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:23:39.646Z,1740572619.646 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:24:06.786Z,1740572646.786 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:24:25.857Z,1740572665.857 [Radio_Surface](INFO): Powering down
2025-02-26T12:24:37.913Z,1740572677.913 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:24:38.917Z,1740572678.917 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T12:25:08.941Z,1740572708.941 [keepstation:NeedComms:C] Running Loop=1
2025-02-26T12:25:09.350Z,1740572709.350 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T12:25:09.489Z,1740572709.489 [Radio_Surface](INFO): Powering up
2025-02-26T12:25:15.062Z,1740572715.062 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T12:25:45.181Z,1740572745.181 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:26:16.305Z,1740572776.305 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:26:47.437Z,1740572807.437 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:26:53.159Z,1740572813.159 [NAL9602](INFO): SBD MO Status=1, MOMSN=13546, MT Status=0, MTMSN=0
2025-02-26T12:26:53.159Z,1740572813.159 [NAL9602](INFO): No messages in MT queue
2025-02-26T12:26:54.377Z,1740572814.377 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,122653.00,A,3648.45186,N,12149.23808,W,0.622,273.82,260225,,,A*7F
2025-02-26T12:26:54.379Z,1740572814.379 [NAL9602](INFO): GPS fix at 20250226T122653: (36.807531, -121.820635)
2025-02-26T12:26:54.392Z,1740572814.392 [UniversalFixResidualReporter](INFO): Fix residual: 22.4 %DT, over the last 1313.9 m. Residual distance 294.6 m at bearing -107.9 degrees. Fix at (36.8075, -121.8206) with 1585.0 m made good.
2025-02-26T12:26:54.394Z,1740572814.394 [keepstation:NeedComms:C] Stopped
2025-02-26T12:26:54.395Z,1740572814.395 [keepstation:NeedComms:D] Running Loop=1
2025-02-26T12:26:54.808Z,1740572814.808 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-26T12:27:10.520Z,1740572830.520 [NAL9602](INFO): SBD MO Status=1, MOMSN=13547, MT Status=0, MTMSN=0
2025-02-26T12:27:10.577Z,1740572830.577 [NAL9602](INFO): Sent 82 bytes from file Logs/20250226T074052/Courier0082.lzma
2025-02-26T12:27:10.578Z,1740572830.578 [NAL9602](INFO): Packets left to send: 0
2025-02-26T12:27:18.565Z,1740572838.565 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:27:19.928Z,1740572839.928 [NAL9602](INFO): SBD MO Status=1, MOMSN=13548, MT Status=0, MTMSN=0
2025-02-26T12:27:19.985Z,1740572839.985 [NAL9602](INFO): Sent 332 bytes from file Logs/20250226T074052/Express0083.lzma
2025-02-26T12:27:19.986Z,1740572839.986 [NAL9602](INFO): Packets left to send: 3
2025-02-26T12:27:29.977Z,1740572849.977 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002941
2025-02-26T12:27:31.604Z,1740572851.604 [NAL9602](INFO): SBD MO Status=1, MOMSN=13549, MT Status=0, MTMSN=0
2025-02-26T12:27:31.653Z,1740572851.653 [NAL9602](INFO): Sent 332 bytes from file Logs/20250226T074052/Express0083.lzma
2025-02-26T12:27:31.653Z,1740572851.653 [NAL9602](INFO): Packets left to send: 2
2025-02-26T12:27:44.448Z,1740572864.448 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250226T074052/Courier0085.lzma
2025-02-26T12:27:45.451Z,1740572865.451 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0085.lzma.bak
2025-02-26T12:27:45.451Z,1740572865.451 [DataOverHttps](INFO): SBD MOMSN=23978925
2025-02-26T12:28:01.802Z,1740572881.802 [DataOverHttps](INFO): Sending 1126 bytes from file Logs/20250226T074052/Express0083.lzma
2025-02-26T12:28:02.803Z,1740572882.803 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0083.lzma.bak
2025-02-26T12:28:02.803Z,1740572882.803 [DataOverHttps](INFO): SBD MOMSN=23978927
2025-02-26T12:28:05.696Z,1740572885.696 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T12:28:19.745Z,1740572899.745 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250226T074052/Express0086.lzma
2025-02-26T12:28:20.747Z,1740572900.747 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0086.lzma.bak
2025-02-26T12:28:20.747Z,1740572900.747 [DataOverHttps](INFO): SBD MOMSN=23978955
2025-02-26T12:28:22.630Z,1740572902.630 [keepstation:NeedComms:D] Stopped
2025-02-26T12:28:22.630Z,1740572902.630 [keepstation:NeedComms:E] Running Loop=1
2025-02-26T12:28:23.024Z,1740572903.024 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T12:28:24.640Z,1740572904.640 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,122824.00,A,3648.45419,N,12149.24203,W,0.311,25.85,260225,,,A*47
2025-02-26T12:28:24.666Z,1740572904.666 [NAL9602](INFO): GPS fix at 20250226T122824: (36.807570, -121.820701)
2025-02-26T12:28:24.711Z,1740572904.711 [keepstation:NeedComms:E] Stopped
2025-02-26T12:28:24.712Z,1740572904.712 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-26T12:28:24.712Z,1740572904.712 [keepstation:NeedComms] Stopped
2025-02-26T12:28:24.712Z,1740572904.712 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-26T12:28:24.712Z,1740572904.712 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-26T12:28:24.712Z,1740572904.712 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T12:28:25.081Z,1740572905.081 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-26T12:28:25.081Z,1740572905.081 [keepstation:StartingMission] Stopped
2025-02-26T12:28:25.082Z,1740572905.082 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-26T12:28:25.082Z,1740572905.082 [keepstation:TransitToStation] Running Loop=1
2025-02-26T12:28:25.082Z,1740572905.082 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-26T12:28:25.082Z,1740572905.082 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-26T12:28:25.082Z,1740572905.082 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T12:28:25.082Z,1740572905.082 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-26T12:28:25.082Z,1740572905.082 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-26T12:28:25.082Z,1740572905.082 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-26T12:28:25.082Z,1740572905.082 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-26T12:28:25.083Z,1740572905.083 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-26T12:28:25.083Z,1740572905.083 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T12:28:25.083Z,1740572905.083 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.806965,-121.824326
2025-02-26T12:28:25.493Z,1740572905.493 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.806965,-121.824326
2025-02-26T12:28:25.494Z,1740572905.494 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-26T12:28:25.494Z,1740572905.494 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-26T12:28:25.495Z,1740572905.495 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-26T12:28:30.276Z,1740572910.276 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:28:38.367Z,1740572918.367 [NAL9602](INFO): SBD MO Status=0, MOMSN=13550, MT Status=0, MTMSN=0
2025-02-26T12:28:38.368Z,1740572918.368 [NAL9602](INFO): No messages in MT queue
2025-02-26T12:28:42.811Z,1740572922.811 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:28:55.903Z,1740572935.903 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:29:08.815Z,1740572948.815 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:29:08.823Z,1740572948.823 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T12:29:21.448Z,1740572961.448 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:29:33.971Z,1740572973.971 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:29:46.947Z,1740572986.947 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:30:00.267Z,1740573000.267 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:30:13.599Z,1740573013.599 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:30:26.931Z,1740573026.931 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:30:39.859Z,1740573039.859 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:30:52.488Z,1740573052.488 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:30:55.377Z,1740573055.377 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:31:08.279Z,1740573068.279 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:31:21.209Z,1740573081.209 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:31:26.501Z,1740573086.501 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:31:28.221Z,1740573088.221 [Radio_Surface](INFO): Powering down
2025-02-26T12:31:33.731Z,1740573093.731 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:31:46.256Z,1740573106.256 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:31:57.625Z,1740573117.625 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:31:58.630Z,1740573118.630 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T12:31:59.587Z,1740573119.587 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:32:12.518Z,1740573132.518 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:32:25.850Z,1740573145.850 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:32:39.179Z,1740573159.179 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:32:52.511Z,1740573172.511 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:33:02.886Z,1740573182.886 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.720306
2025-02-26T12:33:05.035Z,1740573185.035 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:33:17.963Z,1740573197.963 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:33:30.489Z,1740573210.489 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:37:38.168Z,1740573458.168 [VerticalControl](CRITICAL): Failure to ascend, stopping mission after 300.171967 seconds, depthRate=0.022091 m/s, pitch=-9.428349 deg.
2025-02-26T12:37:38.319Z,1740573458.319 [CommandExec](FAULT): Scheduling is paused
2025-02-26T12:37:38.319Z,1740573458.319 [CBIT](INFO): Critical error at 20250226T123738
2025-02-26T12:37:38.320Z,1740573458.320 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-02-26T12:37:38.631Z,1740573458.631 [MissionManager](INFO): MissionManager is completed.
2025-02-26T12:37:38.631Z,1740573458.631 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-26T12:37:38.631Z,1740573458.631 [keepstation] Stopped
2025-02-26T12:37:38.631Z,1740573458.631 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-26T12:37:38.631Z,1740573458.631 [keepstation:StandardEnvelopes] Stopped
2025-02-26T12:37:38.631Z,1740573458.631 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-26T12:37:38.631Z,1740573458.631 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-26T12:37:38.631Z,1740573458.631 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-26T12:37:38.631Z,1740573458.631 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-26T12:37:38.631Z,1740573458.631 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-26T12:37:38.632Z,1740573458.632 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-26T12:37:38.632Z,1740573458.632 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-26T12:37:38.632Z,1740573458.632 [keepstation:BackseatDriver] Stopped
2025-02-26T12:37:38.632Z,1740573458.632 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-26T12:37:38.632Z,1740573458.632 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-26T12:37:38.632Z,1740573458.632 [keepstation:PowerOnly] Stopped
2025-02-26T12:37:38.632Z,1740573458.632 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-26T12:37:38.632Z,1740573458.632 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-26T12:37:38.632Z,1740573458.632 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T12:37:38.632Z,1740573458.632 [keepstation:H.Pitch] Stopped
2025-02-26T12:37:38.632Z,1740573458.632 [keepstation:TransitToStation] Stopped
2025-02-26T12:37:38.632Z,1740573458.632 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-26T12:37:38.632Z,1740573458.632 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-26T12:37:38.632Z,1740573458.632 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T12:37:38.633Z,1740573458.633 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-26T12:37:38.633Z,1740573458.633 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-26T12:37:38.633Z,1740573458.633 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-26T12:37:38.633Z,1740573458.633 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-26T12:37:38.633Z,1740573458.633 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T12:37:38.971Z,1740573458.971 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T12:37:38.971Z,1740573458.971 [Default] Running Loop=1
2025-02-26T12:37:38.971Z,1740573458.971 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T12:37:38.971Z,1740573458.971 [Default:B.GoToSurface] Running Loop=1
2025-02-26T12:37:38.971Z,1740573458.971 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T12:37:38.972Z,1740573458.972 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T12:37:38.972Z,1740573458.972 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T12:37:38.972Z,1740573458.972 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T12:37:38.974Z,1740573458.974 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T12:37:38.974Z,1740573458.974 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T12:37:38.975Z,1740573458.975 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T12:37:38.975Z,1740573458.975 [Default:A.Wait] Running Loop=1
2025-02-26T12:37:38.975Z,1740573458.975 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T12:37:39.517Z,1740573459.517 [Radio_Surface](INFO): Powering up
2025-02-26T12:37:45.022Z,1740573465.022 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T12:37:52.361Z,1740573472.361 [Default:A.Wait](INFO): Done Waiting.
2025-02-26T12:37:52.361Z,1740573472.361 [Default:A.Wait] Stopped
2025-02-26T12:37:52.362Z,1740573472.362 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T12:38:15.141Z,1740573495.141 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:38:16.708Z,1740573496.708 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:38:29.331Z,1740573509.331 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:38:42.315Z,1740573522.315 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:38:46.265Z,1740573526.265 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:38:48.710Z,1740573528.710 [Default:CheckIn] Running Loop=1
2025-02-26T12:38:48.710Z,1740573528.710 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T12:38:48.710Z,1740573528.710 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T12:38:55.167Z,1740573535.167 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:39:08.096Z,1740573548.096 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:39:14.159Z,1740573554.159 [NAL9602](INFO): SBD MO Status=2, MOMSN=13551, MT Status=2, MTMSN=0
2025-02-26T12:39:14.159Z,1740573554.159 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T12:39:17.389Z,1740573557.389 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:39:20.621Z,1740573560.621 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:39:33.548Z,1740573573.548 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:39:33.557Z,1740573573.557 [NAL9602](INFO): SBD MO Status=0, MOMSN=13551, MT Status=0, MTMSN=0
2025-02-26T12:39:33.565Z,1740573573.565 [NAL9602](INFO): No messages in MT queue
2025-02-26T12:39:34.796Z,1740573574.796 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,123934.00,A,3648.45646,N,12149.25769,W,1.672,296.49,260225,,,A*7D
2025-02-26T12:39:34.798Z,1740573574.798 [NAL9602](INFO): GPS fix at 20250226T123934: (36.807608, -121.820961)
2025-02-26T12:39:34.862Z,1740573574.862 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T12:39:34.863Z,1740573574.863 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T12:39:45.852Z,1740573585.852 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:39:48.517Z,1740573588.517 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:39:52.732Z,1740573592.732 [NAL9602](INFO): SBD MO Status=1, MOMSN=13552, MT Status=0, MTMSN=0
2025-02-26T12:39:52.781Z,1740573592.781 [NAL9602](INFO): Sent 181 bytes from file Logs/20250226T074052/Courier0088.lzma
2025-02-26T12:39:52.782Z,1740573592.782 [NAL9602](INFO): Packets left to send: 0
2025-02-26T12:39:58.971Z,1740573598.971 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:39:59.301Z,1740573599.301 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003047
2025-02-26T12:40:03.856Z,1740573603.856 [NAL9602](INFO): SBD MO Status=1, MOMSN=13553, MT Status=0, MTMSN=0
2025-02-26T12:40:03.925Z,1740573603.925 [NAL9602](INFO): Sent 282 bytes from file Logs/20250226T074052/Express0089.lzma
2025-02-26T12:40:03.925Z,1740573603.925 [NAL9602](INFO): Packets left to send: 0
2025-02-26T12:40:10.778Z,1740573610.778 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T12:40:10.778Z,1740573610.778 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T12:40:10.778Z,1740573610.778 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T12:40:11.956Z,1740573611.956 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:40:24.885Z,1740573624.885 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:40:34.602Z,1740573634.602 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T12:40:52.772Z,1740573652.772 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:41:05.285Z,1740573665.285 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:41:18.212Z,1740573678.212 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:41:31.140Z,1740573691.140 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:41:43.260Z,1740573703.260 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:41:51.298Z,1740573711.298 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T124150
2025-02-26T12:41:55.785Z,1740573715.785 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:41:59.073Z,1740573719.073 [DataOverHttps](INFO): Received command: resume; schedule resume
2025-02-26T12:41:59.155Z,1740573719.155 [CommandExec](IMPORTANT): got command resume
2025-02-26T12:41:59.156Z,1740573719.156 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-26T12:41:59.156Z,1740573719.156 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-26T12:41:59.158Z,1740573719.158 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-26T12:41:59.918Z,1740573719.918 [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>

2025-02-26T12:41:59.923Z,1740573719.923 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-26T12:41:59.925Z,1740573719.925 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-26T12:41:59.927Z,1740573719.927 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-26T12:41:59.929Z,1740573719.929 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-26T12:41:59.932Z,1740573719.932 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-26T12:41:59.936Z,1740573719.936 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-26T12:41:59.938Z,1740573719.938 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-26T12:41:59.940Z,1740573719.940 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-26T12:41:59.942Z,1740573719.942 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-26T12:41:59.945Z,1740573719.945 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-26T12:41:59.975Z,1740573719.975 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-26T12:41:59.976Z,1740573719.976 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-26T12:41:59.976Z,1740573719.976 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-26T12:41:59.985Z,1740573719.985 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-26T12:42:00.208Z,1740573720.208 [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>

2025-02-26T12:42:00.233Z,1740573720.233 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-26T12:42:00.235Z,1740573720.235 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-26T12:42:00.238Z,1740573720.238 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-26T12:42:00.240Z,1740573720.240 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-26T12:42:00.242Z,1740573720.242 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-26T12:42:00.244Z,1740573720.244 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-26T12:42:00.255Z,1740573720.255 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-26T12:42:00.258Z,1740573720.258 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-26T12:42:00.268Z,1740573720.268 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T12:42:00.328Z,1740573720.328 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-26T12:42:00.339Z,1740573720.339 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-26T12:42:00.340Z,1740573720.340 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-26T12:42:00.460Z,1740573720.460 [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>

2025-02-26T12:42:00.464Z,1740573720.464 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-26T12:42:00.466Z,1740573720.466 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-26T12:42:00.468Z,1740573720.468 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-26T12:42:00.470Z,1740573720.470 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-26T12:42:00.471Z,1740573720.471 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-26T12:42:00.477Z,1740573720.477 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-26T12:42:00.483Z,1740573720.483 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-26T12:42:00.507Z,1740573720.507 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-26T12:42:00.507Z,1740573720.507 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-26T12:42:00.508Z,1740573720.508 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-26T12:42:00.546Z,1740573720.546 [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>

2025-02-26T12:42:00.548Z,1740573720.548 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-26T12:42:00.551Z,1740573720.551 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-26T12:42:00.553Z,1740573720.553 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-26T12:42:00.553Z,1740573720.553 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-26T12:42:00.555Z,1740573720.555 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-26T12:42:00.725Z,1740573720.725 [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>

2025-02-26T12:42:00.729Z,1740573720.729 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-26T12:42:00.731Z,1740573720.731 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-26T12:42:00.733Z,1740573720.733 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-26T12:42:00.735Z,1740573720.735 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-26T12:42:00.737Z,1740573720.737 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-26T12:42:00.745Z,1740573720.745 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-26T12:42:00.747Z,1740573720.747 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-26T12:42:00.790Z,1740573720.790 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T12:42:00.793Z,1740573720.793 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-26T12:42:00.807Z,1740573720.807 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-26T12:42:00.814Z,1740573720.814 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T12:42:00.827Z,1740573720.827 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-26T12:42:00.831Z,1740573720.831 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-26T12:42:00.836Z,1740573720.836 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-26T12:42:00.853Z,1740573720.853 [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
    }
  }
}


2025-02-26T12:42:00.871Z,1740573720.871 [MissionManager](IMPORTANT): Resuming from info in Logs/20250226T074052/Transport_keepstation_tl.state
2025-02-26T12:42:00.882Z,1740573720.882 [MissionManager](INFO): Default->Default:CheckIn/0
2025-02-26T12:42:00.882Z,1740573720.882 [MissionManager](INFO): Default:A.Wait->null/0
2025-02-26T12:42:00.883Z,1740573720.883 [MissionManager](INFO): Default:B.GoToSurface->null/0
2025-02-26T12:42:00.883Z,1740573720.883 [MissionManager](INFO): Default:CheckIn->Default:CheckIn:C.Wait/0
2025-02-26T12:42:00.883Z,1740573720.883 [MissionManager](INFO): Default:CheckIn:Read_GPS->null/0
2025-02-26T12:42:00.884Z,1740573720.884 [MissionManager](INFO): Default:CheckIn:Read_Iridium->null/0
2025-02-26T12:42:00.884Z,1740573720.884 [MissionManager](INFO): Default:CheckIn:C.Wait->null/0
2025-02-26T12:42:00.884Z,1740573720.884 [MissionManager](INFO): keepstation->keepstation:TransitToStation/0
2025-02-26T12:42:00.885Z,1740573720.885 [MissionManager](INFO): keepstation:NeedComms->null/0
2025-02-26T12:42:00.885Z,1740573720.885 [MissionManager](INFO): keepstation:NeedComms:A->null/0
2025-02-26T12:42:00.886Z,1740573720.886 [MissionManager](INFO): keepstation:NeedComms:B.GoToSurface->null/0
2025-02-26T12:42:00.886Z,1740573720.886 [MissionManager](INFO): keepstation:NeedComms:C->null/0
2025-02-26T12:42:00.886Z,1740573720.886 [MissionManager](INFO): keepstation:NeedComms:D->null/0
2025-02-26T12:42:00.887Z,1740573720.887 [MissionManager](INFO): keepstation:NeedComms:E->null/0
2025-02-26T12:42:00.887Z,1740573720.887 [MissionManager](INFO): keepstation:B->null/0
2025-02-26T12:42:00.887Z,1740573720.887 [MissionManager](INFO): keepstation:D->null/0
2025-02-26T12:42:00.888Z,1740573720.888 [MissionManager](INFO): keepstation:E->null/0
2025-02-26T12:42:00.888Z,1740573720.888 [MissionManager](INFO): keepstation:BackseatDriver->keepstation:BackseatDriver:A.BackseatDriver/0
2025-02-26T12:42:00.888Z,1740573720.888 [MissionManager](INFO): keepstation:BackseatDriver:A.BackseatDriver->null/0
2025-02-26T12:42:00.889Z,1740573720.889 [MissionManager](INFO): keepstation:PowerOnly->keepstation:PowerOnly:E.Wait/0
2025-02-26T12:42:00.889Z,1740573720.889 [MissionManager](INFO): keepstation:PowerOnly:E.Wait->null/0
2025-02-26T12:42:00.890Z,1740573720.890 [MissionManager](INFO): keepstation:StartingMission->null/0
2025-02-26T12:42:00.890Z,1740573720.890 [MissionManager](INFO): keepstation:TransitToStation->keepstation:TransitToStation:Wpt1.Waypoint/0
2025-02-26T12:42:00.890Z,1740573720.890 [MissionManager](INFO): keepstation:TransitToStation:Wpt1.Waypoint->null/0
2025-02-26T12:42:00.891Z,1740573720.891 [CommandExec](IMPORTANT): Resuming mission and schedule
2025-02-26T12:42:00.891Z,1740573720.891 [CommandExec](IMPORTANT): Scheduling is resumed
2025-02-26T12:42:00.891Z,1740573720.891 [CommandExec](IMPORTANT): got command schedule resume
2025-02-26T12:42:01.066Z,1740573721.066 [Default] Stopped
2025-02-26T12:42:01.066Z,1740573721.066 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T12:42:01.066Z,1740573721.066 [Default:B.GoToSurface] Stopped
2025-02-26T12:42:01.066Z,1740573721.066 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T12:42:01.066Z,1740573721.066 [Default:CheckIn] Stopped
2025-02-26T12:42:01.066Z,1740573721.066 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T12:42:01.067Z,1740573721.067 [Default:CheckIn:C.Wait] Stopped
2025-02-26T12:42:01.067Z,1740573721.067 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T12:42:01.067Z,1740573721.067 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-26T12:42:01.067Z,1740573721.067 [keepstation] Running Loop=1
2025-02-26T12:42:01.067Z,1740573721.067 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-26T12:42:01.067Z,1740573721.067 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-26T12:42:01.067Z,1740573721.067 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-26T12:42:01.067Z,1740573721.067 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T12:42:01.068Z,1740573721.068 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-26T12:42:01.068Z,1740573721.068 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T12:42:01.068Z,1740573721.068 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-26T12:42:01.068Z,1740573721.068 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T12:42:01.068Z,1740573721.068 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-26T12:42:01.068Z,1740573721.068 [keepstation:BackseatDriver] Running Loop=1
2025-02-26T12:42:01.068Z,1740573721.068 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-26T12:42:01.068Z,1740573721.068 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-26T12:42:01.068Z,1740573721.068 [keepstation:PowerOnly] Running Loop=1
2025-02-26T12:42:01.068Z,1740573721.068 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-26T12:42:01.069Z,1740573721.069 [keepstation:PowerOnly:A] Running Loop=1
2025-02-26T12:42:01.078Z,1740573721.078 [keepstation:PowerOnly:B] Running Loop=1
2025-02-26T12:42:01.078Z,1740573721.078 [keepstation:PowerOnly:C] Running Loop=1
2025-02-26T12:42:01.078Z,1740573721.078 [keepstation:PowerOnly:D] Running Loop=1
2025-02-26T12:42:01.078Z,1740573721.078 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-26T12:42:01.078Z,1740573721.078 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-26T12:42:01.078Z,1740573721.078 [keepstation:H.Pitch] Running Loop=1
2025-02-26T12:42:01.078Z,1740573721.078 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-26T12:42:01.078Z,1740573721.078 [keepstation:TransitToStation] Running Loop=1
2025-02-26T12:42:01.078Z,1740573721.078 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-26T12:42:01.078Z,1740573721.078 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-26T12:42:01.078Z,1740573721.078 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T12:42:01.079Z,1740573721.079 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-26T12:42:01.079Z,1740573721.079 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-26T12:42:01.079Z,1740573721.079 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-26T12:42:01.079Z,1740573721.079 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-26T12:42:01.079Z,1740573721.079 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-26T12:42:01.079Z,1740573721.079 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T12:42:01.080Z,1740573721.080 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.806964,-121.824320
2025-02-26T12:42:01.086Z,1740573721.086 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.806964,-121.824320
2025-02-26T12:42:01.086Z,1740573721.086 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-26T12:42:01.087Z,1740573721.087 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-26T12:42:01.087Z,1740573721.087 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-26T12:42:01.087Z,1740573721.087 [keepstation:H.Pitch] Running Loop=1
2025-02-26T12:42:01.087Z,1740573721.087 [keepstation:PowerOnly] Running Loop=1
2025-02-26T12:42:01.088Z,1740573721.088 [keepstation:PowerOnly:D] Stopped
2025-02-26T12:42:01.088Z,1740573721.088 [keepstation:PowerOnly:C] Stopped
2025-02-26T12:42:01.088Z,1740573721.088 [keepstation:PowerOnly:B] Stopped
2025-02-26T12:42:01.088Z,1740573721.088 [keepstation:PowerOnly:A] Stopped
2025-02-26T12:42:01.088Z,1740573721.088 [keepstation:BackseatDriver] Running Loop=1
2025-02-26T12:42:01.088Z,1740573721.088 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-26T12:42:01.088Z,1740573721.088 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T12:42:01.093Z,1740573721.093 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T12:42:01.093Z,1740573721.093 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T12:42:02.671Z,1740573722.671 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-26T12:42:08.315Z,1740573728.315 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:42:20.833Z,1740573740.833 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:42:23.661Z,1740573743.661 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-26T12:42:23.661Z,1740573743.661 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-26T12:42:23.664Z,1740573743.664 [BPC1](FAULT): Failed to receive data from 1 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 62.
2025-02-26T12:47:59.477Z,1740574079.477 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-02-26T12:48:30.609Z,1740574110.609 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:48:39.021Z,1740574119.021 [Radio_Surface](INFO): Powering down
2025-02-26T12:49:01.745Z,1740574141.745 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:49:02.749Z,1740574142.749 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T12:50:10.024Z,1740574210.024 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.912918
2025-02-26T12:53:31.765Z,1740574411.765 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:53:34.192Z,1740574414.192 [VerticalControl](CRITICAL): Excessive depth excursion=10.065185 m, failToGoUpDepth_=15.111150 m, depthRate=0.020578 m/s, pitch=-10.541650 deg.
2025-02-26T12:53:34.383Z,1740574414.383 [CommandExec](FAULT): Scheduling is paused
2025-02-26T12:53:34.383Z,1740574414.383 [CBIT](INFO): Critical error at 20250226T125334
2025-02-26T12:53:34.383Z,1740574414.383 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-02-26T12:53:34.595Z,1740574414.595 [MissionManager](INFO): MissionManager is completed.
2025-02-26T12:53:34.596Z,1740574414.596 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-26T12:53:34.596Z,1740574414.596 [keepstation] Stopped
2025-02-26T12:53:34.596Z,1740574414.596 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-26T12:53:34.596Z,1740574414.596 [keepstation:StandardEnvelopes] Stopped
2025-02-26T12:53:34.596Z,1740574414.596 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-26T12:53:34.596Z,1740574414.596 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-26T12:53:34.596Z,1740574414.596 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-26T12:53:34.596Z,1740574414.596 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-26T12:53:34.596Z,1740574414.596 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-26T12:53:34.596Z,1740574414.596 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-26T12:53:34.596Z,1740574414.596 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-26T12:53:34.596Z,1740574414.596 [keepstation:BackseatDriver] Stopped
2025-02-26T12:53:34.596Z,1740574414.596 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-26T12:53:34.597Z,1740574414.597 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-26T12:53:34.597Z,1740574414.597 [keepstation:PowerOnly] Stopped
2025-02-26T12:53:34.597Z,1740574414.597 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-26T12:53:34.597Z,1740574414.597 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-26T12:53:34.597Z,1740574414.597 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T12:53:34.597Z,1740574414.597 [keepstation:H.Pitch] Stopped
2025-02-26T12:53:34.597Z,1740574414.597 [keepstation:TransitToStation] Stopped
2025-02-26T12:53:34.597Z,1740574414.597 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-26T12:53:34.597Z,1740574414.597 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-26T12:53:34.597Z,1740574414.597 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T12:53:34.597Z,1740574414.597 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-26T12:53:34.597Z,1740574414.597 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-26T12:53:34.597Z,1740574414.597 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-26T12:53:34.598Z,1740574414.598 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-26T12:53:34.598Z,1740574414.598 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T12:53:34.994Z,1740574414.994 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T12:53:34.995Z,1740574414.995 [Default] Running Loop=1
2025-02-26T12:53:34.995Z,1740574414.995 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T12:53:34.995Z,1740574414.995 [Default:B.GoToSurface] Running Loop=1
2025-02-26T12:53:34.995Z,1740574414.995 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T12:53:34.995Z,1740574414.995 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T12:53:34.995Z,1740574414.995 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T12:53:34.996Z,1740574414.996 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T12:53:34.996Z,1740574414.996 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T12:53:34.996Z,1740574414.996 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T12:53:34.997Z,1740574414.997 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T12:53:34.997Z,1740574414.997 [Default:A.Wait] Running Loop=1
2025-02-26T12:53:34.997Z,1740574414.997 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T12:53:35.557Z,1740574415.557 [Radio_Surface](INFO): Powering up
2025-02-26T12:53:40.875Z,1740574420.875 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T12:53:45.079Z,1740574425.079 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:53:48.332Z,1740574428.332 [Default:A.Wait](INFO): Done Waiting.
2025-02-26T12:53:48.332Z,1740574428.332 [Default:A.Wait] Stopped
2025-02-26T12:53:48.332Z,1740574428.332 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T12:53:57.604Z,1740574437.604 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:54:10.531Z,1740574450.531 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:54:10.993Z,1740574450.993 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:54:23.460Z,1740574463.460 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:54:35.990Z,1740574475.990 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:54:42.126Z,1740574482.126 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:54:43.679Z,1740574483.679 [Default:CheckIn] Running Loop=1
2025-02-26T12:54:43.679Z,1740574483.679 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T12:54:43.679Z,1740574483.679 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T12:54:48.911Z,1740574488.911 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T12:55:07.104Z,1740574507.104 [NAL9602](INFO): SBD MO Status=0, MOMSN=13554, MT Status=0, MTMSN=0
2025-02-26T12:55:07.104Z,1740574507.104 [NAL9602](INFO): No messages in MT queue
2025-02-26T12:55:08.316Z,1740574508.316 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,125507.00,A,3648.47683,N,12149.30311,W,0.292,308.53,260225,,,A*75
2025-02-26T12:55:08.318Z,1740574508.318 [NAL9602](INFO): GPS fix at 20250226T125507: (36.807947, -121.821719)
2025-02-26T12:55:08.334Z,1740574508.334 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T12:55:08.334Z,1740574508.334 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T12:55:13.258Z,1740574513.258 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:55:23.171Z,1740574523.171 [NAL9602](INFO): SBD MO Status=1, MOMSN=13555, MT Status=0, MTMSN=0
2025-02-26T12:55:23.225Z,1740574523.225 [NAL9602](INFO): Sent 192 bytes from file Logs/20250226T074052/Courier0091.lzma
2025-02-26T12:55:23.225Z,1740574523.225 [NAL9602](INFO): Packets left to send: 0
2025-02-26T12:55:37.994Z,1740574537.994 [NAL9602](INFO): SBD MO Status=2, MOMSN=13556, MT Status=2, MTMSN=0
2025-02-26T12:55:37.994Z,1740574537.994 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T12:55:44.385Z,1740574544.385 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T12:55:52.833Z,1740574552.833 [NAL9602](INFO): SBD MO Status=1, MOMSN=13556, MT Status=0, MTMSN=0
2025-02-26T12:55:52.881Z,1740574552.881 [NAL9602](INFO): Sent 332 bytes from file Logs/20250226T074052/Express0092.lzma
2025-02-26T12:55:52.881Z,1740574552.881 [NAL9602](INFO): Packets left to send: 1
2025-02-26T12:55:53.154Z,1740574553.154 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003015
2025-02-26T12:56:09.796Z,1740574569.796 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250226T074052/Courier0094.lzma
2025-02-26T12:56:10.803Z,1740574570.803 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0094.lzma.bak
2025-02-26T12:56:10.803Z,1740574570.803 [DataOverHttps](INFO): SBD MOMSN=23978974
2025-02-26T12:56:27.265Z,1740574587.265 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T12:56:39.598Z,1740574599.598 [DataOverHttps](INFO): Sending 456 bytes from file Logs/20250226T074052/Express0092.lzma
2025-02-26T12:56:40.599Z,1740574600.599 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0092.lzma.bak
2025-02-26T12:56:40.599Z,1740574600.599 [DataOverHttps](INFO): SBD MOMSN=23978977
2025-02-26T12:56:57.062Z,1740574617.062 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250226T074052/Express0095.lzma
2025-02-26T12:56:58.063Z,1740574618.063 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0095.lzma.bak
2025-02-26T12:56:58.063Z,1740574618.063 [DataOverHttps](INFO): SBD MOMSN=23978990
2025-02-26T12:56:59.881Z,1740574619.881 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T12:56:59.882Z,1740574619.882 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T12:56:59.882Z,1740574619.882 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T12:59:50.487Z,1740574790.487 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T12:59:51.304Z,1740574791.304 [BPC1](ERROR): Battery stick #14 (s/n: 01DE) reported OVER_TEMP_ALARM. Status code: 0x1717.
2025-02-26T12:59:51.305Z,1740574791.305 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-26T12:59:51.306Z,1740574791.306 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 6.
2025-02-26T12:59:51.308Z,1740574791.308 [BPC1](INFO): Received data from all battery sticks.
2025-02-26T13:02:00.619Z,1740574920.619 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-26T13:02:00.619Z,1740574920.619 [Default:CheckIn:C.Wait] Stopped
2025-02-26T13:02:00.619Z,1740574920.619 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T13:02:00.619Z,1740574920.619 [Default:CheckIn:D] Running Loop=1
2025-02-26T13:02:01.012Z,1740574921.012 [Default:CheckIn:D] Stopped
2025-02-26T13:02:01.012Z,1740574921.012 [Default:CheckIn:E] Running Loop=1
2025-02-26T13:02:01.416Z,1740574921.416 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  8.433616 min 
2025-02-26T13:02:01.416Z,1740574921.416 [Default:CheckIn:E] Stopped
2025-02-26T13:02:01.416Z,1740574921.416 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-26T13:02:01.416Z,1740574921.416 [Default:CheckIn] Stopped
2025-02-26T13:02:01.416Z,1740574921.416 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T13:02:01.416Z,1740574921.416 [Default:CheckIn](INFO): Running loop #2
2025-02-26T13:02:01.416Z,1740574921.416 [Default:CheckIn] Running Loop=2
2025-02-26T13:02:01.416Z,1740574921.416 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T13:02:01.417Z,1740574921.417 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T13:02:03.428Z,1740574923.428 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,130202.00,A,3648.50945,N,12149.32595,W,0.952,314.85,260225,,,A*79
2025-02-26T13:02:03.431Z,1740574923.431 [NAL9602](INFO): GPS fix at 20250226T130202: (36.808491, -121.822099)
2025-02-26T13:02:03.442Z,1740574923.442 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T13:02:03.442Z,1740574923.442 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T13:02:11.072Z,1740574931.072 [DataOverHttps](INFO): Sending 84 bytes from file Logs/20250226T074052/Courier0097.lzma
2025-02-26T13:02:12.075Z,1740574932.075 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0097.lzma.bak
2025-02-26T13:02:12.075Z,1740574932.075 [DataOverHttps](INFO): SBD MOMSN=23978992
2025-02-26T13:02:22.415Z,1740574942.415 [NAL9602](INFO): SBD MO Status=0, MOMSN=13557, MT Status=0, MTMSN=0
2025-02-26T13:02:22.415Z,1740574942.415 [NAL9602](INFO): No messages in MT queue
2025-02-26T13:02:30.312Z,1740574950.312 [DataOverHttps](INFO): Sending 129 bytes from file Logs/20250226T074052/Express0098.lzma
2025-02-26T13:02:31.319Z,1740574951.319 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0098.lzma.bak
2025-02-26T13:02:31.319Z,1740574951.319 [DataOverHttps](INFO): SBD MOMSN=23978995
2025-02-26T13:02:33.360Z,1740574953.360 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T13:02:33.365Z,1740574953.365 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T13:02:33.365Z,1740574953.365 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T13:02:53.123Z,1740574973.123 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T13:03:51.647Z,1740575031.647 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T130350
2025-02-26T13:03:59.541Z,1740575039.541 [DataOverHttps](INFO): Received command: resume; schedule resume
2025-02-26T13:03:59.589Z,1740575039.589 [CommandExec](IMPORTANT): got command resume
2025-02-26T13:03:59.590Z,1740575039.590 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-26T13:03:59.590Z,1740575039.590 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-26T13:03:59.592Z,1740575039.592 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-26T13:04:00.328Z,1740575040.328 [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>

2025-02-26T13:04:00.333Z,1740575040.333 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-26T13:04:00.336Z,1740575040.336 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-26T13:04:00.338Z,1740575040.338 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-26T13:04:00.340Z,1740575040.340 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-26T13:04:00.342Z,1740575040.342 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-26T13:04:00.344Z,1740575040.344 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-26T13:04:00.347Z,1740575040.347 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-26T13:04:00.349Z,1740575040.349 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-26T13:04:00.351Z,1740575040.351 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-26T13:04:00.353Z,1740575040.353 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-26T13:04:00.356Z,1740575040.356 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-26T13:04:00.356Z,1740575040.356 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-26T13:04:00.356Z,1740575040.356 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-26T13:04:00.358Z,1740575040.358 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-26T13:04:00.674Z,1740575040.674 [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>

2025-02-26T13:04:00.680Z,1740575040.680 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-26T13:04:00.703Z,1740575040.703 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-26T13:04:00.706Z,1740575040.706 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-26T13:04:00.708Z,1740575040.708 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-26T13:04:00.710Z,1740575040.710 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-26T13:04:00.712Z,1740575040.712 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-26T13:04:00.715Z,1740575040.715 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-26T13:04:00.717Z,1740575040.717 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-26T13:04:00.723Z,1740575040.723 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T13:04:00.784Z,1740575040.784 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-26T13:04:00.788Z,1740575040.788 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-26T13:04:00.791Z,1740575040.791 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-26T13:04:00.865Z,1740575040.865 [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>

2025-02-26T13:04:00.869Z,1740575040.869 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-26T13:04:00.871Z,1740575040.871 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-26T13:04:00.873Z,1740575040.873 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-26T13:04:00.875Z,1740575040.875 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-26T13:04:00.876Z,1740575040.876 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-26T13:04:00.882Z,1740575040.882 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-26T13:04:00.888Z,1740575040.888 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-26T13:04:00.922Z,1740575040.922 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-26T13:04:00.922Z,1740575040.922 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-26T13:04:00.923Z,1740575040.923 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-26T13:04:00.949Z,1740575040.949 [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>

2025-02-26T13:04:00.952Z,1740575040.952 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-26T13:04:00.954Z,1740575040.954 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-26T13:04:00.956Z,1740575040.956 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-26T13:04:00.956Z,1740575040.956 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-26T13:04:00.958Z,1740575040.958 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-26T13:04:01.142Z,1740575041.142 [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>

2025-02-26T13:04:01.146Z,1740575041.146 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-26T13:04:01.148Z,1740575041.148 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-26T13:04:01.150Z,1740575041.150 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-26T13:04:01.152Z,1740575041.152 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-26T13:04:01.182Z,1740575041.182 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-26T13:04:01.189Z,1740575041.189 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-26T13:04:01.190Z,1740575041.190 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-26T13:04:01.204Z,1740575041.204 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T13:04:01.224Z,1740575041.224 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-26T13:04:01.228Z,1740575041.228 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-26T13:04:01.231Z,1740575041.231 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T13:04:01.242Z,1740575041.242 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-26T13:04:01.247Z,1740575041.247 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-26T13:04:01.252Z,1740575041.252 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-26T13:04:01.275Z,1740575041.275 [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
    }
  }
}


2025-02-26T13:04:01.286Z,1740575041.286 [MissionManager](IMPORTANT): Resuming from info in Logs/20250226T074052/Transport_keepstation_tl.state
2025-02-26T13:04:01.297Z,1740575041.297 [MissionManager](INFO): Default->Default:CheckIn/0
2025-02-26T13:04:01.298Z,1740575041.298 [MissionManager](INFO): Default:A.Wait->null/0
2025-02-26T13:04:01.298Z,1740575041.298 [MissionManager](INFO): Default:B.GoToSurface->null/0
2025-02-26T13:04:01.299Z,1740575041.299 [MissionManager](INFO): Default:CheckIn->Default:CheckIn:C.Wait/1
2025-02-26T13:04:01.299Z,1740575041.299 [MissionManager](INFO): Default:CheckIn:Read_GPS->null/0
2025-02-26T13:04:01.299Z,1740575041.299 [MissionManager](INFO): Default:CheckIn:Read_Iridium->null/0
2025-02-26T13:04:01.300Z,1740575041.300 [MissionManager](INFO): Default:CheckIn:C.Wait->null/0
2025-02-26T13:04:01.300Z,1740575041.300 [MissionManager](INFO): Default:CheckIn:D->null/0
2025-02-26T13:04:01.300Z,1740575041.300 [MissionManager](INFO): Default:CheckIn:E->null/0
2025-02-26T13:04:01.301Z,1740575041.301 [MissionManager](INFO): keepstation->null/0
2025-02-26T13:04:01.301Z,1740575041.301 [MissionManager](INFO): keepstation:NeedComms->null/0
2025-02-26T13:04:01.302Z,1740575041.302 [MissionManager](INFO): keepstation:NeedComms:A->null/0
2025-02-26T13:04:01.302Z,1740575041.302 [MissionManager](INFO): keepstation:NeedComms:B.GoToSurface->null/0
2025-02-26T13:04:01.303Z,1740575041.303 [MissionManager](INFO): keepstation:NeedComms:C->null/0
2025-02-26T13:04:01.303Z,1740575041.303 [MissionManager](INFO): keepstation:NeedComms:D->null/0
2025-02-26T13:04:01.303Z,1740575041.303 [MissionManager](INFO): keepstation:NeedComms:E->null/0
2025-02-26T13:04:01.304Z,1740575041.304 [MissionManager](INFO): keepstation:B->null/0
2025-02-26T13:04:01.304Z,1740575041.304 [MissionManager](INFO): keepstation:D->null/0
2025-02-26T13:04:01.304Z,1740575041.304 [MissionManager](INFO): keepstation:E->null/0
2025-02-26T13:04:01.305Z,1740575041.305 [MissionManager](INFO): keepstation:BackseatDriver->keepstation:BackseatDriver:A.BackseatDriver/0
2025-02-26T13:04:01.305Z,1740575041.305 [MissionManager](INFO): keepstation:BackseatDriver:A.BackseatDriver->null/0
2025-02-26T13:04:01.306Z,1740575041.306 [MissionManager](INFO): keepstation:PowerOnly->keepstation:PowerOnly:E.Wait/0
2025-02-26T13:04:01.306Z,1740575041.306 [MissionManager](INFO): keepstation:PowerOnly:E.Wait->null/0
2025-02-26T13:04:01.306Z,1740575041.306 [MissionManager](INFO): keepstation:StartingMission->null/0
2025-02-26T13:04:01.307Z,1740575041.307 [MissionManager](INFO): keepstation:TransitToStation->null/0
2025-02-26T13:04:01.307Z,1740575041.307 [MissionManager](INFO): keepstation:TransitToStation:Wpt1.Waypoint->null/0
2025-02-26T13:04:01.307Z,1740575041.307 [CommandExec](IMPORTANT): Resuming mission and schedule
2025-02-26T13:04:01.307Z,1740575041.307 [CommandExec](IMPORTANT): Scheduling is resumed
2025-02-26T13:04:01.307Z,1740575041.307 [CommandExec](IMPORTANT): got command schedule resume
2025-02-26T13:04:01.486Z,1740575041.486 [Default] Stopped
2025-02-26T13:04:01.486Z,1740575041.486 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T13:04:01.486Z,1740575041.486 [Default:B.GoToSurface] Stopped
2025-02-26T13:04:01.486Z,1740575041.486 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T13:04:01.486Z,1740575041.486 [Default:CheckIn] Stopped
2025-02-26T13:04:01.486Z,1740575041.486 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T13:04:01.486Z,1740575041.486 [Default:CheckIn:C.Wait] Stopped
2025-02-26T13:04:01.487Z,1740575041.487 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T13:04:01.487Z,1740575041.487 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-26T13:04:01.487Z,1740575041.487 [keepstation] Running Loop=1
2025-02-26T13:04:01.487Z,1740575041.487 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-26T13:04:01.487Z,1740575041.487 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-26T13:04:01.487Z,1740575041.487 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-26T13:04:01.487Z,1740575041.487 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T13:04:01.487Z,1740575041.487 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-26T13:04:01.488Z,1740575041.488 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T13:04:01.488Z,1740575041.488 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-26T13:04:01.488Z,1740575041.488 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T13:04:01.488Z,1740575041.488 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-26T13:04:01.488Z,1740575041.488 [keepstation:BackseatDriver] Running Loop=1
2025-02-26T13:04:01.488Z,1740575041.488 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-26T13:04:01.488Z,1740575041.488 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-26T13:04:01.488Z,1740575041.488 [keepstation:PowerOnly] Running Loop=1
2025-02-26T13:04:01.488Z,1740575041.488 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-26T13:04:01.488Z,1740575041.488 [keepstation:PowerOnly:A] Running Loop=1
2025-02-26T13:04:01.489Z,1740575041.489 [keepstation:PowerOnly:B] Running Loop=1
2025-02-26T13:04:01.489Z,1740575041.489 [keepstation:PowerOnly:C] Running Loop=1
2025-02-26T13:04:01.493Z,1740575041.493 [keepstation:PowerOnly:D] Running Loop=1
2025-02-26T13:04:01.493Z,1740575041.493 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-26T13:04:01.493Z,1740575041.493 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-26T13:04:01.493Z,1740575041.493 [keepstation:H.Pitch] Running Loop=1
2025-02-26T13:04:01.493Z,1740575041.493 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-26T13:04:01.493Z,1740575041.493 [keepstation:B] Running Loop=1
2025-02-26T13:04:01.494Z,1740575041.494 [keepstation:H.Pitch] Running Loop=1
2025-02-26T13:04:01.494Z,1740575041.494 [keepstation:PowerOnly] Running Loop=1
2025-02-26T13:04:01.495Z,1740575041.495 [keepstation:PowerOnly:D] Stopped
2025-02-26T13:04:01.495Z,1740575041.495 [keepstation:PowerOnly:C] Stopped
2025-02-26T13:04:01.495Z,1740575041.495 [keepstation:PowerOnly:B] Stopped
2025-02-26T13:04:01.495Z,1740575041.495 [keepstation:PowerOnly:A] Stopped
2025-02-26T13:04:01.495Z,1740575041.495 [keepstation:BackseatDriver] Running Loop=1
2025-02-26T13:04:01.495Z,1740575041.495 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-26T13:04:01.495Z,1740575041.495 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T13:04:01.495Z,1740575041.495 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T13:04:01.496Z,1740575041.496 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T13:04:01.496Z,1740575041.496 [keepstation:B] Stopped
2025-02-26T13:04:01.496Z,1740575041.496 [keepstation:D] Running Loop=1
2025-02-26T13:04:01.862Z,1740575041.862 [keepstation:D] Stopped
2025-02-26T13:04:01.862Z,1740575041.862 [keepstation:E] Running Loop=1
2025-02-26T13:04:02.256Z,1740575042.256 [keepstation:E] Stopped
2025-02-26T13:04:02.256Z,1740575042.256 [keepstation:StartingMission] Running Loop=1
2025-02-26T13:04:02.256Z,1740575042.256 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-26T13:04:02.654Z,1740575042.654 [keepstation:NeedComms] Running Loop=1
2025-02-26T13:04:02.655Z,1740575042.655 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-26T13:04:02.655Z,1740575042.655 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-26T13:04:02.655Z,1740575042.655 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T13:04:02.655Z,1740575042.655 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-26T13:04:02.656Z,1740575042.656 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-26T13:04:02.656Z,1740575042.656 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-26T13:04:02.656Z,1740575042.656 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-26T13:04:02.656Z,1740575042.656 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T13:04:02.658Z,1740575042.658 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T13:04:02.658Z,1740575042.658 [keepstation:NeedComms:A] Running Loop=1
2025-02-26T13:04:02.659Z,1740575042.659 [keepstation:NeedComms:A](INFO): last time_fix was:  1740574922.000000 second since 1970/01/01T00:00:00Z 
2025-02-26T13:04:02.659Z,1740575042.659 [keepstation:NeedComms:A] Stopped
2025-02-26T13:04:03.062Z,1740575043.062 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-26T13:04:03.063Z,1740575043.063 [keepstation:NeedComms:C] Running Loop=1
2025-02-26T13:04:03.479Z,1740575043.479 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T13:04:05.106Z,1740575045.106 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,130404.00,A,3648.51885,N,12149.33343,W,0.428,292.71,260225,,,D*78
2025-02-26T13:04:05.108Z,1740575045.108 [NAL9602](INFO): GPS fix at 20250226T130404: (36.808647, -121.822224)
2025-02-26T13:04:05.121Z,1740575045.121 [keepstation:NeedComms:C] Stopped
2025-02-26T13:04:05.121Z,1740575045.121 [keepstation:NeedComms:D] Running Loop=1
2025-02-26T13:04:05.519Z,1740575045.519 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-26T13:04:12.673Z,1740575052.673 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250226T074052/Courier0100.lzma
2025-02-26T13:04:13.926Z,1740575053.926 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0100.lzma.bak
2025-02-26T13:04:13.926Z,1740575053.926 [DataOverHttps](INFO): SBD MOMSN=23979001
2025-02-26T13:04:23.166Z,1740575063.166 [NAL9602](INFO): SBD MO Status=2, MOMSN=13558, MT Status=2, MTMSN=0
2025-02-26T13:04:23.167Z,1740575063.167 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T13:04:30.844Z,1740575070.844 [NAL9602](INFO): SBD MO Status=0, MOMSN=13558, MT Status=0, MTMSN=0
2025-02-26T13:04:30.844Z,1740575070.844 [NAL9602](INFO): No messages in MT queue
2025-02-26T13:04:37.050Z,1740575077.050 [DataOverHttps](INFO): Sending 253 bytes from file Logs/20250226T074052/Express0101.lzma
2025-02-26T13:04:38.079Z,1740575078.079 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0101.lzma.bak
2025-02-26T13:04:38.079Z,1740575078.079 [DataOverHttps](INFO): SBD MOMSN=23979004
2025-02-26T13:04:40.175Z,1740575080.175 [keepstation:NeedComms:D] Stopped
2025-02-26T13:04:40.175Z,1740575080.175 [keepstation:NeedComms:E] Running Loop=1
2025-02-26T13:04:40.573Z,1740575080.573 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T13:04:42.156Z,1740575082.156 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,130441.00,A,3648.52102,N,12149.33547,W,0.039,298.14,260225,,,A*76
2025-02-26T13:04:42.158Z,1740575082.158 [NAL9602](INFO): GPS fix at 20250226T130441: (36.808684, -121.822258)
2025-02-26T13:04:42.216Z,1740575082.216 [keepstation:NeedComms:E] Stopped
2025-02-26T13:04:42.225Z,1740575082.225 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-26T13:04:42.225Z,1740575082.225 [keepstation:NeedComms] Stopped
2025-02-26T13:04:42.225Z,1740575082.225 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-26T13:04:42.226Z,1740575082.226 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-26T13:04:42.226Z,1740575082.226 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T13:04:42.622Z,1740575082.622 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-26T13:04:42.623Z,1740575082.623 [keepstation:StartingMission] Stopped
2025-02-26T13:04:42.623Z,1740575082.623 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-26T13:04:42.623Z,1740575082.623 [keepstation:TransitToStation] Running Loop=1
2025-02-26T13:04:42.623Z,1740575082.623 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-26T13:04:42.623Z,1740575082.623 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-26T13:04:42.623Z,1740575082.623 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T13:04:42.623Z,1740575082.623 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-26T13:04:42.623Z,1740575082.623 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-26T13:04:42.623Z,1740575082.623 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-26T13:04:42.623Z,1740575082.623 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-26T13:04:42.624Z,1740575082.624 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-26T13:04:42.624Z,1740575082.624 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T13:04:42.625Z,1740575082.625 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.806964,-121.824320
2025-02-26T13:04:43.016Z,1740575083.016 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.806964,-121.824320
2025-02-26T13:04:43.021Z,1740575083.021 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-26T13:04:43.022Z,1740575083.022 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-26T13:04:43.022Z,1740575083.022 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-26T13:05:14.490Z,1740575114.490 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T13:08:52.893Z,1740575332.893 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:09:00.313Z,1740575340.313 [Radio_Surface](INFO): Powering down
2025-02-26T13:09:24.018Z,1740575364.018 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:09:25.022Z,1740575365.022 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T13:10:30.281Z,1740575430.281 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.787125
2025-02-26T13:13:44.026Z,1740575624.026 [VerticalControl](CRITICAL): Excessive depth excursion=10.021222 m, failToGoUpDepth_=15.234309 m, depthRate=0.022375 m/s, pitch=-7.924530 deg.
2025-02-26T13:13:44.295Z,1740575624.295 [CommandExec](FAULT): Scheduling is paused
2025-02-26T13:13:44.295Z,1740575624.295 [CBIT](INFO): Critical error at 20250226T131344
2025-02-26T13:13:44.295Z,1740575624.295 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-02-26T13:13:44.404Z,1740575624.404 [MissionManager](INFO): MissionManager is completed.
2025-02-26T13:13:44.404Z,1740575624.404 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-26T13:13:44.404Z,1740575624.404 [keepstation] Stopped
2025-02-26T13:13:44.404Z,1740575624.404 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-26T13:13:44.404Z,1740575624.404 [keepstation:StandardEnvelopes] Stopped
2025-02-26T13:13:44.404Z,1740575624.404 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-26T13:13:44.404Z,1740575624.404 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-26T13:13:44.404Z,1740575624.404 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-26T13:13:44.404Z,1740575624.404 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-26T13:13:44.404Z,1740575624.404 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-26T13:13:44.404Z,1740575624.404 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-26T13:13:44.405Z,1740575624.405 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-26T13:13:44.405Z,1740575624.405 [keepstation:BackseatDriver] Stopped
2025-02-26T13:13:44.405Z,1740575624.405 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-26T13:13:44.405Z,1740575624.405 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-26T13:13:44.405Z,1740575624.405 [keepstation:PowerOnly] Stopped
2025-02-26T13:13:44.405Z,1740575624.405 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-26T13:13:44.405Z,1740575624.405 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-26T13:13:44.405Z,1740575624.405 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T13:13:44.405Z,1740575624.405 [keepstation:H.Pitch] Stopped
2025-02-26T13:13:44.405Z,1740575624.405 [keepstation:TransitToStation] Stopped
2025-02-26T13:13:44.406Z,1740575624.406 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-26T13:13:44.406Z,1740575624.406 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-26T13:13:44.406Z,1740575624.406 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T13:13:44.406Z,1740575624.406 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-26T13:13:44.406Z,1740575624.406 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-26T13:13:44.406Z,1740575624.406 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-26T13:13:44.406Z,1740575624.406 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-26T13:13:44.406Z,1740575624.406 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T13:13:44.800Z,1740575624.800 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T13:13:44.800Z,1740575624.800 [Default] Running Loop=1
2025-02-26T13:13:44.800Z,1740575624.800 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T13:13:44.800Z,1740575624.800 [Default:B.GoToSurface] Running Loop=1
2025-02-26T13:13:44.800Z,1740575624.800 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T13:13:44.801Z,1740575624.801 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T13:13:44.801Z,1740575624.801 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T13:13:44.801Z,1740575624.801 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T13:13:44.802Z,1740575624.802 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T13:13:44.802Z,1740575624.802 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T13:13:44.803Z,1740575624.803 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T13:13:44.803Z,1740575624.803 [Default:A.Wait] Running Loop=1
2025-02-26T13:13:44.803Z,1740575624.803 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T13:13:45.537Z,1740575625.537 [Radio_Surface](INFO): Powering up
2025-02-26T13:13:51.109Z,1740575631.109 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T13:13:58.142Z,1740575638.142 [Default:A.Wait](INFO): Done Waiting.
2025-02-26T13:13:58.142Z,1740575638.142 [Default:A.Wait] Stopped
2025-02-26T13:13:58.142Z,1740575638.142 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T13:14:21.229Z,1740575661.229 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:14:52.353Z,1740575692.353 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:14:52.359Z,1740575692.359 [Default:CheckIn] Running Loop=1
2025-02-26T13:14:52.359Z,1740575692.359 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T13:14:52.359Z,1740575692.359 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T13:15:23.477Z,1740575723.477 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:15:30.351Z,1740575730.351 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=13559, MT Status=1, MTMSN=295
2025-02-26T13:15:30.351Z,1740575730.351 [NAL9602](INFO): Data available in MT queue
2025-02-26T13:15:31.069Z,1740575731.069 [NAL9602](INFO): Received command: sched asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 8 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 20 m" 2ccko 1 2
2025-02-26T13:15:31.112Z,1740575731.112 [CommandExec](IMPORTANT): got command schedule asap "load Transport/keepstation.tl;set keepstation.MissionTimeout 8 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 20 m" 2ccko 1 2.000000
2025-02-26T13:15:31.112Z,1740575731.112 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=2ccko
2025-02-26T13:15:31.119Z,1740575731.119 [CommandExec](IMPORTANT): Scheduled #9 (#1 of 2 with id='2ccko'): "load Transport/keepstation.tl;set keepstation.MissionTimeout 8 h;set keepstation.NeedCommsTime 60 min;set keepstation.Latitude 36.806966 degree;set keepstation.Longitude -121.824326 degree;set keepstation.Depth 20 m", ASAP
2025-02-26T13:15:32.096Z,1740575732.096 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,131531.00,A,3648.51256,N,12149.37188,W,0.564,329.25,260225,,,A*77
2025-02-26T13:15:32.098Z,1740575732.098 [NAL9602](INFO): GPS fix at 20250226T131531: (36.808543, -121.822865)
2025-02-26T13:15:32.110Z,1740575732.110 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T13:15:32.110Z,1740575732.110 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T13:15:41.823Z,1740575741.823 [NAL9602](INFO): SBD MO Status=1, MOMSN=13560, MT Status=0, MTMSN=0
2025-02-26T13:15:41.874Z,1740575741.874 [NAL9602](INFO): Sent 179 bytes from file Logs/20250226T074052/Courier0106.lzma
2025-02-26T13:15:41.874Z,1740575741.874 [NAL9602](INFO): Packets left to send: 0
2025-02-26T13:15:54.194Z,1740575754.194 [NAL9602](IMPORTANT): SBD MO Status=1, MOMSN=13561, MT Status=1, MTMSN=296
2025-02-26T13:15:54.241Z,1740575754.241 [NAL9602](INFO): Sent 332 bytes from file Logs/20250226T074052/Express0107.lzma
2025-02-26T13:15:54.241Z,1740575754.241 [NAL9602](INFO): Packets left to send: 1
2025-02-26T13:15:54.601Z,1740575754.601 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:15:54.766Z,1740575754.766 [NAL9602](INFO): Received command: sched asap "set keepstation.Speed 1.0 m/s;set keepstation.MaxDepth 35 m;run" 2ccko 2 2
2025-02-26T13:15:54.844Z,1740575754.844 [CommandExec](IMPORTANT): got command schedule asap "set keepstation.Speed 1.0 m/s;set keepstation.MaxDepth 35 m;run" 2ccko 2 2.000000
2025-02-26T13:15:54.844Z,1740575754.844 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=2ccko
2025-02-26T13:15:54.845Z,1740575754.845 [CommandExec](IMPORTANT): Scheduled #10 (#2 of 2 with id='2ccko'): "set keepstation.Speed 1.0 m/s;set keepstation.MaxDepth 35 m;run", ASAP
2025-02-26T13:15:54.972Z,1740575754.972 [CommandExec](IMPORTANT): got command load ./Missions/Transport/keepstation.tl
2025-02-26T13:15:54.972Z,1740575754.972 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/keepstation.tl
2025-02-26T13:15:54.972Z,1740575754.972 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/keepstation.tl
2025-02-26T13:15:54.978Z,1740575754.978 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/keepstation.tl
2025-02-26T13:15:56.279Z,1740575756.279 [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>

2025-02-26T13:15:56.312Z,1740575756.312 [MissionManager](INFO): DefineArg keepstation.MissionTimeout = 4.000000 h
2025-02-26T13:15:56.369Z,1740575756.369 [MissionManager](INFO): DefineArg keepstation.NeedCommsTime = 45.000000 min
2025-02-26T13:15:56.371Z,1740575756.371 [MissionManager](INFO): DefineArg keepstation.Latitude = nan arcdeg
2025-02-26T13:15:56.378Z,1740575756.378 [MissionManager](INFO): DefineArg keepstation.Longitude = nan arcdeg
2025-02-26T13:15:56.385Z,1740575756.385 [MissionManager](INFO): DefineArg keepstation.Depth = 30.000000 m
2025-02-26T13:15:56.387Z,1740575756.387 [MissionManager](INFO): DefineArg keepstation.ApproachDepth = 15.000000 m
2025-02-26T13:15:56.394Z,1740575756.394 [MissionManager](INFO): DefineArg keepstation.DepthDeadband = 4.000000 m
2025-02-26T13:15:56.396Z,1740575756.396 [MissionManager](INFO): DefineArg keepstation.Speed = 0.750000 m/s
2025-02-26T13:15:56.403Z,1740575756.403 [MissionManager](INFO): DefineArg keepstation.Radius = 200.000000 m
2025-02-26T13:15:56.414Z,1740575756.414 [MissionManager](INFO): DefineArg keepstation.MaxDepth = 45.000000 m
2025-02-26T13:15:56.429Z,1740575756.429 [MissionManager](INFO): DefineArg keepstation.MinOffshore = 2.000000 km
2025-02-26T13:15:56.430Z,1740575756.430 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-26T13:15:56.430Z,1740575756.430 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-26T13:15:56.431Z,1740575756.431 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-26T13:15:56.916Z,1740575756.916 [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>

2025-02-26T13:15:56.935Z,1740575756.935 [MissionManager](INFO): DefineArg keepstation:NeedComms.DiveInterval = 1.000000 h
2025-02-26T13:15:56.937Z,1740575756.937 [MissionManager](INFO): DefineArg keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-26T13:15:56.940Z,1740575756.940 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-26T13:15:56.968Z,1740575756.968 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceDepthRate = nan m/s
2025-02-26T13:15:56.970Z,1740575756.970 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-26T13:15:56.972Z,1740575756.972 [MissionManager](INFO): DefineArg keepstation:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-26T13:15:56.983Z,1740575756.983 [MissionManager](INFO): DefineArg keepstation:NeedComms.GPSTimeout = 7.000000 min
2025-02-26T13:15:56.985Z,1740575756.985 [MissionManager](INFO): DefineArg keepstation:NeedComms.CommsTimeout = 30.000000 min
2025-02-26T13:15:56.991Z,1740575756.991 [keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T13:15:57.055Z,1740575757.055 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-26T13:15:57.055Z,1740575757.055 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-26T13:15:57.057Z,1740575757.057 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-26T13:15:57.257Z,1740575757.257 [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>

2025-02-26T13:15:57.261Z,1740575757.261 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-26T13:15:57.274Z,1740575757.274 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-26T13:15:57.276Z,1740575757.276 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-26T13:15:57.278Z,1740575757.278 [MissionManager](INFO): DefineArg keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-26T13:15:57.279Z,1740575757.279 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-26T13:15:57.294Z,1740575757.294 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-26T13:15:57.301Z,1740575757.301 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-26T13:15:57.320Z,1740575757.320 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-26T13:15:57.320Z,1740575757.320 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-26T13:15:57.353Z,1740575757.353 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-26T13:15:57.416Z,1740575757.416 [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>

2025-02-26T13:15:57.423Z,1740575757.423 [MissionManager](INFO): DefineArg keepstation:BackseatDriver.EnableBackseat = 0 bool
2025-02-26T13:15:57.437Z,1740575757.437 [keepstation:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-26T13:15:57.439Z,1740575757.439 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-26T13:15:57.440Z,1740575757.440 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-26T13:15:57.445Z,1740575757.445 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-26T13:15:57.812Z,1740575757.812 [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>

2025-02-26T13:15:57.834Z,1740575757.834 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleAll = 0 bool
2025-02-26T13:15:57.836Z,1740575757.836 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad1 = 0 bool
2025-02-26T13:15:57.914Z,1740575757.914 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad2 = 0 bool
2025-02-26T13:15:57.916Z,1740575757.916 [MissionManager](INFO): DefineArg keepstation:PowerOnly.SampleLoad3 = 0 bool
2025-02-26T13:15:57.953Z,1740575757.953 [MissionManager](INFO): DefineArg keepstation:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-26T13:15:57.972Z,1740575757.972 [keepstation:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-26T13:15:57.998Z,1740575757.998 [keepstation:H.Pitch](DEBUG): Construct.
2025-02-26T13:15:58.016Z,1740575758.016 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T13:15:58.031Z,1740575758.031 [keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2025-02-26T13:15:58.074Z,1740575758.074 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2025-02-26T13:15:58.098Z,1740575758.098 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-02-26T13:15:58.124Z,1740575758.124 [keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2025-02-26T13:15:58.136Z,1740575758.136 [keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2025-02-26T13:15:58.161Z,1740575758.161 [keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2025-02-26T13:15:58.188Z,1740575758.188 [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
    }
  }
}


2025-02-26T13:15:58.188Z,1740575758.188 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/keepstation.tl id=keepstation
2025-02-26T13:16:11.714Z,1740575771.714 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004098
2025-02-26T13:16:15.900Z,1740575775.900 [NAL9602](INFO): SBD MO Status=1, MOMSN=13562, MT Status=0, MTMSN=0
2025-02-26T13:16:15.949Z,1740575775.949 [NAL9602](INFO): Sent 154 bytes from file Logs/20250226T074052/Express0107.lzma
2025-02-26T13:16:15.949Z,1740575775.949 [NAL9602](INFO): Packets left to send: 0
2025-02-26T13:16:28.025Z,1740575788.025 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250226T074052/Courier0109.lzma
2025-02-26T13:16:29.023Z,1740575789.023 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0109.lzma.bak
2025-02-26T13:16:29.023Z,1740575789.023 [DataOverHttps](INFO): SBD MOMSN=23979025
2025-02-26T13:16:31.691Z,1740575791.691 [CommandExec](IMPORTANT): got command set keepstation.MissionTimeout 8 hour
2025-02-26T13:16:31.692Z,1740575791.692 [CommandExec](IMPORTANT): got command set keepstation.NeedCommsTime 60 minute
2025-02-26T13:16:31.693Z,1740575791.693 [CommandExec](IMPORTANT): got command set keepstation.Latitude 36.806966 degree
2025-02-26T13:16:31.693Z,1740575791.693 [CommandExec](IMPORTANT): got command set keepstation.Longitude -121.824326 degree
2025-02-26T13:16:31.694Z,1740575791.694 [CommandExec](IMPORTANT): got command set keepstation.Depth 20 meter
2025-02-26T13:16:44.428Z,1740575804.428 [CommandExec](IMPORTANT): got command set keepstation.Speed 1.0 meter_per_second
2025-02-26T13:16:44.429Z,1740575804.429 [CommandExec](IMPORTANT): got command set keepstation.MaxDepth 35 meter
2025-02-26T13:16:44.430Z,1740575804.430 [CommandExec](IMPORTANT): got command run
2025-02-26T13:16:44.432Z,1740575804.432 [CommandExec](IMPORTANT): Running 
2025-02-26T13:16:44.539Z,1740575804.539 [Default] Stopped
2025-02-26T13:16:44.539Z,1740575804.539 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T13:16:44.539Z,1740575804.539 [Default:B.GoToSurface] Stopped
2025-02-26T13:16:44.539Z,1740575804.539 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T13:16:44.539Z,1740575804.539 [Default:CheckIn] Stopped
2025-02-26T13:16:44.539Z,1740575804.539 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T13:16:44.539Z,1740575804.539 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T13:16:44.539Z,1740575804.539 [MissionManager](IMPORTANT): Started mission keepstation
2025-02-26T13:16:44.540Z,1740575804.540 [keepstation] Running Loop=1
2025-02-26T13:16:44.540Z,1740575804.540 [keepstation](DEBUG): Aggregate::initialize keepstation
2025-02-26T13:16:44.540Z,1740575804.540 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-26T13:16:44.540Z,1740575804.540 [keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation:StandardEnvelopes
2025-02-26T13:16:44.540Z,1740575804.540 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T13:16:44.540Z,1740575804.540 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-26T13:16:44.540Z,1740575804.540 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T13:16:44.540Z,1740575804.540 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-26T13:16:44.541Z,1740575804.541 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T13:16:44.541Z,1740575804.541 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-26T13:16:44.541Z,1740575804.541 [keepstation:BackseatDriver] Running Loop=1
2025-02-26T13:16:44.541Z,1740575804.541 [keepstation:BackseatDriver](DEBUG): Aggregate::initialize keepstation:BackseatDriver
2025-02-26T13:16:44.541Z,1740575804.541 [keepstation:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-26T13:16:44.541Z,1740575804.541 [keepstation:PowerOnly] Running Loop=1
2025-02-26T13:16:44.541Z,1740575804.541 [keepstation:PowerOnly](DEBUG): Aggregate::initialize keepstation:PowerOnly
2025-02-26T13:16:44.541Z,1740575804.541 [keepstation:PowerOnly:A] Running Loop=1
2025-02-26T13:16:44.542Z,1740575804.542 [keepstation:PowerOnly:B] Running Loop=1
2025-02-26T13:16:44.542Z,1740575804.542 [keepstation:PowerOnly:C] Running Loop=1
2025-02-26T13:16:44.542Z,1740575804.542 [keepstation:PowerOnly:D] Running Loop=1
2025-02-26T13:16:44.542Z,1740575804.542 [keepstation:PowerOnly:E.Wait] Running Loop=1
2025-02-26T13:16:44.542Z,1740575804.542 [keepstation:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-26T13:16:44.542Z,1740575804.542 [keepstation:H.Pitch] Running Loop=1
2025-02-26T13:16:44.542Z,1740575804.542 [keepstation:H.Pitch](DEBUG): Initialize.
2025-02-26T13:16:44.542Z,1740575804.542 [keepstation:B] Running Loop=1
2025-02-26T13:16:44.543Z,1740575804.543 [keepstation:H.Pitch] Running Loop=1
2025-02-26T13:16:44.543Z,1740575804.543 [keepstation:PowerOnly] Running Loop=1
2025-02-26T13:16:44.543Z,1740575804.543 [keepstation:PowerOnly:D] Stopped
2025-02-26T13:16:44.543Z,1740575804.543 [keepstation:PowerOnly:C] Stopped
2025-02-26T13:16:44.544Z,1740575804.544 [keepstation:PowerOnly:B] Stopped
2025-02-26T13:16:44.544Z,1740575804.544 [keepstation:PowerOnly:A] Stopped
2025-02-26T13:16:44.544Z,1740575804.544 [keepstation:BackseatDriver] Running Loop=1
2025-02-26T13:16:44.544Z,1740575804.544 [keepstation:StandardEnvelopes] Running Loop=1
2025-02-26T13:16:44.544Z,1740575804.544 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T13:16:44.544Z,1740575804.544 [keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T13:16:44.545Z,1740575804.545 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T13:16:44.545Z,1740575804.545 [keepstation:B] Stopped
2025-02-26T13:16:44.545Z,1740575804.545 [keepstation:D] Running Loop=1
2025-02-26T13:16:44.939Z,1740575804.939 [keepstation:D] Stopped
2025-02-26T13:16:44.939Z,1740575804.939 [keepstation:E] Running Loop=1
2025-02-26T13:16:45.356Z,1740575805.356 [keepstation:E] Stopped
2025-02-26T13:16:45.356Z,1740575805.356 [keepstation:StartingMission] Running Loop=1
2025-02-26T13:16:45.356Z,1740575805.356 [keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation:StartingMission
2025-02-26T13:16:45.746Z,1740575805.746 [keepstation:NeedComms] Running Loop=1
2025-02-26T13:16:45.746Z,1740575805.746 [keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation:NeedComms
2025-02-26T13:16:45.746Z,1740575805.746 [keepstation:NeedComms:B.GoToSurface] Running Loop=1
2025-02-26T13:16:45.746Z,1740575805.746 [keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T13:16:45.746Z,1740575805.746 [keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-26T13:16:45.747Z,1740575805.747 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-26T13:16:45.747Z,1740575805.747 [keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-26T13:16:45.747Z,1740575805.747 [keepstation:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-26T13:16:45.748Z,1740575805.748 [keepstation:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T13:16:45.748Z,1740575805.748 [keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T13:16:45.748Z,1740575805.748 [keepstation:NeedComms:A] Running Loop=1
2025-02-26T13:16:45.750Z,1740575805.750 [keepstation:NeedComms:A](INFO): last time_fix was:  1740575731.000000 second since 1970/01/01T00:00:00Z 
2025-02-26T13:16:45.750Z,1740575805.750 [keepstation:NeedComms:A] Stopped
2025-02-26T13:16:46.151Z,1740575806.151 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-26T13:16:46.152Z,1740575806.152 [keepstation:NeedComms:C] Running Loop=1
2025-02-26T13:16:46.552Z,1740575806.552 [keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T13:16:48.180Z,1740575808.180 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,131647.00,A,3648.51887,N,12149.37359,W,0.467,22.73,260225,,,D*41
2025-02-26T13:16:48.222Z,1740575808.222 [NAL9602](INFO): GPS fix at 20250226T131647: (36.808648, -121.822893)
2025-02-26T13:16:48.284Z,1740575808.284 [keepstation:NeedComms:C] Stopped
2025-02-26T13:16:48.285Z,1740575808.285 [keepstation:NeedComms:D] Running Loop=1
2025-02-26T13:16:48.690Z,1740575808.690 [keepstation:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-26T13:16:59.325Z,1740575819.325 [DataOverHttps](INFO): Sending 310 bytes from file Logs/20250226T074052/Express0110.lzma
2025-02-26T13:17:00.327Z,1740575820.327 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0110.lzma.bak
2025-02-26T13:17:00.327Z,1740575820.327 [DataOverHttps](INFO): SBD MOMSN=23979036
2025-02-26T13:17:23.122Z,1740575843.122 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T13:17:32.126Z,1740575852.126 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250226T074052/Courier0112.lzma
2025-02-26T13:17:33.131Z,1740575853.131 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0112.lzma.bak
2025-02-26T13:17:33.131Z,1740575853.131 [DataOverHttps](INFO): SBD MOMSN=23979044
2025-02-26T13:17:51.077Z,1740575871.077 [DataOverHttps](INFO): Sending 293 bytes from file Logs/20250226T074052/Express0113.lzma
2025-02-26T13:17:52.079Z,1740575872.079 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0113.lzma.bak
2025-02-26T13:17:52.079Z,1740575872.079 [DataOverHttps](INFO): SBD MOMSN=23979047
2025-02-26T13:17:54.292Z,1740575874.292 [keepstation:NeedComms:D] Stopped
2025-02-26T13:17:54.292Z,1740575874.292 [keepstation:NeedComms:E] Running Loop=1
2025-02-26T13:17:54.702Z,1740575874.702 [keepstation:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T13:17:56.283Z,1740575876.283 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,131755.00,A,3648.52388,N,12149.37511,W,0.875,313.60,260225,,,D*72
2025-02-26T13:17:56.285Z,1740575876.285 [NAL9602](INFO): GPS fix at 20250226T131755: (36.808731, -121.822919)
2025-02-26T13:17:56.324Z,1740575876.324 [keepstation:NeedComms:E] Stopped
2025-02-26T13:17:56.329Z,1740575876.329 [keepstation:NeedComms](INFO): Completed keepstation:NeedComms
2025-02-26T13:17:56.329Z,1740575876.329 [keepstation:NeedComms] Stopped
2025-02-26T13:17:56.330Z,1740575876.330 [keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation:NeedComms
2025-02-26T13:17:56.330Z,1740575876.330 [keepstation:NeedComms:B.GoToSurface] Stopped
2025-02-26T13:17:56.330Z,1740575876.330 [keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T13:17:56.728Z,1740575876.728 [keepstation:StartingMission](INFO): Completed keepstation:StartingMission
2025-02-26T13:17:56.728Z,1740575876.728 [keepstation:StartingMission] Stopped
2025-02-26T13:17:56.728Z,1740575876.728 [keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation:StartingMission
2025-02-26T13:17:56.728Z,1740575876.728 [keepstation:TransitToStation] Running Loop=1
2025-02-26T13:17:56.729Z,1740575876.729 [keepstation:TransitToStation](DEBUG): Aggregate::initialize keepstation:TransitToStation
2025-02-26T13:17:56.733Z,1740575876.733 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-26T13:17:56.733Z,1740575876.733 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T13:17:56.733Z,1740575876.733 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-26T13:17:56.733Z,1740575876.733 [keepstation:TransitToStation:B.Pitch](DEBUG): Initialize.
2025-02-26T13:17:56.733Z,1740575876.733 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-26T13:17:56.733Z,1740575876.733 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Initialize.
2025-02-26T13:17:56.734Z,1740575876.734 [keepstation:TransitToStation:Wpt1.Waypoint] Running Loop=1
2025-02-26T13:17:56.734Z,1740575876.734 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-02-26T13:17:56.735Z,1740575876.735 [keepstation:TransitToStation:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.806965,-121.824326
2025-02-26T13:17:57.115Z,1740575877.115 [keepstation:TransitToStation:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.806965,-121.824326
2025-02-26T13:17:57.116Z,1740575877.116 [keepstation:TransitToStation:C.SetSpeed] Running Loop=1
2025-02-26T13:17:57.116Z,1740575877.116 [keepstation:TransitToStation:B.Pitch] Running Loop=1
2025-02-26T13:17:57.121Z,1740575877.121 [keepstation:TransitToStation:A.Buoyancy] Running Loop=1
2025-02-26T13:18:10.014Z,1740575890.014 [NAL9602](INFO): SBD MO Status=0, MOMSN=13563, MT Status=0, MTMSN=0
2025-02-26T13:18:10.015Z,1740575890.015 [NAL9602](INFO): No messages in MT queue
2025-02-26T13:18:40.718Z,1740575920.718 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T13:19:33.230Z,1740575973.230 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:19:43.437Z,1740575983.437 [Radio_Surface](INFO): Powering down
2025-02-26T13:20:04.353Z,1740576004.353 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:20:05.359Z,1740576005.359 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T13:21:41.746Z,1740576101.746 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.727371
2025-02-26T13:26:43.128Z,1740576403.128 [VerticalControl](CRITICAL): Failure to ascend, stopping mission after 300.167206 seconds, depthRate=0.004467 m/s, pitch=-9.806303 deg.
2025-02-26T13:26:43.271Z,1740576403.271 [CBIT](INFO): Critical error at 20250226T132643
2025-02-26T13:26:43.271Z,1740576403.271 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-02-26T13:26:43.532Z,1740576403.532 [MissionManager](INFO): MissionManager is completed.
2025-02-26T13:26:43.532Z,1740576403.532 [MissionManager](INFO): Uninitializing Mission keepstation
2025-02-26T13:26:43.532Z,1740576403.532 [keepstation] Stopped
2025-02-26T13:26:43.532Z,1740576403.532 [keepstation](DEBUG): Aggregate::uninitialize keepstation
2025-02-26T13:26:43.532Z,1740576403.532 [keepstation:StandardEnvelopes] Stopped
2025-02-26T13:26:43.532Z,1740576403.532 [keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation:StandardEnvelopes
2025-02-26T13:26:43.532Z,1740576403.532 [keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-26T13:26:43.532Z,1740576403.532 [keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-26T13:26:43.532Z,1740576403.532 [keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-26T13:26:43.533Z,1740576403.533 [keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-26T13:26:43.534Z,1740576403.534 [keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-26T13:26:43.534Z,1740576403.534 [keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-26T13:26:43.534Z,1740576403.534 [keepstation:BackseatDriver] Stopped
2025-02-26T13:26:43.534Z,1740576403.534 [keepstation:BackseatDriver](DEBUG): Aggregate::uninitialize keepstation:BackseatDriver
2025-02-26T13:26:43.534Z,1740576403.534 [keepstation:BackseatDriver:A.BackseatDriver] Stopped
2025-02-26T13:26:43.534Z,1740576403.534 [keepstation:PowerOnly] Stopped
2025-02-26T13:26:43.534Z,1740576403.534 [keepstation:PowerOnly](DEBUG): Aggregate::uninitialize keepstation:PowerOnly
2025-02-26T13:26:43.534Z,1740576403.534 [keepstation:PowerOnly:E.Wait] Stopped
2025-02-26T13:26:43.535Z,1740576403.535 [keepstation:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T13:26:43.535Z,1740576403.535 [keepstation:H.Pitch] Stopped
2025-02-26T13:26:43.535Z,1740576403.535 [keepstation:TransitToStation] Stopped
2025-02-26T13:26:43.535Z,1740576403.535 [keepstation:TransitToStation](DEBUG): Aggregate::uninitialize keepstation:TransitToStation
2025-02-26T13:26:43.535Z,1740576403.535 [keepstation:TransitToStation:A.Buoyancy] Stopped
2025-02-26T13:26:43.535Z,1740576403.535 [keepstation:TransitToStation:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T13:26:43.535Z,1740576403.535 [keepstation:TransitToStation:B.Pitch] Stopped
2025-02-26T13:26:43.535Z,1740576403.535 [keepstation:TransitToStation:C.SetSpeed] Stopped
2025-02-26T13:26:43.535Z,1740576403.535 [keepstation:TransitToStation:C.SetSpeed](DEBUG): Uninitialize.
2025-02-26T13:26:43.535Z,1740576403.535 [keepstation:TransitToStation:Wpt1.Waypoint] Stopped
2025-02-26T13:26:43.535Z,1740576403.535 [keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-02-26T13:26:43.943Z,1740576403.943 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T13:26:43.943Z,1740576403.943 [Default] Running Loop=1
2025-02-26T13:26:43.943Z,1740576403.943 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T13:26:43.944Z,1740576403.944 [Default:B.GoToSurface] Running Loop=1
2025-02-26T13:26:43.944Z,1740576403.944 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T13:26:43.944Z,1740576403.944 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T13:26:43.944Z,1740576403.944 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T13:26:43.944Z,1740576403.944 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T13:26:43.945Z,1740576403.945 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T13:26:43.945Z,1740576403.945 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T13:26:43.946Z,1740576403.946 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T13:26:43.946Z,1740576403.946 [Default:A.Wait] Running Loop=1
2025-02-26T13:26:43.946Z,1740576403.946 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T13:26:44.405Z,1740576404.405 [Radio_Surface](INFO): Powering up
2025-02-26T13:26:50.009Z,1740576410.009 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T13:26:57.270Z,1740576417.270 [Default:A.Wait](INFO): Done Waiting.
2025-02-26T13:26:57.270Z,1740576417.270 [Default:A.Wait] Stopped
2025-02-26T13:26:57.270Z,1740576417.270 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T13:27:20.130Z,1740576440.130 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:27:51.253Z,1740576471.253 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:27:54.225Z,1740576474.225 [Default:CheckIn] Running Loop=1
2025-02-26T13:27:54.225Z,1740576474.225 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T13:27:54.225Z,1740576474.225 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T13:28:22.377Z,1740576502.377 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:28:23.303Z,1740576503.303 [NAL9602](INFO): SBD MO Status=0, MOMSN=13564, MT Status=0, MTMSN=0
2025-02-26T13:28:23.303Z,1740576503.303 [NAL9602](INFO): No messages in MT queue
2025-02-26T13:28:24.524Z,1740576504.524 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,132823.00,A,3648.49366,N,12149.37982,W,0.292,337.80,260225,,,A*7D
2025-02-26T13:28:24.526Z,1740576504.526 [NAL9602](INFO): GPS fix at 20250226T132823: (36.808228, -121.822997)
2025-02-26T13:28:24.538Z,1740576504.538 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T13:28:24.539Z,1740576504.539 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T13:28:47.557Z,1740576527.557 [NAL9602](INFO): SBD MO Status=2, MOMSN=13565, MT Status=2, MTMSN=0
2025-02-26T13:28:47.557Z,1740576527.557 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T13:28:53.501Z,1740576533.501 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:29:03.892Z,1740576543.892 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002961
2025-02-26T13:29:06.581Z,1740576546.581 [NAL9602](INFO): SBD MO Status=2, MOMSN=13565, MT Status=2, MTMSN=0
2025-02-26T13:29:06.582Z,1740576546.582 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T13:29:14.981Z,1740576554.981 [DataOverHttps](INFO): Sending 179 bytes from file Logs/20250226T074052/Courier0115.lzma
2025-02-26T13:29:15.988Z,1740576555.988 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0115.lzma.bak
2025-02-26T13:29:15.988Z,1740576555.988 [DataOverHttps](INFO): SBD MOMSN=23979064
2025-02-26T13:29:35.221Z,1740576575.221 [DataOverHttps](INFO): Sending 198 bytes from file Logs/20250226T074052/Express0116.lzma
2025-02-26T13:29:36.912Z,1740576576.912 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0116.lzma.bak
2025-02-26T13:29:36.912Z,1740576576.912 [DataOverHttps](INFO): SBD MOMSN=23979068
2025-02-26T13:29:37.350Z,1740576577.350 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T13:29:38.158Z,1740576578.158 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T13:29:38.158Z,1740576578.158 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T13:29:38.158Z,1740576578.158 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T13:31:49.203Z,1740576709.203 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T133148
2025-02-26T13:31:57.257Z,1740576717.257 [DataOverHttps](INFO): Received command: load Engineering/sink.tl;set sink.SinkDuration 2 h;set sink.Depth 10 m;set sink.DepthDeadband 5 m;set sink:BackseatDriver.EnableBackseat 1 bool;run
2025-02-26T13:31:57.315Z,1740576717.315 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/sink.tl
2025-02-26T13:31:57.316Z,1740576717.316 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/sink.tl
2025-02-26T13:31:57.316Z,1740576717.316 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/sink.tl
2025-02-26T13:31:57.321Z,1740576717.321 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/sink.tl
2025-02-26T13:32:02.213Z,1740576722.213 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/sink.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sink">
    <DefineArg Name="SinkDuration">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="WaitToFloat">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Units:meter />
        <Value>2.5</Value>
    </DefineArg>
    <DefineArg Name="TargetDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DoBallastAndTrim">
        <False />
    </DefineArg>
    <DefineArg Name="BTSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineOutput Name="MissionTimeout">
        <Arg Name="SinkDuration" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="SinkDuration" />
        <Add>
            <Arg Name="WaitToFloat" />
        </Add>
    </Assign>
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="startComms">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Call RefId="NeedComms" Id="StartingMission" />
    </Aggregate>
    <Aggregate Id="RunSink">
        <Sequence />
        <Timeout Duration="SinkDuration" />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="TargetDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="BTSettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunBallastAndTrim">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Not>
                        <Arg Name="DoBallastAndTrim" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
        <Aggregate Id="JustSink">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Arg Name="DoBallastAndTrim" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="BTSettleTime" />
                <Arg Name="SinkDuration" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
    </Aggregate>
    <Aggregate Id="FloatUp">
        <Sequence />
        <Break>
            <Universal:depth />
            <Lt>
                <Arg Name="SurfaceThreshold" />
            </Lt>
        </Break>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyDefault />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="WaitToFloat" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" />
</Mission>

2025-02-26T13:32:02.219Z,1740576722.219 [MissionManager](INFO): DefineArg sink.SinkDuration = 2.000000 h
2025-02-26T13:32:02.222Z,1740576722.222 [MissionManager](INFO): DefineArg sink.WaitToFloat = 20.000000 min
2025-02-26T13:32:02.226Z,1740576722.226 [MissionManager](INFO): DefineArg sink.Depth = 20.000000 m
2025-02-26T13:32:02.229Z,1740576722.229 [MissionManager](INFO): DefineArg sink.DepthDeadband = 1.000000 m
2025-02-26T13:32:02.232Z,1740576722.232 [MissionManager](INFO): DefineArg sink.SurfaceThreshold = 2.500000 m
2025-02-26T13:32:02.255Z,1740576722.255 [MissionManager](INFO): DefineArg sink.TargetDepthTimeout = 20.000000 min
2025-02-26T13:32:02.277Z,1740576722.277 [MissionManager](INFO): DefineArg sink.DoBallastAndTrim = 0 bool
2025-02-26T13:32:02.280Z,1740576722.280 [MissionManager](INFO): DefineArg sink.BTSettleTime = 10.000000 min
2025-02-26T13:32:02.287Z,1740576722.287 [MissionManager](INFO): DefineArg sink.EstimationTimeout = 45.000000 min
2025-02-26T13:32:02.291Z,1740576722.291 [MissionManager](INFO): DefineArg sink.MinEstimationTime = 10.000000 min
2025-02-26T13:32:02.307Z,1740576722.307 [MissionManager](INFO): DefineArg sink.MassEstimationErrorBound = 0.500000 mm
2025-02-26T13:32:02.312Z,1740576722.312 [MissionManager](INFO): DefineArg sink.BuoyEstimationErrorBound = 25.000000 cc
2025-02-26T13:32:02.323Z,1740576722.323 [MissionManager](INFO): DefineArg sink.EstimationConfidence = 98.000000 %
2025-02-26T13:32:02.331Z,1740576722.331 [MissionManager](INFO): DefineArg sink.MinAltitude = 5.000000 m
2025-02-26T13:32:02.335Z,1740576722.335 [MissionManager](INFO): DefineArg sink.MaxDepth = 30.000000 m
2025-02-26T13:32:02.346Z,1740576722.346 [MissionManager](INFO): DefineArg sink.MinOffshore = 2.000000 km
2025-02-26T13:32:02.353Z,1740576722.353 [MissionManager](INFO): DefineArg sink.SkipComms = 0 bool
2025-02-26T13:32:02.356Z,1740576722.356 [MissionManager](INFO): DefineOutput sink.MissionTimeout = 2.000000 h
2025-02-26T13:32:02.364Z,1740576722.364 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-26T13:32:02.364Z,1740576722.364 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-26T13:32:02.376Z,1740576722.376 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-26T13:32:05.148Z,1740576725.148 [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>

2025-02-26T13:32:05.170Z,1740576725.170 [MissionManager](INFO): DefineArg sink:Science.PeakDetectChlActive = 0 bool
2025-02-26T13:32:05.173Z,1740576725.173 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectChlActive = 0 bool
2025-02-26T13:32:05.176Z,1740576725.176 [MissionManager](INFO): DefineArg sink:Science.TimeWindowPeakReport = nan min
2025-02-26T13:32:05.179Z,1740576725.179 [MissionManager](INFO): DefineArg sink:Science.HighestChlPeakReportActive = 0 bool
2025-02-26T13:32:05.182Z,1740576725.182 [MissionManager](INFO): DefineArg sink:Science.HighestSaltPeakReportActive = 0 bool
2025-02-26T13:32:05.184Z,1740576725.184 [MissionManager](INFO): DefineArg sink:Science.HighestOilPeakReportActive = 0 bool
2025-02-26T13:32:05.187Z,1740576725.187 [MissionManager](INFO): DefineArg sink:Science.PatchTracking = 0 bool
2025-02-26T13:32:05.190Z,1740576725.190 [MissionManager](INFO): DefineArg sink:Science.FilterWidthHorizontal = 3.000000 count
2025-02-26T13:32:05.193Z,1740576725.193 [MissionManager](INFO): DefineArg sink:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-26T13:32:05.196Z,1740576725.196 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-26T13:32:05.247Z,1740576725.247 [MissionManager](INFO): DefineArg sink:Science.PeakDetectNO3Active = 0 bool
2025-02-26T13:32:05.258Z,1740576725.258 [MissionManager](INFO): DefineArg sink:Science.PeakDetectOilActive = 0 bool
2025-02-26T13:32:05.273Z,1740576725.273 [MissionManager](INFO): DefineArg sink:Science.PeakDetectFDOMActive = 0 bool
2025-02-26T13:32:05.276Z,1740576725.276 [MissionManager](INFO): DefineArg sink:Science.PeakDetectSalinityActive = 0 bool
2025-02-26T13:32:05.298Z,1740576725.298 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T13:32:05.306Z,1740576725.306 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T13:32:05.313Z,1740576725.313 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-26T13:32:05.316Z,1740576725.316 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-26T13:32:05.330Z,1740576725.330 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-26T13:32:05.337Z,1740576725.337 [MissionManager](INFO): DefineArg sink:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-26T13:32:05.340Z,1740576725.340 [MissionManager](INFO): DefineArg sink:Science.EnabledAanderaaO2 = 0 bool
2025-02-26T13:32:05.348Z,1740576725.348 [MissionManager](INFO): DefineArg sink:Science.EnabledNeilBrown = 0 bool
2025-02-26T13:32:05.356Z,1740576725.356 [MissionManager](INFO): DefineArg sink:Science.EnabledSeabird = 1 bool
2025-02-26T13:32:05.368Z,1740576725.368 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-26T13:32:05.376Z,1740576725.376 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-26T13:32:05.379Z,1740576725.379 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsUBAT = 0 bool
2025-02-26T13:32:05.391Z,1740576725.391 [MissionManager](INFO): DefineArg sink:Science.LowPassWindowLength = 20.000000 count
2025-02-26T13:32:05.406Z,1740576725.406 [MissionManager](INFO): DefineArg sink:Science.MedianFilterLen = 5.000000 count
2025-02-26T13:32:05.413Z,1740576725.413 [MissionManager](INFO): DefineArg sink:Science.ShallowBound = nan m
2025-02-26T13:32:05.433Z,1740576725.433 [MissionManager](INFO): DefineArg sink:Science.DeepBound = nan m
2025-02-26T13:32:05.436Z,1740576725.436 [MissionManager](INFO): DefineArg sink:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-26T13:32:05.443Z,1740576725.443 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionVertical = nan %
2025-02-26T13:32:05.459Z,1740576725.459 [MissionManager](INFO): DefineArg sink:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-26T13:32:05.467Z,1740576725.467 [MissionManager](INFO): DefineArg sink:Science.ChlThreshTriggerActive = 0 bool
2025-02-26T13:32:05.478Z,1740576725.478 [MissionManager](INFO): DefineArg sink:Science.ChlLowerThresh = nan ug/l
2025-02-26T13:32:05.485Z,1740576725.485 [MissionManager](INFO): DefineArg sink:Science.ChlUpperThresh = nan ug/l
2025-02-26T13:32:05.488Z,1740576725.488 [MissionManager](INFO): DefineArg sink:Science.NumProfilesThresh = 5.000000 count
2025-02-26T13:32:05.495Z,1740576725.495 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-26T13:32:05.504Z,1740576725.504 [MissionManager](INFO): DefineOutput sink:Science.GoDown = 1 bool
2025-02-26T13:32:05.515Z,1740576725.515 [MissionManager](INFO): DefineOutput sink:Science.PeakChl = nan ug/l
2025-02-26T13:32:05.522Z,1740576725.522 [MissionManager](INFO): DefineOutput sink:Science.PeakChlDepth = nan m
2025-02-26T13:32:05.526Z,1740576725.526 [MissionManager](INFO): DefineOutput sink:Science.PeakChlTemperature = nan degC
2025-02-26T13:32:05.545Z,1740576725.545 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLatitude = nan arcdeg
2025-02-26T13:32:05.548Z,1740576725.548 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLongitude = nan arcdeg
2025-02-26T13:32:05.552Z,1740576725.552 [MissionManager](INFO): DefineOutput sink:Science.EdgeChl = nan ug/l
2025-02-26T13:32:05.563Z,1740576725.563 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlDepth = nan m
2025-02-26T13:32:05.568Z,1740576725.568 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlTemperature = nan degC
2025-02-26T13:32:05.583Z,1740576725.583 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlLatitude = nan arcdeg
2025-02-26T13:32:05.591Z,1740576725.591 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlLongitude = nan arcdeg
2025-02-26T13:32:05.596Z,1740576725.596 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3 = nan umol/l
2025-02-26T13:32:05.608Z,1740576725.608 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Depth = nan m
2025-02-26T13:32:05.612Z,1740576725.612 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Latitude = nan arcdeg
2025-02-26T13:32:05.647Z,1740576725.647 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Longitude = nan arcdeg
2025-02-26T13:32:05.652Z,1740576725.652 [MissionManager](INFO): DefineOutput sink:Science.PeakOil = nan kg/m3
2025-02-26T13:32:05.671Z,1740576725.671 [MissionManager](INFO): DefineOutput sink:Science.PeakOilDepth = nan m
2025-02-26T13:32:05.682Z,1740576725.682 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLatitude = nan arcdeg
2025-02-26T13:32:05.689Z,1740576725.689 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLongitude = nan arcdeg
2025-02-26T13:32:05.698Z,1740576725.698 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOM = nan ppb
2025-02-26T13:32:05.703Z,1740576725.703 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMDepth = nan m
2025-02-26T13:32:05.707Z,1740576725.707 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMTemperature = nan degC
2025-02-26T13:32:05.715Z,1740576725.715 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLatitude = nan arcdeg
2025-02-26T13:32:05.726Z,1740576725.726 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLongitude = nan arcdeg
2025-02-26T13:32:05.734Z,1740576725.734 [MissionManager](INFO): DefineOutput sink:Science.PeakSalt = nan psu
2025-02-26T13:32:05.739Z,1740576725.739 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltDepth = nan m
2025-02-26T13:32:05.742Z,1740576725.742 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltTemperature = nan degC
2025-02-26T13:32:05.746Z,1740576725.746 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLatitude = nan arcdeg
2025-02-26T13:32:05.758Z,1740576725.758 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLongitude = nan arcdeg
2025-02-26T13:32:05.766Z,1740576725.766 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-26T13:32:05.769Z,1740576725.769 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-26T13:32:05.776Z,1740576725.776 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-26T13:32:05.784Z,1740576725.784 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T13:32:05.788Z,1740576725.788 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T13:32:05.804Z,1740576725.804 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-26T13:32:05.816Z,1740576725.816 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-26T13:32:05.827Z,1740576725.827 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-26T13:32:05.831Z,1740576725.831 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T13:32:05.842Z,1740576725.842 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T13:32:05.849Z,1740576725.849 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-26T13:32:05.852Z,1740576725.852 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-26T13:32:05.863Z,1740576725.863 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-26T13:32:05.867Z,1740576725.867 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-26T13:32:05.871Z,1740576725.871 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-26T13:32:05.884Z,1740576725.884 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-26T13:32:05.895Z,1740576725.895 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-26T13:32:05.899Z,1740576725.899 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-26T13:32:05.911Z,1740576725.911 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-26T13:32:05.916Z,1740576725.916 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-26T13:32:05.927Z,1740576725.927 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-26T13:32:05.931Z,1740576725.931 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-26T13:32:05.946Z,1740576725.946 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-26T13:32:05.953Z,1740576725.953 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-26T13:32:05.956Z,1740576725.956 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-26T13:32:05.975Z,1740576725.975 [MissionManager](INFO): DefineOutput sink:Science.PatchChl = nan ug/l
2025-02-26T13:32:05.978Z,1740576725.978 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDepth = nan m
2025-02-26T13:32:05.989Z,1740576725.989 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLatitude = nan arcdeg
2025-02-26T13:32:05.992Z,1740576725.992 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLongitude = nan arcdeg
2025-02-26T13:32:05.000Z,1740576726.000 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDistance = nan m
2025-02-26T13:32:06.003Z,1740576726.003 [MissionManager](INFO): DefineOutput sink:Science.PatchSalt = nan psu
2025-02-26T13:32:06.050Z,1740576726.050 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDepth = nan m
2025-02-26T13:32:06.066Z,1740576726.066 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLatitude = nan arcdeg
2025-02-26T13:32:06.075Z,1740576726.075 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLongitude = nan arcdeg
2025-02-26T13:32:06.084Z,1740576726.084 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDistance = nan m
2025-02-26T13:32:06.088Z,1740576726.088 [MissionManager](INFO): DefineOutput sink:Science.PatchOil = nan psu
2025-02-26T13:32:06.100Z,1740576726.100 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDepth = nan m
2025-02-26T13:32:06.108Z,1740576726.108 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLatitude = nan arcdeg
2025-02-26T13:32:06.116Z,1740576726.116 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLongitude = nan arcdeg
2025-02-26T13:32:06.124Z,1740576726.124 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDistance = nan m
2025-02-26T13:32:06.141Z,1740576726.141 [MissionManager](INFO): DefineOutput sink:Science.TriggeredOnChl = 0 bool
2025-02-26T13:32:06.145Z,1740576726.145 [MissionManager](INFO): DefineOutput sink:Science.ChlTriggering = nan ug/l
2025-02-26T13:32:06.203Z,1740576726.203 [sink:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T13:32:06.249Z,1740576726.249 [sink:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T13:32:06.296Z,1740576726.296 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T13:32:06.334Z,1740576726.334 [sink:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T13:32:06.356Z,1740576726.356 [sink:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T13:32:06.380Z,1740576726.380 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T13:32:06.415Z,1740576726.415 [sink:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T13:32:06.475Z,1740576726.475 [sink:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T13:32:06.510Z,1740576726.510 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T13:32:06.542Z,1740576726.542 [sink:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T13:32:06.572Z,1740576726.572 [sink:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T13:32:06.643Z,1740576726.643 [sink:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T13:32:06.676Z,1740576726.676 [sink:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T13:32:06.706Z,1740576726.706 [sink:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T13:32:06.730Z,1740576726.730 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-26T13:32:06.750Z,1740576726.750 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-26T13:32:06.750Z,1740576726.750 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-26T13:32:06.751Z,1740576726.751 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-26T13:32:07.208Z,1740576727.208 [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>

2025-02-26T13:32:07.226Z,1740576727.226 [MissionManager](INFO): DefineArg sink:NeedComms.DiveInterval = 1.000000 h
2025-02-26T13:32:07.228Z,1740576727.228 [MissionManager](INFO): DefineArg sink:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-26T13:32:07.256Z,1740576727.256 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-26T13:32:07.260Z,1740576727.260 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceDepthRate = nan m/s
2025-02-26T13:32:07.272Z,1740576727.272 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-26T13:32:07.283Z,1740576727.283 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-26T13:32:07.302Z,1740576727.302 [MissionManager](INFO): DefineArg sink:NeedComms.GPSTimeout = 7.000000 min
2025-02-26T13:32:07.321Z,1740576727.321 [MissionManager](INFO): DefineArg sink:NeedComms.CommsTimeout = 30.000000 min
2025-02-26T13:32:07.339Z,1740576727.339 [sink:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T13:32:07.380Z,1740576727.380 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-26T13:32:07.380Z,1740576727.380 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-26T13:32:07.385Z,1740576727.385 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-26T13:32:07.560Z,1740576727.560 [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>

2025-02-26T13:32:07.573Z,1740576727.573 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-26T13:32:07.576Z,1740576727.576 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-26T13:32:07.583Z,1740576727.583 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-26T13:32:07.587Z,1740576727.587 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-26T13:32:07.588Z,1740576727.588 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-26T13:32:07.619Z,1740576727.619 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-26T13:32:07.664Z,1740576727.664 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-26T13:32:07.695Z,1740576727.695 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-26T13:32:07.696Z,1740576727.696 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-26T13:32:07.701Z,1740576727.701 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-26T13:32:07.736Z,1740576727.736 [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>

2025-02-26T13:32:07.745Z,1740576727.745 [MissionManager](INFO): DefineArg sink:BackseatDriver.EnableBackseat = 0 bool
2025-02-26T13:32:07.751Z,1740576727.751 [sink:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-26T13:32:07.755Z,1740576727.755 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-26T13:32:07.755Z,1740576727.755 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-26T13:32:07.756Z,1740576727.756 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-26T13:32:07.962Z,1740576727.962 [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>

2025-02-26T13:32:07.970Z,1740576727.970 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleAll = 0 bool
2025-02-26T13:32:07.977Z,1740576727.977 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad1 = 0 bool
2025-02-26T13:32:07.980Z,1740576727.980 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad2 = 0 bool
2025-02-26T13:32:07.983Z,1740576727.983 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad3 = 0 bool
2025-02-26T13:32:07.994Z,1740576727.994 [MissionManager](INFO): DefineArg sink:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-26T13:32:08.012Z,1740576728.012 [sink:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-26T13:32:08.020Z,1740576728.020 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-02-26T13:32:08.020Z,1740576728.020 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-02-26T13:32:08.026Z,1740576728.026 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-02-26T13:32:08.967Z,1740576728.967 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BallastAndTrim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BallastAndTrim">
    <DefineArg Name="InsertDepth">
        <Units:meter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSpeed">
        <Units:meter_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstErrorBound">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstErrorBound">
        <Units:cubic_centimeter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="EstConfidence">
        <Units:percent />
        <Value>99.9</Value>
    </DefineArg>
    <DefineArg Name="InsertDepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="InsertMassDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <When>
        <Called />
    </When>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kpPitchMass />
        <Units:ratio />
        <Value>0.005</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kiPitchMass />
        <Units:reciprocal_second />
        <Value>0.00075</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kdPitchMass />
        <Units:second />
        <Value>0</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.massDeadband />
        <Arg Name="InsertMassDeadband" />
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.depthDeadband />
        <Arg Name="InsertDepthDeadband" />
    </Assign>
    <Syslog Severity="Info">
        Going to target depth. Speed set to 
        <Arg Name="InsertApproachSpeed" />
        <Units:meter_per_second />
    </Syslog>
    <Aggregate Id="GoToTargetDepth">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.pitchLimit />
            <Arg Name="InsertApproachPitchLimit" />
        </Assign>
        <Aggregate Id="ActuatorHold">
            <While>
                <Arg Name="InsertApproachSpeed" />
                <Gt>
                    <Units:meter_per_second />
                    <Value>0</Value>
                </Gt>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Units:degree />
                    <Value>13</Value>
                </Setting>
            </Guidance:Point>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Control:VerticalControl.buoyancyNeutral />
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.massPosition />
                    <Control:VerticalControl.massDefault />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
        <Aggregate Id="WaitPreDive">
            <Sequence />
            <Break>
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Le>
                    <Units:minute />
                    <Value>0</Value>
                </Le>
            </Break>
            <Syslog Severity="Info">
                Waiting for 
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Units:minute />
                while pumping down to neutral.
            </Syslog>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="InsertApproachSettleTimePreDive" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
        <Aggregate Id="ApproachDepth">
            <Sequence />
            <Syslog>
                Moving to 
                <Arg Name="InsertDepth" />
                <Units:meter />
            </Syslog>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="InsertApproachSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Guidance:Pitch>
                <Sequence />
                <Timeout Duration="InsertApproachDepthTimeout">
                    <Syslog Severity="Important">
                        Timed out trying to reach the target depth. Stopping mission at current depth of 
                        <Universal:depth />
                        <Units:meter />
                    </Syslog>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Timeout>
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="InsertDepth" />
                </Setting>
                <Setting>
                    <Guidance:Pitch.depthRate />
                    <Arg Name="InsertApproachDepthRate" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="BallastAndTrimAtTargetDepth">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Units:meter_per_second />
                <Value>0</Value>
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="InsertDepth" />
            </Setting>
        </Guidance:Pitch>
        <Syslog Severity="Info">
            Waiting for the vehicle to settle. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="InsertSettleTime" />
            </Setting>
        </Guidance:Wait>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>gfscan</String>
            </Setting>
        </Guidance:Execute>
        <Syslog Severity="Info">
            Running ballast and trim. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Estimation:BallastAndTrim>
            <Sequence />
            <Setting>
                <Estimation:BallastAndTrim.estimationTimeout />
                <Arg Name="EstTimeout" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.minEstimationTime />
                <Arg Name="MinEstTime" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.massErrorBound />
                <Arg Name="MassEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.buoyErrorBound />
                <Arg Name="BuoyEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.confidenceLevel />
                <Arg Name="EstConfidence" />
            </Setting>
        </Estimation:BallastAndTrim>
    </Aggregate>
</Aggregate>

2025-02-26T13:32:08.990Z,1740576728.990 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepth = 25.000000 m
2025-02-26T13:32:08.997Z,1740576728.997 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-02-26T13:32:09.000Z,1740576729.000 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-02-26T13:32:09.008Z,1740576729.008 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-02-26T13:32:09.016Z,1740576729.016 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-02-26T13:32:09.024Z,1740576729.024 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-02-26T13:32:09.027Z,1740576729.027 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-02-26T13:32:09.032Z,1740576729.032 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstTimeout = 45.000000 min
2025-02-26T13:32:09.045Z,1740576729.045 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MinEstTime = 10.000000 min
2025-02-26T13:32:09.065Z,1740576729.065 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-02-26T13:32:09.068Z,1740576729.068 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-02-26T13:32:09.076Z,1740576729.076 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstConfidence = 99.900002 %
2025-02-26T13:32:09.083Z,1740576729.083 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-02-26T13:32:09.087Z,1740576729.087 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-02-26T13:32:09.122Z,1740576729.122 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-02-26T13:32:09.137Z,1740576729.137 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T13:32:09.140Z,1740576729.140 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-02-26T13:32:09.162Z,1740576729.162 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-02-26T13:32:09.169Z,1740576729.169 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-02-26T13:32:09.172Z,1740576729.172 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-02-26T13:32:09.193Z,1740576729.193 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-26T13:32:09.196Z,1740576729.196 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-02-26T13:32:09.204Z,1740576729.204 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-02-26T13:32:09.219Z,1740576729.219 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-02-26T13:32:09.226Z,1740576729.226 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-02-26T13:32:09.242Z,1740576729.242 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-02-26T13:32:09.330Z,1740576729.330 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = reader:sink.DepthDeadband
2025-02-26T13:32:09.332Z,1740576729.332 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = reader:sink.TargetDepthTimeout
2025-02-26T13:32:09.338Z,1740576729.338 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = reader:sink.BTSettleTime
2025-02-26T13:32:09.340Z,1740576729.340 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstTimeout = reader:sink.EstimationTimeout
2025-02-26T13:32:09.346Z,1740576729.346 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MinEstTime = reader:sink.MinEstimationTime
2025-02-26T13:32:09.348Z,1740576729.348 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = reader:sink.MassEstimationErrorBound
2025-02-26T13:32:09.358Z,1740576729.358 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = reader:sink.BuoyEstimationErrorBound
2025-02-26T13:32:09.360Z,1740576729.360 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstConfidence = reader:sink.EstimationConfidence
2025-02-26T13:32:09.384Z,1740576729.384 [sink:FloatUp:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T13:32:09.388Z,1740576729.388 [sink:FloatUp:B.Wait](DEBUG): Construct Wait.
2025-02-26T13:32:09.514Z,1740576729.514 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission sink {
  arguments {
    SinkDuration = 2 hour
      """
      Overall B&T timeout, or time to sink before ascending if not running B&T.
      Mission timeout will be SinkDuration + WaitToFloat.
      """

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  output {
    MissionTimeout = SinkDuration
  }

  timeout duration=MissionTimeout

  assign in sequence MissionTimeout = SinkDuration + WaitToFloat

  insert Insert/Science.tl

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

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate startComms {
    run in sequence

    break if ( SkipComms )

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

  aggregate RunSink {
    run in sequence

    timeout duration=SinkDuration

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

    aggregate RunBallastAndTrim {
      run in sequence

      break if (
        isNaN ( Depth )
        or not DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

      call refId="BallastAndTrim"
    }

    aggregate JustSink {
      run in sequence

      break if (
        isNaN ( Depth )
        or DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

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

      call refId="BallastAndTrim"
    }
  }

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

    run in sequence

    break if ( Universal:depth < SurfaceThreshold )

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyDefault
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = WaitToFloat
    }
  }

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


2025-02-26T13:32:09.515Z,1740576729.515 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/sink.tl id=sink
2025-02-26T13:32:26.973Z,1740576746.973 [CommandExec](IMPORTANT): got command set sink.SinkDuration 2 hour
2025-02-26T13:32:26.978Z,1740576746.978 [CommandExec](IMPORTANT): got command set sink.Depth 10 meter
2025-02-26T13:32:26.978Z,1740576746.978 [CommandExec](IMPORTANT): got command set sink.DepthDeadband 5 meter
2025-02-26T13:32:26.979Z,1740576746.979 [CommandExec](IMPORTANT): got command set sink:BackseatDriver.EnableBackseat 1 bool
2025-02-26T13:32:26.980Z,1740576746.980 [CommandExec](IMPORTANT): got command run
2025-02-26T13:32:27.202Z,1740576747.202 [Default] Stopped
2025-02-26T13:32:27.202Z,1740576747.202 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T13:32:27.202Z,1740576747.202 [Default:B.GoToSurface] Stopped
2025-02-26T13:32:27.202Z,1740576747.202 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T13:32:27.202Z,1740576747.202 [Default:CheckIn] Stopped
2025-02-26T13:32:27.202Z,1740576747.202 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T13:32:27.202Z,1740576747.202 [Default:CheckIn:C.Wait] Stopped
2025-02-26T13:32:27.202Z,1740576747.202 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T13:32:27.202Z,1740576747.202 [MissionManager](IMPORTANT): Started mission sink
2025-02-26T13:32:27.203Z,1740576747.203 [sink] Running Loop=1
2025-02-26T13:32:27.203Z,1740576747.203 [sink](DEBUG): Aggregate::initialize sink
2025-02-26T13:32:27.203Z,1740576747.203 [sink:Science] Running Loop=1
2025-02-26T13:32:27.203Z,1740576747.203 [sink:Science](DEBUG): Aggregate::initialize sink:Science
2025-02-26T13:32:27.203Z,1740576747.203 [sink:Science:A] Running Loop=1
2025-02-26T13:32:27.203Z,1740576747.203 [sink:Science:B] Running Loop=1
2025-02-26T13:32:27.203Z,1740576747.203 [sink:Science:C] Running Loop=1
2025-02-26T13:32:27.203Z,1740576747.203 [sink:Science:D] Running Loop=1
2025-02-26T13:32:27.203Z,1740576747.203 [sink:Science:E] Running Loop=1
2025-02-26T13:32:27.203Z,1740576747.203 [sink:Science:F] Running Loop=1
2025-02-26T13:32:27.203Z,1740576747.203 [sink:Science:Read_Oil] Running Loop=1
2025-02-26T13:32:27.203Z,1740576747.203 [sink:Science:PeakDetectChl] Running Loop=1
2025-02-26T13:32:27.204Z,1740576747.204 [sink:Science:PeakDetectChl](DEBUG): Aggregate::initialize sink:Science:PeakDetectChl
2025-02-26T13:32:27.204Z,1740576747.204 [sink:Science:PeakDetectChl:A] Running Loop=1
2025-02-26T13:32:27.204Z,1740576747.204 [sink:Science:EdgeDetectChl] Running Loop=1
2025-02-26T13:32:27.204Z,1740576747.204 [sink:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sink:Science:EdgeDetectChl
2025-02-26T13:32:27.204Z,1740576747.204 [sink:Science:EdgeDetectChl:A] Running Loop=1
2025-02-26T13:32:27.204Z,1740576747.204 [sink:Science:HighestChlPeakReport] Running Loop=1
2025-02-26T13:32:27.204Z,1740576747.204 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestChlPeakReport
2025-02-26T13:32:27.204Z,1740576747.204 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T13:32:27.204Z,1740576747.204 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T13:32:27.209Z,1740576747.209 [sink:Science:PeakDetectNO3] Running Loop=1
2025-02-26T13:32:27.209Z,1740576747.209 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sink:Science:PeakDetectNO3
2025-02-26T13:32:27.209Z,1740576747.209 [sink:Science:PeakDetectNO3:A] Running Loop=1
2025-02-26T13:32:27.209Z,1740576747.209 [sink:Science:PeakDetectOil] Running Loop=1
2025-02-26T13:32:27.209Z,1740576747.209 [sink:Science:PeakDetectOil](DEBUG): Aggregate::initialize sink:Science:PeakDetectOil
2025-02-26T13:32:27.209Z,1740576747.209 [sink:Science:PeakDetectOil:A] Running Loop=1
2025-02-26T13:32:27.209Z,1740576747.209 [sink:Science:HighestOilPeakReport] Running Loop=1
2025-02-26T13:32:27.210Z,1740576747.210 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestOilPeakReport
2025-02-26T13:32:27.210Z,1740576747.210 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T13:32:27.210Z,1740576747.210 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T13:32:27.210Z,1740576747.210 [sink:Science:PeakDetectFDOM] Running Loop=1
2025-02-26T13:32:27.210Z,1740576747.210 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sink:Science:PeakDetectFDOM
2025-02-26T13:32:27.210Z,1740576747.210 [sink:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-26T13:32:27.210Z,1740576747.210 [sink:Science:PeakDetectSalinity] Running Loop=1
2025-02-26T13:32:27.210Z,1740576747.210 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sink:Science:PeakDetectSalinity
2025-02-26T13:32:27.211Z,1740576747.211 [sink:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-26T13:32:27.211Z,1740576747.211 [sink:Science:HighestSaltPeakReport] Running Loop=1
2025-02-26T13:32:27.211Z,1740576747.211 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestSaltPeakReport
2025-02-26T13:32:27.211Z,1740576747.211 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T13:32:27.211Z,1740576747.211 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T13:32:27.211Z,1740576747.211 [sink:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T13:32:27.211Z,1740576747.211 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T13:32:27.211Z,1740576747.211 [sink:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T13:32:27.211Z,1740576747.211 [sink:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T13:32:27.212Z,1740576747.212 [sink:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T13:32:27.212Z,1740576747.212 [sink:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T13:32:27.212Z,1740576747.212 [sink:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-26T13:32:27.212Z,1740576747.212 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T13:32:27.212Z,1740576747.212 [sink:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-26T13:32:27.212Z,1740576747.212 [sink:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-26T13:32:27.212Z,1740576747.212 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T13:32:27.212Z,1740576747.212 [sink:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-26T13:32:27.212Z,1740576747.212 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-26T13:32:27.212Z,1740576747.212 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T13:32:27.212Z,1740576747.212 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-26T13:32:27.213Z,1740576747.213 [sink:Science:ChlThreshTrigger] Running Loop=1
2025-02-26T13:32:27.217Z,1740576747.217 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sink:Science:ChlThreshTrigger
2025-02-26T13:32:27.217Z,1740576747.217 [sink:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-26T13:32:27.217Z,1740576747.217 [sink:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-26T13:32:27.217Z,1740576747.217 [sink:Science:OceanCurrent] Running Loop=1
2025-02-26T13:32:27.217Z,1740576747.217 [sink:Science:OceanCurrent](DEBUG): Aggregate::initialize sink:Science:OceanCurrent
2025-02-26T13:32:27.218Z,1740576747.218 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T13:32:27.218Z,1740576747.218 [sink:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-26T13:32:27.218Z,1740576747.218 [sink:StandardEnvelopes] Running Loop=1
2025-02-26T13:32:27.218Z,1740576747.218 [sink:StandardEnvelopes](DEBUG): Aggregate::initialize sink:StandardEnvelopes
2025-02-26T13:32:27.218Z,1740576747.218 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T13:32:27.218Z,1740576747.218 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-26T13:32:27.218Z,1740576747.218 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T13:32:27.218Z,1740576747.218 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-26T13:32:27.218Z,1740576747.218 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T13:32:27.218Z,1740576747.218 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-26T13:32:27.219Z,1740576747.219 [sink:BackseatDriver] Running Loop=1
2025-02-26T13:32:27.219Z,1740576747.219 [sink:BackseatDriver](DEBUG): Aggregate::initialize sink:BackseatDriver
2025-02-26T13:32:27.219Z,1740576747.219 [sink:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-26T13:32:27.219Z,1740576747.219 [sink:PowerOnly] Running Loop=1
2025-02-26T13:32:27.219Z,1740576747.219 [sink:PowerOnly](DEBUG): Aggregate::initialize sink:PowerOnly
2025-02-26T13:32:27.219Z,1740576747.219 [sink:PowerOnly:A] Running Loop=1
2025-02-26T13:32:27.219Z,1740576747.219 [sink:PowerOnly:B] Running Loop=1
2025-02-26T13:32:27.219Z,1740576747.219 [sink:PowerOnly:C] Running Loop=1
2025-02-26T13:32:27.219Z,1740576747.219 [sink:PowerOnly:D] Running Loop=1
2025-02-26T13:32:27.219Z,1740576747.219 [sink:PowerOnly:E.Wait] Running Loop=1
2025-02-26T13:32:27.219Z,1740576747.219 [sink:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-26T13:32:27.219Z,1740576747.219 [sink:A] Running Loop=1
2025-02-26T13:32:27.220Z,1740576747.220 [sink:PowerOnly] Running Loop=1
2025-02-26T13:32:27.220Z,1740576747.220 [sink:PowerOnly:D] Stopped
2025-02-26T13:32:27.220Z,1740576747.220 [sink:PowerOnly:C] Stopped
2025-02-26T13:32:27.220Z,1740576747.220 [sink:PowerOnly:B] Stopped
2025-02-26T13:32:27.221Z,1740576747.221 [sink:PowerOnly:A] Stopped
2025-02-26T13:32:27.225Z,1740576747.225 [sink:BackseatDriver] Running Loop=1
2025-02-26T13:32:27.225Z,1740576747.225 [sink:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-26T13:32:27.241Z,1740576747.241 [BackseatComponent](INFO): Powering up
2025-02-26T13:32:27.241Z,1740576747.241 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-26T13:32:27.295Z,1740576747.295 [sink:StandardEnvelopes] Running Loop=1
2025-02-26T13:32:27.295Z,1740576747.295 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T13:32:27.295Z,1740576747.295 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T13:32:27.296Z,1740576747.296 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T13:32:27.296Z,1740576747.296 [sink:Science] Running Loop=1
2025-02-26T13:32:27.306Z,1740576747.306 [sink:Science:ChlThreshTrigger] Stopped
2025-02-26T13:32:27.306Z,1740576747.306 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sink:Science:ChlThreshTrigger
2025-02-26T13:32:27.306Z,1740576747.306 [sink:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-26T13:32:27.306Z,1740576747.306 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-26T13:32:27.306Z,1740576747.306 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-26T13:32:27.306Z,1740576747.306 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T13:32:27.306Z,1740576747.306 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-26T13:32:27.306Z,1740576747.306 [sink:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-26T13:32:27.306Z,1740576747.306 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T13:32:27.306Z,1740576747.306 [sink:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-26T13:32:27.306Z,1740576747.306 [sink:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-26T13:32:27.306Z,1740576747.306 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T13:32:27.307Z,1740576747.307 [sink:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-26T13:32:27.307Z,1740576747.307 [sink:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-26T13:32:27.307Z,1740576747.307 [sink:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T13:32:27.307Z,1740576747.307 [sink:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T13:32:27.307Z,1740576747.307 [sink:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-26T13:32:27.307Z,1740576747.307 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T13:32:27.307Z,1740576747.307 [sink:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T13:32:27.307Z,1740576747.307 [sink:Science:HighestSaltPeakReport] Stopped
2025-02-26T13:32:27.307Z,1740576747.307 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestSaltPeakReport
2025-02-26T13:32:27.307Z,1740576747.307 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T13:32:27.307Z,1740576747.307 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T13:32:27.307Z,1740576747.307 [sink:Science:PeakDetectSalinity] Stopped
2025-02-26T13:32:27.307Z,1740576747.307 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectSalinity
2025-02-26T13:32:27.307Z,1740576747.307 [sink:Science:PeakDetectSalinity:A] Stopped
2025-02-26T13:32:27.308Z,1740576747.308 [sink:Science:PeakDetectFDOM] Stopped
2025-02-26T13:32:27.308Z,1740576747.308 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectFDOM
2025-02-26T13:32:27.308Z,1740576747.308 [sink:Science:PeakDetectFDOM:A] Stopped
2025-02-26T13:32:27.308Z,1740576747.308 [sink:Science:HighestOilPeakReport] Stopped
2025-02-26T13:32:27.308Z,1740576747.308 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestOilPeakReport
2025-02-26T13:32:27.308Z,1740576747.308 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T13:32:27.308Z,1740576747.308 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T13:32:27.308Z,1740576747.308 [sink:Science:PeakDetectOil] Stopped
2025-02-26T13:32:27.308Z,1740576747.308 [sink:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectOil
2025-02-26T13:32:27.308Z,1740576747.308 [sink:Science:PeakDetectOil:A] Stopped
2025-02-26T13:32:27.308Z,1740576747.308 [sink:Science:PeakDetectNO3] Stopped
2025-02-26T13:32:27.308Z,1740576747.308 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectNO3
2025-02-26T13:32:27.308Z,1740576747.308 [sink:Science:PeakDetectNO3:A] Stopped
2025-02-26T13:32:27.308Z,1740576747.308 [sink:Science:HighestChlPeakReport] Stopped
2025-02-26T13:32:27.317Z,1740576747.317 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestChlPeakReport
2025-02-26T13:32:27.317Z,1740576747.317 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T13:32:27.317Z,1740576747.317 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T13:32:27.317Z,1740576747.317 [sink:Science:EdgeDetectChl] Stopped
2025-02-26T13:32:27.317Z,1740576747.317 [sink:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectChl
2025-02-26T13:32:27.317Z,1740576747.317 [sink:Science:EdgeDetectChl:A] Stopped
2025-02-26T13:32:27.317Z,1740576747.317 [sink:Science:PeakDetectChl] Stopped
2025-02-26T13:32:27.317Z,1740576747.317 [sink:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectChl
2025-02-26T13:32:27.318Z,1740576747.318 [sink:Science:PeakDetectChl:A] Stopped
2025-02-26T13:32:27.318Z,1740576747.318 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T13:32:27.318Z,1740576747.318 [sink:Science:Read_Oil] Stopped
2025-02-26T13:32:27.318Z,1740576747.318 [sink:Science:F] Stopped
2025-02-26T13:32:27.318Z,1740576747.318 [sink:Science:E] Running Loop=1
2025-02-26T13:32:27.319Z,1740576747.319 [sink:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-26T13:32:27.319Z,1740576747.319 [sink:Science:D] Stopped
2025-02-26T13:32:27.319Z,1740576747.319 [sink:Science:C] Running Loop=1
2025-02-26T13:32:27.319Z,1740576747.319 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-26T13:32:27.320Z,1740576747.320 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-26T13:32:27.320Z,1740576747.320 [sink:Science:B] Running Loop=1
2025-02-26T13:32:27.326Z,1740576747.326 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-26T13:32:27.327Z,1740576747.327 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-26T13:32:27.327Z,1740576747.327 [sink:Science:A] Stopped
2025-02-26T13:32:27.327Z,1740576747.327 [sink:A] Stopped
2025-02-26T13:32:27.327Z,1740576747.327 [sink:D] Running Loop=1
2025-02-26T13:32:27.371Z,1740576747.371 [CommandExec](IMPORTANT): Running 
2025-02-26T13:32:27.437Z,1740576747.437 [WetLabsBB2FL](INFO): Powering up
2025-02-26T13:32:27.598Z,1740576747.598 [sink:D] Stopped
2025-02-26T13:32:27.598Z,1740576747.598 [sink:F] Running Loop=1
2025-02-26T13:32:27.997Z,1740576747.997 [sink:F] Stopped
2025-02-26T13:32:27.997Z,1740576747.997 [sink:G] Running Loop=1
2025-02-26T13:32:28.401Z,1740576748.401 [sink:G] Stopped
2025-02-26T13:32:28.401Z,1740576748.401 [sink:H] Running Loop=1
2025-02-26T13:32:28.789Z,1740576748.789 [sink:H] Stopped
2025-02-26T13:32:28.789Z,1740576748.789 [sink:startComms] Running Loop=1
2025-02-26T13:32:28.789Z,1740576748.789 [sink:startComms](DEBUG): Aggregate::initialize sink:startComms
2025-02-26T13:32:28.790Z,1740576748.790 [sink:startComms:StartingMission] Running Loop=1
2025-02-26T13:32:28.790Z,1740576748.790 [sink:startComms:StartingMission](DEBUG): Aggregate::initialize sink:startComms:StartingMission
2025-02-26T13:32:28.790Z,1740576748.790 [sink:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-26T13:32:29.206Z,1740576749.206 [sink:NeedComms] Running Loop=1
2025-02-26T13:32:29.206Z,1740576749.206 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-02-26T13:32:29.206Z,1740576749.206 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-02-26T13:32:29.206Z,1740576749.206 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T13:32:29.206Z,1740576749.206 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-26T13:32:29.207Z,1740576749.207 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-26T13:32:29.207Z,1740576749.207 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-26T13:32:29.207Z,1740576749.207 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-26T13:32:29.208Z,1740576749.208 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T13:32:29.208Z,1740576749.208 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T13:32:29.208Z,1740576749.208 [sink:NeedComms:A] Running Loop=1
2025-02-26T13:32:29.210Z,1740576749.210 [sink:NeedComms:A](INFO): last time_fix was:  1740576503.000000 second since 1970/01/01T00:00:00Z 
2025-02-26T13:32:29.210Z,1740576749.210 [sink:NeedComms:A] Stopped
2025-02-26T13:32:29.587Z,1740576749.587 [sink:NeedComms:C] Running Loop=1
2025-02-26T13:32:30.010Z,1740576750.010 [sink:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T13:32:30.526Z,1740576750.526 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-26T13:32:31.596Z,1740576751.596 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,133230.00,A,3648.51410,N,12149.38277,W,0.175,349.00,260225,,,D*7B
2025-02-26T13:32:31.598Z,1740576751.598 [NAL9602](INFO): GPS fix at 20250226T133230: (36.808568, -121.823046)
2025-02-26T13:32:31.614Z,1740576751.614 [sink:NeedComms:C] Stopped
2025-02-26T13:32:31.614Z,1740576751.614 [sink:NeedComms:D] Running Loop=1
2025-02-26T13:32:32.022Z,1740576752.022 [sink:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-26T13:32:39.441Z,1740576759.441 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250226T074052/Courier0118.lzma
2025-02-26T13:32:40.443Z,1740576760.443 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0118.lzma.bak
2025-02-26T13:32:40.444Z,1740576760.444 [DataOverHttps](INFO): SBD MOMSN=23979074
2025-02-26T13:32:43.925Z,1740576763.925 [NAL9602](INFO): SBD MO Status=1, MOMSN=13565, MT Status=0, MTMSN=0
2025-02-26T13:32:43.925Z,1740576763.925 [NAL9602](INFO): No messages in MT queue
2025-02-26T13:32:57.388Z,1740576777.388 [DataOverHttps](INFO): Sending 313 bytes from file Logs/20250226T074052/Express0119.lzma
2025-02-26T13:32:58.380Z,1740576778.380 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0119.lzma.bak
2025-02-26T13:32:58.380Z,1740576778.380 [DataOverHttps](INFO): SBD MOMSN=23979077
2025-02-26T13:33:00.541Z,1740576780.541 [sink:NeedComms:D] Stopped
2025-02-26T13:33:00.542Z,1740576780.542 [sink:NeedComms:E] Running Loop=1
2025-02-26T13:33:00.931Z,1740576780.931 [sink:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T13:33:02.504Z,1740576782.504 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,133301.00,A,3648.51680,N,12149.38362,W,0.680,342.33,260225,,,D*70
2025-02-26T13:33:02.521Z,1740576782.521 [NAL9602](INFO): GPS fix at 20250226T133301: (36.808613, -121.823060)
2025-02-26T13:33:02.594Z,1740576782.594 [sink:NeedComms:E] Stopped
2025-02-26T13:33:02.595Z,1740576782.595 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-02-26T13:33:02.595Z,1740576782.595 [sink:NeedComms] Stopped
2025-02-26T13:33:02.595Z,1740576782.595 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-02-26T13:33:02.595Z,1740576782.595 [sink:NeedComms:B.GoToSurface] Stopped
2025-02-26T13:33:02.595Z,1740576782.595 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T13:33:03.080Z,1740576783.080 [sink:startComms:StartingMission](INFO): Completed sink:startComms:StartingMission
2025-02-26T13:33:03.081Z,1740576783.081 [sink:startComms:StartingMission] Stopped
2025-02-26T13:33:03.088Z,1740576783.088 [sink:startComms:StartingMission](DEBUG): Aggregate::uninitialize sink:startComms:StartingMission
2025-02-26T13:33:03.088Z,1740576783.088 [sink:startComms](INFO): Completed sink:startComms
2025-02-26T13:33:03.088Z,1740576783.088 [sink:startComms] Stopped
2025-02-26T13:33:03.101Z,1740576783.101 [sink:startComms](DEBUG): Aggregate::uninitialize sink:startComms
2025-02-26T13:33:03.131Z,1740576783.131 [sink:RunSink] Running Loop=1
2025-02-26T13:33:03.131Z,1740576783.131 [sink:RunSink](DEBUG): Aggregate::initialize sink:RunSink
2025-02-26T13:33:03.131Z,1740576783.131 [sink:RunSink:RunBallastAndTrim] Running Loop=1
2025-02-26T13:33:03.131Z,1740576783.131 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:RunBallastAndTrim
2025-02-26T13:33:03.132Z,1740576783.132 [sink:RunSink:RunBallastAndTrim:A] Running Loop=1
2025-02-26T13:33:03.403Z,1740576783.403 [sink:RunSink:RunBallastAndTrim] Stopped
2025-02-26T13:33:03.403Z,1740576783.403 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:RunBallastAndTrim
2025-02-26T13:33:03.404Z,1740576783.404 [sink:RunSink:RunBallastAndTrim:A] Stopped
2025-02-26T13:33:03.404Z,1740576783.404 [sink:RunSink:JustSink] Running Loop=1
2025-02-26T13:33:03.404Z,1740576783.404 [sink:RunSink:JustSink](DEBUG): Aggregate::initialize sink:RunSink:JustSink
2025-02-26T13:33:03.404Z,1740576783.404 [sink:RunSink:JustSink:A] Running Loop=1
2025-02-26T13:33:03.826Z,1740576783.826 [sink:RunSink:JustSink:A] Stopped
2025-02-26T13:33:03.826Z,1740576783.826 [sink:RunSink:JustSink:B] Running Loop=1
2025-02-26T13:33:04.192Z,1740576784.192 [sink:RunSink:JustSink:B] Stopped
2025-02-26T13:33:04.193Z,1740576784.193 [sink:RunSink:JustSink:C] Running Loop=1
2025-02-26T13:33:04.209Z,1740576784.209 [sink:RunSink:JustSink:C](DEBUG): Aggregate::initialize sink:RunSink:JustSink:C
2025-02-26T13:33:04.627Z,1740576784.627 [sink:RunSink:BallastAndTrim] Running Loop=1
2025-02-26T13:33:04.627Z,1740576784.627 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim
2025-02-26T13:33:04.627Z,1740576784.627 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-02-26T13:33:04.627Z,1740576784.627 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-02-26T13:33:04.627Z,1740576784.627 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-02-26T13:33:04.627Z,1740576784.627 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-02-26T13:33:04.627Z,1740576784.627 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-02-26T13:33:04.628Z,1740576784.628 [sink:RunSink:BallastAndTrim:F] Running Loop=1
2025-02-26T13:33:04.702Z,1740576784.702 [sink:RunSink:BallastAndTrim:F](INFO): Going to target depth. Speed set to  0.000000 m/s 
2025-02-26T13:33:04.704Z,1740576784.704 [sink:RunSink:BallastAndTrim:F] Stopped
2025-02-26T13:33:04.705Z,1740576784.705 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-02-26T13:33:04.725Z,1740576784.725 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-02-26T13:33:04.725Z,1740576784.725 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-02-26T13:33:04.725Z,1740576784.725 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-02-26T13:33:04.725Z,1740576784.725 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-02-26T13:33:04.725Z,1740576784.725 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-02-26T13:33:04.725Z,1740576784.725 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-02-26T13:33:04.725Z,1740576784.725 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-02-26T13:33:04.726Z,1740576784.726 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T13:33:04.726Z,1740576784.726 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-02-26T13:33:04.726Z,1740576784.726 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-02-26T13:33:04.726Z,1740576784.726 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-02-26T13:33:04.726Z,1740576784.726 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-26T13:33:04.726Z,1740576784.726 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-02-26T13:33:04.726Z,1740576784.726 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-02-26T13:33:04.727Z,1740576784.727 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-02-26T13:33:04.727Z,1740576784.727 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-02-26T13:33:04.727Z,1740576784.727 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-02-26T13:33:04.727Z,1740576784.727 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-02-26T13:33:05.012Z,1740576785.012 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-02-26T13:33:05.012Z,1740576785.012 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-02-26T13:33:05.012Z,1740576785.012 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-02-26T13:33:05.012Z,1740576785.012 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-02-26T13:33:05.012Z,1740576785.012 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-02-26T13:33:05.012Z,1740576785.012 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-02-26T13:33:05.012Z,1740576785.012 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-02-26T13:33:05.012Z,1740576785.012 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-02-26T13:33:05.013Z,1740576785.013 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T13:33:05.013Z,1740576785.013 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-02-26T13:33:05.029Z,1740576785.029 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-02-26T13:33:05.444Z,1740576785.444 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-02-26T13:33:05.444Z,1740576785.444 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-02-26T13:33:05.444Z,1740576785.444 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T13:33:05.444Z,1740576785.444 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-26T13:33:05.444Z,1740576785.444 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-02-26T13:33:05.444Z,1740576785.444 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-26T13:33:05.445Z,1740576785.445 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-02-26T13:33:05.457Z,1740576785.457 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-26T13:33:05.457Z,1740576785.457 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-02-26T13:33:05.457Z,1740576785.457 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-02-26T13:33:05.457Z,1740576785.457 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-02-26T13:33:05.827Z,1740576785.827 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-02-26T13:33:05.828Z,1740576785.828 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  10.000000 m 
2025-02-26T13:33:05.828Z,1740576785.828 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-02-26T13:33:05.828Z,1740576785.828 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-02-26T13:33:05.829Z,1740576785.829 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-02-26T13:33:08.759Z,1740576788.759 [MassServo](INFO): Failure count cleared after critical for MassServo
2025-02-26T13:33:34.498Z,1740576814.498 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T13:33:36.462Z,1740576816.462 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250226T133336
2025-02-26T13:34:36.174Z,1740576876.174 [sink:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2119
2025-02-26T13:38:38.393Z,1740577118.393 [sink:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2120
2025-02-26T13:41:23.294Z,1740577283.294 [DAT](INFO): DAT read: user:6>Rx Time:13:41:22.1979

2025-02-26T13:41:23.295Z,1740577283.295 [DAT](INFO): Rx dataTimestamp_ set to:1740577283.294451
2025-02-26T13:41:24.050Z,1740577284.050 [DAT](INFO): DAT read: $Error in header

2025-02-26T13:41:24.050Z,1740577284.050 [DAT](INFO): Received a bad header
2025-02-26T13:42:34.556Z,1740577354.556 [CBIT](IMPORTANT): Beginning ground fault scan
2025-02-26T13:42:35.243Z,1740577355.243 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-26T13:42:35.244Z,1740577355.244 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-26T13:42:36.247Z,1740577356.247 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-26T13:42:36.249Z,1740577356.249 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-26T13:42:37.251Z,1740577357.251 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-26T13:42:37.252Z,1740577357.252 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-26T13:42:38.257Z,1740577358.257 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-26T13:42:38.258Z,1740577358.258 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-26T13:42:39.259Z,1740577359.259 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-26T13:42:39.260Z,1740577359.260 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-26T13:42:40.263Z,1740577360.263 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-26T13:42:40.266Z,1740577360.266 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-26T13:42:41.267Z,1740577361.267 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-26T13:42:41.268Z,1740577361.268 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-26T13:42:42.271Z,1740577362.271 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-26T13:42:42.272Z,1740577362.272 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-26T13:42:43.275Z,1740577363.275 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-26T13:42:43.276Z,1740577363.276 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-26T13:42:44.279Z,1740577364.279 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-26T13:42:44.280Z,1740577364.280 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-26T13:42:45.282Z,1740577365.282 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-02-26T13:42:45.284Z,1740577365.284 [CTD_Seabird](INFO): some bad data, not updating bins
2025-02-26T13:42:45.587Z,1740577365.587 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.012537
CHAN A1 (24V): 0.023845
CHAN A2 (12V): 0.011086
CHAN A3 (5V): 0.000021
CHAN B0 (3.3V): -0.000495
CHAN B1 (3.15aV): -0.001176
CHAN B2 (3.15bV): -0.001284
CHAN B3 (GND): -0.006194
OPEN: 0.004621
Full Scale: +/- 1 mA
2025-02-26T13:44:52.482Z,1740577492.482 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:45:23.605Z,1740577523.605 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:45:54.737Z,1740577554.737 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:46:07.733Z,1740577567.733 [Radio_Surface](INFO): Powering down
2025-02-26T13:46:25.865Z,1740577585.865 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:46:26.873Z,1740577586.873 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T13:47:02.013Z,1740577622.013 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.747116
2025-02-26T13:53:06.034Z,1740577986.034 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](INFO): Timed out from 2025-02-26T13:33:05.8Z
2025-02-26T13:53:06.035Z,1740577986.035 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout] Running Loop=1
2025-02-26T13:53:06.035Z,1740577986.035 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout
2025-02-26T13:53:06.035Z,1740577986.035 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A] Running Loop=1
2025-02-26T13:53:06.035Z,1740577986.035 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A](IMPORTANT): Timed out trying to reach the target depth. Stopping mission at current depth of  7.735029 m 
2025-02-26T13:53:06.036Z,1740577986.036 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A] Stopped
2025-02-26T13:53:06.036Z,1740577986.036 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute] Running Loop=1
2025-02-26T13:53:06.444Z,1740577986.444 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](INFO): Executing command stop
2025-02-26T13:53:06.444Z,1740577986.444 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute] Stopped
2025-02-26T13:53:06.444Z,1740577986.444 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout
2025-02-26T13:53:06.444Z,1740577986.444 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-02-26T13:53:06.445Z,1740577986.445 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-26T13:53:06.445Z,1740577986.445 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-02-26T13:53:06.445Z,1740577986.445 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-26T13:53:06.445Z,1740577986.445 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-02-26T13:53:06.445Z,1740577986.445 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-02-26T13:53:06.446Z,1740577986.446 [sink:RunSink:BallastAndTrim:GoToTargetDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-02-26T13:53:06.446Z,1740577986.446 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Stopped
2025-02-26T13:53:06.446Z,1740577986.446 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-02-26T13:53:06.446Z,1740577986.446 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-02-26T13:53:06.446Z,1740577986.446 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-02-26T13:53:06.446Z,1740577986.446 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-02-26T13:53:06.446Z,1740577986.446 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-02-26T13:53:06.446Z,1740577986.446 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-02-26T13:53:06.446Z,1740577986.446 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-02-26T13:53:06.446Z,1740577986.446 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-02-26T13:53:06.447Z,1740577986.447 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-02-26T13:53:06.454Z,1740577986.454 [CommandExec](IMPORTANT): got command stop
2025-02-26T13:53:06.454Z,1740577986.454 [CommandExec](IMPORTANT): Scheduling is paused
2025-02-26T13:53:06.454Z,1740577986.454 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2025-02-26T13:53:06.872Z,1740577986.872 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  7.733892 m 
2025-02-26T13:53:06.872Z,1740577986.872 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-02-26T13:53:06.872Z,1740577986.872 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-02-26T13:53:06.872Z,1740577986.872 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-02-26T13:53:06.872Z,1740577986.872 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-02-26T13:53:06.877Z,1740577986.877 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-02-26T13:53:06.883Z,1740577986.883 [MissionManager](INFO): MissionManager is completed.
2025-02-26T13:53:06.883Z,1740577986.883 [MissionManager](INFO): Uninitializing Mission sink
2025-02-26T13:53:06.884Z,1740577986.884 [sink] Stopped
2025-02-26T13:53:06.884Z,1740577986.884 [sink](DEBUG): Aggregate::uninitialize sink
2025-02-26T13:53:06.884Z,1740577986.884 [sink:Science] Stopped
2025-02-26T13:53:06.884Z,1740577986.884 [sink:Science](DEBUG): Aggregate::uninitialize sink:Science
2025-02-26T13:53:06.884Z,1740577986.884 [sink:Science:B] Stopped
2025-02-26T13:53:06.884Z,1740577986.884 [sink:Science:C] Stopped
2025-02-26T13:53:06.884Z,1740577986.884 [sink:Science:E] Stopped
2025-02-26T13:53:06.884Z,1740577986.884 [sink:Science:OceanCurrent] Stopped
2025-02-26T13:53:06.884Z,1740577986.884 [sink:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sink:Science:OceanCurrent
2025-02-26T13:53:06.884Z,1740577986.884 [sink:Science:OceanCurrent:A.] Stopped
2025-02-26T13:53:06.884Z,1740577986.884 [sink:StandardEnvelopes] Stopped
2025-02-26T13:53:06.884Z,1740577986.884 [sink:StandardEnvelopes](DEBUG): Aggregate::uninitialize sink:StandardEnvelopes
2025-02-26T13:53:06.884Z,1740577986.884 [sink:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-26T13:53:06.885Z,1740577986.885 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-26T13:53:06.885Z,1740577986.885 [sink:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-26T13:53:06.885Z,1740577986.885 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-26T13:53:06.885Z,1740577986.885 [sink:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-26T13:53:06.885Z,1740577986.885 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-26T13:53:06.885Z,1740577986.885 [sink:BackseatDriver] Stopped
2025-02-26T13:53:06.885Z,1740577986.885 [sink:BackseatDriver](DEBUG): Aggregate::uninitialize sink:BackseatDriver
2025-02-26T13:53:06.885Z,1740577986.885 [sink:BackseatDriver:A.BackseatDriver] Stopped
2025-02-26T13:53:06.885Z,1740577986.885 [sink:PowerOnly] Stopped
2025-02-26T13:53:06.886Z,1740577986.886 [sink:PowerOnly](DEBUG): Aggregate::uninitialize sink:PowerOnly
2025-02-26T13:53:06.886Z,1740577986.886 [sink:PowerOnly:E.Wait] Stopped
2025-02-26T13:53:06.886Z,1740577986.886 [sink:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T13:53:06.886Z,1740577986.886 [sink:RunSink] Stopped
2025-02-26T13:53:06.886Z,1740577986.886 [sink:RunSink](DEBUG): Aggregate::uninitialize sink:RunSink
2025-02-26T13:53:06.886Z,1740577986.886 [sink:RunSink:BallastAndTrim] Stopped
2025-02-26T13:53:06.886Z,1740577986.886 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim
2025-02-26T13:53:06.886Z,1740577986.886 [sink:RunSink:BallastAndTrim:A] Stopped
2025-02-26T13:53:06.886Z,1740577986.886 [sink:RunSink:BallastAndTrim:B] Stopped
2025-02-26T13:53:06.886Z,1740577986.886 [sink:RunSink:BallastAndTrim:C] Stopped
2025-02-26T13:53:06.886Z,1740577986.886 [sink:RunSink:BallastAndTrim:D] Stopped
2025-02-26T13:53:06.886Z,1740577986.886 [sink:RunSink:BallastAndTrim:E] Stopped
2025-02-26T13:53:06.886Z,1740577986.886 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-02-26T13:53:06.887Z,1740577986.887 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-02-26T13:53:06.887Z,1740577986.887 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-02-26T13:53:06.887Z,1740577986.887 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-02-26T13:53:06.887Z,1740577986.887 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-02-26T13:53:06.887Z,1740577986.887 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-02-26T13:53:06.887Z,1740577986.887 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T13:53:06.887Z,1740577986.887 [sink:RunSink:JustSink] Stopped
2025-02-26T13:53:06.887Z,1740577986.887 [sink:RunSink:JustSink](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink
2025-02-26T13:53:06.887Z,1740577986.887 [sink:RunSink:JustSink:C] Stopped
2025-02-26T13:53:06.887Z,1740577986.887 [sink:RunSink:JustSink:C](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink:C
2025-02-26T13:53:07.018Z,1740577987.018 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-26T13:53:07.019Z,1740577987.019 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-26T13:53:07.244Z,1740577987.244 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T13:53:07.245Z,1740577987.245 [Default] Running Loop=1
2025-02-26T13:53:07.245Z,1740577987.245 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T13:53:07.245Z,1740577987.245 [Default:B.GoToSurface] Running Loop=1
2025-02-26T13:53:07.245Z,1740577987.245 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T13:53:07.245Z,1740577987.245 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T13:53:07.246Z,1740577987.246 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T13:53:07.246Z,1740577987.246 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T13:53:07.246Z,1740577987.246 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T13:53:07.247Z,1740577987.247 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T13:53:07.247Z,1740577987.247 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T13:53:07.247Z,1740577987.247 [Default:A.Wait] Running Loop=1
2025-02-26T13:53:07.247Z,1740577987.247 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T13:53:07.413Z,1740577987.413 [WetLabsBB2FL](INFO): Powering down
2025-02-26T13:53:07.913Z,1740577987.913 [Radio_Surface](INFO): Powering up
2025-02-26T13:53:13.573Z,1740577993.573 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T13:53:20.577Z,1740578000.577 [Default:A.Wait](INFO): Done Waiting.
2025-02-26T13:53:20.577Z,1740578000.577 [Default:A.Wait] Stopped
2025-02-26T13:53:20.577Z,1740578000.577 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T13:53:25.189Z,1740578005.189 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-26T13:53:25.190Z,1740578005.190 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-26T13:53:25.190Z,1740578005.190 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-26T13:53:43.155Z,1740578023.155 [Default:CheckIn] Running Loop=1
2025-02-26T13:53:43.156Z,1740578023.156 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T13:53:43.156Z,1740578023.156 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T13:53:43.693Z,1740578023.693 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:54:13.871Z,1740578053.871 [NAL9602](INFO): SBD MO Status=1, MOMSN=13566, MT Status=0, MTMSN=0
2025-02-26T13:54:13.871Z,1740578053.871 [NAL9602](INFO): No messages in MT queue
2025-02-26T13:54:14.817Z,1740578054.817 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:54:15.088Z,1740578055.088 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135414.00,A,3648.61795,N,12149.32120,W,1.244,71.08,260225,,,A*4E
2025-02-26T13:54:15.090Z,1740578055.090 [NAL9602](INFO): GPS fix at 20250226T135414: (36.810299, -121.822020)
2025-02-26T13:54:15.102Z,1740578055.102 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T13:54:15.102Z,1740578055.102 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T13:54:28.876Z,1740578068.876 [NAL9602](INFO): SBD MO Status=2, MOMSN=13567, MT Status=2, MTMSN=0
2025-02-26T13:54:28.876Z,1740578068.876 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T13:54:45.949Z,1740578085.949 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:54:49.146Z,1740578089.146 [NAL9602](INFO): SBD MO Status=1, MOMSN=13567, MT Status=0, MTMSN=0
2025-02-26T13:54:49.193Z,1740578089.193 [NAL9602](INFO): Sent 73 bytes from file Logs/20250226T074052/Courier0121.lzma
2025-02-26T13:54:49.193Z,1740578089.193 [NAL9602](INFO): Packets left to send: 0
2025-02-26T13:55:10.920Z,1740578110.920 [NAL9602](INFO): SBD MO Status=2, MOMSN=13568, MT Status=2, MTMSN=0
2025-02-26T13:55:10.920Z,1740578110.920 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T13:55:17.078Z,1740578117.078 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T13:55:25.701Z,1740578125.701 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002954
2025-02-26T13:55:41.594Z,1740578141.594 [DataOverHttps](INFO): Sending 608 bytes from file Logs/20250226T074052/Express0123.lzma
2025-02-26T13:55:42.595Z,1740578142.595 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0123.lzma.bak
2025-02-26T13:55:42.595Z,1740578142.595 [DataOverHttps](INFO): SBD MOMSN=23979096
2025-02-26T13:55:44.902Z,1740578144.902 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T13:55:44.903Z,1740578144.903 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T13:55:44.903Z,1740578144.903 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T13:55:50.087Z,1740578150.087 [NAL9602](INFO): SBD MO Status=2, MOMSN=13568, MT Status=2, MTMSN=0
2025-02-26T13:55:50.088Z,1740578150.088 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T13:56:20.827Z,1740578180.827 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T14:00:45.484Z,1740578445.484 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-26T14:00:45.484Z,1740578445.484 [Default:CheckIn:C.Wait] Stopped
2025-02-26T14:00:45.484Z,1740578445.484 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T14:00:45.485Z,1740578445.485 [Default:CheckIn:D] Running Loop=1
2025-02-26T14:00:45.889Z,1740578445.889 [Default:CheckIn:D] Stopped
2025-02-26T14:00:45.889Z,1740578445.889 [Default:CheckIn:E] Running Loop=1
2025-02-26T14:00:46.318Z,1740578446.318 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  7.644074 min 
2025-02-26T14:00:46.318Z,1740578446.318 [Default:CheckIn:E] Stopped
2025-02-26T14:00:46.318Z,1740578446.318 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-26T14:00:46.318Z,1740578446.318 [Default:CheckIn] Stopped
2025-02-26T14:00:46.318Z,1740578446.318 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T14:00:46.318Z,1740578446.318 [Default:CheckIn](INFO): Running loop #2
2025-02-26T14:00:46.319Z,1740578446.319 [Default:CheckIn] Running Loop=2
2025-02-26T14:00:46.319Z,1740578446.319 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T14:00:46.319Z,1740578446.319 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T14:00:48.308Z,1740578448.308 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,140047.00,A,3648.64837,N,12149.29344,W,0.505,6.83,260225,,,A*76
2025-02-26T14:00:48.310Z,1740578448.310 [NAL9602](INFO): GPS fix at 20250226T140047: (36.810806, -121.821557)
2025-02-26T14:00:48.321Z,1740578448.321 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T14:00:48.322Z,1740578448.322 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T14:00:56.892Z,1740578456.892 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250226T074052/Courier0127.lzma
2025-02-26T14:00:57.436Z,1740578457.436 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0127.lzma.bak
2025-02-26T14:00:57.436Z,1740578457.436 [DataOverHttps](INFO): SBD MOMSN=23979105
2025-02-26T14:00:58.623Z,1740578458.623 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:01:06.700Z,1740578466.700 [NAL9602](INFO): SBD MO Status=2, MOMSN=13568, MT Status=2, MTMSN=0
2025-02-26T14:01:06.700Z,1740578466.700 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T14:01:11.532Z,1740578471.532 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:01:16.787Z,1740578476.787 [NAL9602](INFO): SBD MO Status=1, MOMSN=13568, MT Status=0, MTMSN=0
2025-02-26T14:01:16.787Z,1740578476.787 [NAL9602](INFO): No messages in MT queue
2025-02-26T14:01:20.913Z,1740578480.913 [DataOverHttps](INFO): Sending 139 bytes from file Logs/20250226T074052/Express0128.lzma
2025-02-26T14:01:21.915Z,1740578481.915 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0128.lzma.bak
2025-02-26T14:01:21.915Z,1740578481.915 [DataOverHttps](INFO): SBD MOMSN=23979108
2025-02-26T14:01:23.683Z,1740578483.683 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T14:01:23.683Z,1740578483.683 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T14:01:23.684Z,1740578483.684 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T14:01:24.462Z,1740578484.462 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:01:37.387Z,1740578497.387 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:01:47.489Z,1740578507.489 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T14:01:49.915Z,1740578509.915 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:02:02.840Z,1740578522.840 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:02:16.176Z,1740578536.176 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:03:03.335Z,1740578583.335 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T140302
2025-02-26T14:03:14.053Z,1740578594.053 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-02-26T14:03:14.493Z,1740578594.493 [DataOverHttps](INFO): Received command: load Engineering/sink.tl;set sink.SinkDuration 2 h;set sink.Depth 10 m;set sink.DepthDeadband 5 m;set sink.TargetDepthTimeout 120 min;set sink:BackseatDriver.EnableBackseat 1 bool;run
2025-02-26T14:03:14.598Z,1740578594.598 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/sink.tl
2025-02-26T14:03:14.599Z,1740578594.599 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/sink.tl
2025-02-26T14:03:14.599Z,1740578594.599 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/sink.tl
2025-02-26T14:03:14.604Z,1740578594.604 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/sink.tl
2025-02-26T14:03:19.891Z,1740578599.891 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/sink.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sink">
    <DefineArg Name="SinkDuration">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="WaitToFloat">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Units:meter />
        <Value>2.5</Value>
    </DefineArg>
    <DefineArg Name="TargetDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DoBallastAndTrim">
        <False />
    </DefineArg>
    <DefineArg Name="BTSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineOutput Name="MissionTimeout">
        <Arg Name="SinkDuration" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="SinkDuration" />
        <Add>
            <Arg Name="WaitToFloat" />
        </Add>
    </Assign>
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="startComms">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Call RefId="NeedComms" Id="StartingMission" />
    </Aggregate>
    <Aggregate Id="RunSink">
        <Sequence />
        <Timeout Duration="SinkDuration" />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="TargetDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="BTSettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunBallastAndTrim">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Not>
                        <Arg Name="DoBallastAndTrim" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
        <Aggregate Id="JustSink">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Arg Name="DoBallastAndTrim" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="BTSettleTime" />
                <Arg Name="SinkDuration" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
    </Aggregate>
    <Aggregate Id="FloatUp">
        <Sequence />
        <Break>
            <Universal:depth />
            <Lt>
                <Arg Name="SurfaceThreshold" />
            </Lt>
        </Break>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyDefault />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="WaitToFloat" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" />
</Mission>

2025-02-26T14:03:19.898Z,1740578599.898 [MissionManager](INFO): DefineArg sink.SinkDuration = 2.000000 h
2025-02-26T14:03:19.900Z,1740578599.900 [MissionManager](INFO): DefineArg sink.WaitToFloat = 20.000000 min
2025-02-26T14:03:19.912Z,1740578599.912 [MissionManager](INFO): DefineArg sink.Depth = 20.000000 m
2025-02-26T14:03:19.936Z,1740578599.936 [MissionManager](INFO): DefineArg sink.DepthDeadband = 1.000000 m
2025-02-26T14:03:19.938Z,1740578599.938 [MissionManager](INFO): DefineArg sink.SurfaceThreshold = 2.500000 m
2025-02-26T14:03:19.940Z,1740578599.940 [MissionManager](INFO): DefineArg sink.TargetDepthTimeout = 20.000000 min
2025-02-26T14:03:19.942Z,1740578599.942 [MissionManager](INFO): DefineArg sink.DoBallastAndTrim = 0 bool
2025-02-26T14:03:19.944Z,1740578599.944 [MissionManager](INFO): DefineArg sink.BTSettleTime = 10.000000 min
2025-02-26T14:03:19.947Z,1740578599.947 [MissionManager](INFO): DefineArg sink.EstimationTimeout = 45.000000 min
2025-02-26T14:03:19.949Z,1740578599.949 [MissionManager](INFO): DefineArg sink.MinEstimationTime = 10.000000 min
2025-02-26T14:03:19.951Z,1740578599.951 [MissionManager](INFO): DefineArg sink.MassEstimationErrorBound = 0.500000 mm
2025-02-26T14:03:19.954Z,1740578599.954 [MissionManager](INFO): DefineArg sink.BuoyEstimationErrorBound = 25.000000 cc
2025-02-26T14:03:19.956Z,1740578599.956 [MissionManager](INFO): DefineArg sink.EstimationConfidence = 98.000000 %
2025-02-26T14:03:19.963Z,1740578599.963 [MissionManager](INFO): DefineArg sink.MinAltitude = 5.000000 m
2025-02-26T14:03:20.005Z,1740578600.005 [MissionManager](INFO): DefineArg sink.MaxDepth = 30.000000 m
2025-02-26T14:03:20.007Z,1740578600.007 [MissionManager](INFO): DefineArg sink.MinOffshore = 2.000000 km
2025-02-26T14:03:20.016Z,1740578600.016 [MissionManager](INFO): DefineArg sink.SkipComms = 0 bool
2025-02-26T14:03:20.031Z,1740578600.031 [MissionManager](INFO): DefineOutput sink.MissionTimeout = 2.000000 h
2025-02-26T14:03:20.038Z,1740578600.038 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-26T14:03:20.038Z,1740578600.038 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-26T14:03:20.147Z,1740578600.147 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-26T14:03:23.025Z,1740578603.025 [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>

2025-02-26T14:03:23.058Z,1740578603.058 [MissionManager](INFO): DefineArg sink:Science.PeakDetectChlActive = 0 bool
2025-02-26T14:03:23.060Z,1740578603.060 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectChlActive = 0 bool
2025-02-26T14:03:23.063Z,1740578603.063 [MissionManager](INFO): DefineArg sink:Science.TimeWindowPeakReport = nan min
2025-02-26T14:03:23.065Z,1740578603.065 [MissionManager](INFO): DefineArg sink:Science.HighestChlPeakReportActive = 0 bool
2025-02-26T14:03:23.067Z,1740578603.067 [MissionManager](INFO): DefineArg sink:Science.HighestSaltPeakReportActive = 0 bool
2025-02-26T14:03:23.069Z,1740578603.069 [MissionManager](INFO): DefineArg sink:Science.HighestOilPeakReportActive = 0 bool
2025-02-26T14:03:23.071Z,1740578603.071 [MissionManager](INFO): DefineArg sink:Science.PatchTracking = 0 bool
2025-02-26T14:03:23.074Z,1740578603.074 [MissionManager](INFO): DefineArg sink:Science.FilterWidthHorizontal = 3.000000 count
2025-02-26T14:03:23.076Z,1740578603.076 [MissionManager](INFO): DefineArg sink:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-26T14:03:23.078Z,1740578603.078 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-26T14:03:23.080Z,1740578603.080 [MissionManager](INFO): DefineArg sink:Science.PeakDetectNO3Active = 0 bool
2025-02-26T14:03:23.082Z,1740578603.082 [MissionManager](INFO): DefineArg sink:Science.PeakDetectOilActive = 0 bool
2025-02-26T14:03:23.084Z,1740578603.084 [MissionManager](INFO): DefineArg sink:Science.PeakDetectFDOMActive = 0 bool
2025-02-26T14:03:23.087Z,1740578603.087 [MissionManager](INFO): DefineArg sink:Science.PeakDetectSalinityActive = 0 bool
2025-02-26T14:03:23.088Z,1740578603.088 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T14:03:23.091Z,1740578603.091 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T14:03:23.092Z,1740578603.092 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-26T14:03:23.095Z,1740578603.095 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-26T14:03:23.096Z,1740578603.096 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-26T14:03:23.136Z,1740578603.136 [MissionManager](INFO): DefineArg sink:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-26T14:03:23.143Z,1740578603.143 [MissionManager](INFO): DefineArg sink:Science.EnabledAanderaaO2 = 0 bool
2025-02-26T14:03:23.150Z,1740578603.150 [MissionManager](INFO): DefineArg sink:Science.EnabledNeilBrown = 0 bool
2025-02-26T14:03:23.158Z,1740578603.158 [MissionManager](INFO): DefineArg sink:Science.EnabledSeabird = 1 bool
2025-02-26T14:03:23.160Z,1740578603.160 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-26T14:03:23.167Z,1740578603.167 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-26T14:03:23.174Z,1740578603.174 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsUBAT = 0 bool
2025-02-26T14:03:23.176Z,1740578603.176 [MissionManager](INFO): DefineArg sink:Science.LowPassWindowLength = 20.000000 count
2025-02-26T14:03:23.186Z,1740578603.186 [MissionManager](INFO): DefineArg sink:Science.MedianFilterLen = 5.000000 count
2025-02-26T14:03:23.193Z,1740578603.193 [MissionManager](INFO): DefineArg sink:Science.ShallowBound = nan m
2025-02-26T14:03:23.195Z,1740578603.195 [MissionManager](INFO): DefineArg sink:Science.DeepBound = nan m
2025-02-26T14:03:23.209Z,1740578603.209 [MissionManager](INFO): DefineArg sink:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-26T14:03:23.212Z,1740578603.212 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionVertical = nan %
2025-02-26T14:03:23.218Z,1740578603.218 [MissionManager](INFO): DefineArg sink:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-26T14:03:23.220Z,1740578603.220 [MissionManager](INFO): DefineArg sink:Science.ChlThreshTriggerActive = 0 bool
2025-02-26T14:03:23.238Z,1740578603.238 [MissionManager](INFO): DefineArg sink:Science.ChlLowerThresh = nan ug/l
2025-02-26T14:03:23.240Z,1740578603.240 [MissionManager](INFO): DefineArg sink:Science.ChlUpperThresh = nan ug/l
2025-02-26T14:03:23.247Z,1740578603.247 [MissionManager](INFO): DefineArg sink:Science.NumProfilesThresh = 5.000000 count
2025-02-26T14:03:23.257Z,1740578603.257 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-26T14:03:23.259Z,1740578603.259 [MissionManager](INFO): DefineOutput sink:Science.GoDown = 1 bool
2025-02-26T14:03:23.266Z,1740578603.266 [MissionManager](INFO): DefineOutput sink:Science.PeakChl = nan ug/l
2025-02-26T14:03:23.268Z,1740578603.268 [MissionManager](INFO): DefineOutput sink:Science.PeakChlDepth = nan m
2025-02-26T14:03:23.274Z,1740578603.274 [MissionManager](INFO): DefineOutput sink:Science.PeakChlTemperature = nan degC
2025-02-26T14:03:23.278Z,1740578603.278 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLatitude = nan arcdeg
2025-02-26T14:03:23.280Z,1740578603.280 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLongitude = nan arcdeg
2025-02-26T14:03:23.301Z,1740578603.301 [MissionManager](INFO): DefineOutput sink:Science.EdgeChl = nan ug/l
2025-02-26T14:03:23.304Z,1740578603.304 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlDepth = nan m
2025-02-26T14:03:23.306Z,1740578603.306 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlTemperature = nan degC
2025-02-26T14:03:23.308Z,1740578603.308 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlLatitude = nan arcdeg
2025-02-26T14:03:23.323Z,1740578603.323 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlLongitude = nan arcdeg
2025-02-26T14:03:23.357Z,1740578603.357 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3 = nan umol/l
2025-02-26T14:03:23.360Z,1740578603.360 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Depth = nan m
2025-02-26T14:03:23.366Z,1740578603.366 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Latitude = nan arcdeg
2025-02-26T14:03:23.368Z,1740578603.368 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Longitude = nan arcdeg
2025-02-26T14:03:23.396Z,1740578603.396 [MissionManager](INFO): DefineOutput sink:Science.PeakOil = nan kg/m3
2025-02-26T14:03:23.403Z,1740578603.403 [MissionManager](INFO): DefineOutput sink:Science.PeakOilDepth = nan m
2025-02-26T14:03:23.410Z,1740578603.410 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLatitude = nan arcdeg
2025-02-26T14:03:23.413Z,1740578603.413 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLongitude = nan arcdeg
2025-02-26T14:03:23.435Z,1740578603.435 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOM = nan ppb
2025-02-26T14:03:23.442Z,1740578603.442 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMDepth = nan m
2025-02-26T14:03:23.444Z,1740578603.444 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMTemperature = nan degC
2025-02-26T14:03:23.451Z,1740578603.451 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLatitude = nan arcdeg
2025-02-26T14:03:23.457Z,1740578603.457 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLongitude = nan arcdeg
2025-02-26T14:03:23.460Z,1740578603.460 [MissionManager](INFO): DefineOutput sink:Science.PeakSalt = nan psu
2025-02-26T14:03:23.467Z,1740578603.467 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltDepth = nan m
2025-02-26T14:03:23.469Z,1740578603.469 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltTemperature = nan degC
2025-02-26T14:03:23.471Z,1740578603.471 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLatitude = nan arcdeg
2025-02-26T14:03:23.473Z,1740578603.473 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLongitude = nan arcdeg
2025-02-26T14:03:23.476Z,1740578603.476 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-26T14:03:23.507Z,1740578603.507 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-26T14:03:23.510Z,1740578603.510 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-26T14:03:23.537Z,1740578603.537 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T14:03:23.539Z,1740578603.539 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T14:03:23.546Z,1740578603.546 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-26T14:03:23.548Z,1740578603.548 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-26T14:03:23.567Z,1740578603.567 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-26T14:03:23.570Z,1740578603.570 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T14:03:23.572Z,1740578603.572 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T14:03:23.590Z,1740578603.590 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-26T14:03:23.592Z,1740578603.592 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-26T14:03:23.599Z,1740578603.599 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-26T14:03:23.613Z,1740578603.613 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-26T14:03:23.617Z,1740578603.617 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-26T14:03:23.619Z,1740578603.619 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-26T14:03:23.637Z,1740578603.637 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-26T14:03:23.640Z,1740578603.640 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-26T14:03:23.642Z,1740578603.642 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-26T14:03:23.644Z,1740578603.644 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-26T14:03:23.658Z,1740578603.658 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-26T14:03:23.661Z,1740578603.661 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-26T14:03:23.663Z,1740578603.663 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-26T14:03:23.671Z,1740578603.671 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-26T14:03:23.677Z,1740578603.677 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-26T14:03:23.679Z,1740578603.679 [MissionManager](INFO): DefineOutput sink:Science.PatchChl = nan ug/l
2025-02-26T14:03:23.686Z,1740578603.686 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDepth = nan m
2025-02-26T14:03:23.688Z,1740578603.688 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLatitude = nan arcdeg
2025-02-26T14:03:23.698Z,1740578603.698 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLongitude = nan arcdeg
2025-02-26T14:03:23.701Z,1740578603.701 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDistance = nan m
2025-02-26T14:03:23.703Z,1740578603.703 [MissionManager](INFO): DefineOutput sink:Science.PatchSalt = nan psu
2025-02-26T14:03:23.712Z,1740578603.712 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDepth = nan m
2025-02-26T14:03:23.715Z,1740578603.715 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLatitude = nan arcdeg
2025-02-26T14:03:23.727Z,1740578603.727 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLongitude = nan arcdeg
2025-02-26T14:03:23.729Z,1740578603.729 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDistance = nan m
2025-02-26T14:03:23.731Z,1740578603.731 [MissionManager](INFO): DefineOutput sink:Science.PatchOil = nan psu
2025-02-26T14:03:23.774Z,1740578603.774 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDepth = nan m
2025-02-26T14:03:23.776Z,1740578603.776 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLatitude = nan arcdeg
2025-02-26T14:03:23.795Z,1740578603.795 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLongitude = nan arcdeg
2025-02-26T14:03:23.805Z,1740578603.805 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDistance = nan m
2025-02-26T14:03:23.808Z,1740578603.808 [MissionManager](INFO): DefineOutput sink:Science.TriggeredOnChl = 0 bool
2025-02-26T14:03:23.819Z,1740578603.819 [MissionManager](INFO): DefineOutput sink:Science.ChlTriggering = nan ug/l
2025-02-26T14:03:23.928Z,1740578603.928 [sink:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T14:03:23.976Z,1740578603.976 [sink:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T14:03:24.056Z,1740578604.056 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T14:03:24.093Z,1740578604.093 [sink:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T14:03:24.135Z,1740578604.135 [sink:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T14:03:24.198Z,1740578604.198 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T14:03:24.254Z,1740578604.254 [sink:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T14:03:24.286Z,1740578604.286 [sink:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T14:03:24.315Z,1740578604.315 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T14:03:24.348Z,1740578604.348 [sink:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T14:03:24.410Z,1740578604.410 [sink:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T14:03:24.458Z,1740578604.458 [sink:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T14:03:24.483Z,1740578604.483 [sink:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T14:03:24.507Z,1740578604.507 [sink:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T14:03:24.531Z,1740578604.531 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-26T14:03:24.545Z,1740578604.545 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-26T14:03:24.545Z,1740578604.545 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-26T14:03:24.547Z,1740578604.547 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-26T14:03:24.836Z,1740578604.836 [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>

2025-02-26T14:03:24.840Z,1740578604.840 [MissionManager](INFO): DefineArg sink:NeedComms.DiveInterval = 1.000000 h
2025-02-26T14:03:24.842Z,1740578604.842 [MissionManager](INFO): DefineArg sink:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-26T14:03:24.845Z,1740578604.845 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-26T14:03:24.848Z,1740578604.848 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceDepthRate = nan m/s
2025-02-26T14:03:24.873Z,1740578604.873 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-26T14:03:24.875Z,1740578604.875 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-26T14:03:24.877Z,1740578604.877 [MissionManager](INFO): DefineArg sink:NeedComms.GPSTimeout = 7.000000 min
2025-02-26T14:03:24.879Z,1740578604.879 [MissionManager](INFO): DefineArg sink:NeedComms.CommsTimeout = 30.000000 min
2025-02-26T14:03:24.885Z,1740578604.885 [sink:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T14:03:24.930Z,1740578604.930 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-26T14:03:24.930Z,1740578604.930 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-26T14:03:24.931Z,1740578604.931 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-26T14:03:25.039Z,1740578605.039 [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>

2025-02-26T14:03:25.046Z,1740578605.046 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-26T14:03:25.048Z,1740578605.048 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-26T14:03:25.051Z,1740578605.051 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-26T14:03:25.053Z,1740578605.053 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-26T14:03:25.054Z,1740578605.054 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-26T14:03:25.082Z,1740578605.082 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-26T14:03:25.100Z,1740578605.100 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-26T14:03:25.124Z,1740578605.124 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-26T14:03:25.124Z,1740578605.124 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-26T14:03:25.130Z,1740578605.130 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-26T14:03:25.160Z,1740578605.160 [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>

2025-02-26T14:03:25.178Z,1740578605.178 [MissionManager](INFO): DefineArg sink:BackseatDriver.EnableBackseat = 0 bool
2025-02-26T14:03:25.180Z,1740578605.180 [sink:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-26T14:03:25.183Z,1740578605.183 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-26T14:03:25.183Z,1740578605.183 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-26T14:03:25.185Z,1740578605.185 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-26T14:03:25.311Z,1740578605.311 [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>

2025-02-26T14:03:25.315Z,1740578605.315 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleAll = 0 bool
2025-02-26T14:03:25.317Z,1740578605.317 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad1 = 0 bool
2025-02-26T14:03:25.333Z,1740578605.333 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad2 = 0 bool
2025-02-26T14:03:25.335Z,1740578605.335 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad3 = 0 bool
2025-02-26T14:03:25.337Z,1740578605.337 [MissionManager](INFO): DefineArg sink:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-26T14:03:25.343Z,1740578605.343 [sink:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-26T14:03:25.347Z,1740578605.347 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-02-26T14:03:25.347Z,1740578605.347 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-02-26T14:03:25.349Z,1740578605.349 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-02-26T14:03:25.920Z,1740578605.920 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BallastAndTrim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BallastAndTrim">
    <DefineArg Name="InsertDepth">
        <Units:meter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSpeed">
        <Units:meter_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstErrorBound">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstErrorBound">
        <Units:cubic_centimeter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="EstConfidence">
        <Units:percent />
        <Value>99.9</Value>
    </DefineArg>
    <DefineArg Name="InsertDepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="InsertMassDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <When>
        <Called />
    </When>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kpPitchMass />
        <Units:ratio />
        <Value>0.005</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kiPitchMass />
        <Units:reciprocal_second />
        <Value>0.00075</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kdPitchMass />
        <Units:second />
        <Value>0</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.massDeadband />
        <Arg Name="InsertMassDeadband" />
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.depthDeadband />
        <Arg Name="InsertDepthDeadband" />
    </Assign>
    <Syslog Severity="Info">
        Going to target depth. Speed set to 
        <Arg Name="InsertApproachSpeed" />
        <Units:meter_per_second />
    </Syslog>
    <Aggregate Id="GoToTargetDepth">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.pitchLimit />
            <Arg Name="InsertApproachPitchLimit" />
        </Assign>
        <Aggregate Id="ActuatorHold">
            <While>
                <Arg Name="InsertApproachSpeed" />
                <Gt>
                    <Units:meter_per_second />
                    <Value>0</Value>
                </Gt>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Units:degree />
                    <Value>13</Value>
                </Setting>
            </Guidance:Point>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Control:VerticalControl.buoyancyNeutral />
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.massPosition />
                    <Control:VerticalControl.massDefault />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
        <Aggregate Id="WaitPreDive">
            <Sequence />
            <Break>
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Le>
                    <Units:minute />
                    <Value>0</Value>
                </Le>
            </Break>
            <Syslog Severity="Info">
                Waiting for 
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Units:minute />
                while pumping down to neutral.
            </Syslog>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="InsertApproachSettleTimePreDive" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
        <Aggregate Id="ApproachDepth">
            <Sequence />
            <Syslog>
                Moving to 
                <Arg Name="InsertDepth" />
                <Units:meter />
            </Syslog>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="InsertApproachSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Guidance:Pitch>
                <Sequence />
                <Timeout Duration="InsertApproachDepthTimeout">
                    <Syslog Severity="Important">
                        Timed out trying to reach the target depth. Stopping mission at current depth of 
                        <Universal:depth />
                        <Units:meter />
                    </Syslog>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Timeout>
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="InsertDepth" />
                </Setting>
                <Setting>
                    <Guidance:Pitch.depthRate />
                    <Arg Name="InsertApproachDepthRate" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="BallastAndTrimAtTargetDepth">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Units:meter_per_second />
                <Value>0</Value>
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="InsertDepth" />
            </Setting>
        </Guidance:Pitch>
        <Syslog Severity="Info">
            Waiting for the vehicle to settle. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="InsertSettleTime" />
            </Setting>
        </Guidance:Wait>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>gfscan</String>
            </Setting>
        </Guidance:Execute>
        <Syslog Severity="Info">
            Running ballast and trim. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Estimation:BallastAndTrim>
            <Sequence />
            <Setting>
                <Estimation:BallastAndTrim.estimationTimeout />
                <Arg Name="EstTimeout" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.minEstimationTime />
                <Arg Name="MinEstTime" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.massErrorBound />
                <Arg Name="MassEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.buoyErrorBound />
                <Arg Name="BuoyEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.confidenceLevel />
                <Arg Name="EstConfidence" />
            </Setting>
        </Estimation:BallastAndTrim>
    </Aggregate>
</Aggregate>

2025-02-26T14:03:25.927Z,1740578605.927 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepth = 25.000000 m
2025-02-26T14:03:25.930Z,1740578605.930 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-02-26T14:03:25.932Z,1740578605.932 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-02-26T14:03:25.934Z,1740578605.934 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-02-26T14:03:25.936Z,1740578605.936 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-02-26T14:03:25.939Z,1740578605.939 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-02-26T14:03:25.942Z,1740578605.942 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-02-26T14:03:25.944Z,1740578605.944 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstTimeout = 45.000000 min
2025-02-26T14:03:25.947Z,1740578605.947 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MinEstTime = 10.000000 min
2025-02-26T14:03:26.002Z,1740578606.002 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-02-26T14:03:26.005Z,1740578606.005 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-02-26T14:03:26.007Z,1740578606.007 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstConfidence = 99.900002 %
2025-02-26T14:03:26.009Z,1740578606.009 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-02-26T14:03:26.011Z,1740578606.011 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-02-26T14:03:26.056Z,1740578606.056 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-02-26T14:03:26.073Z,1740578606.073 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T14:03:26.076Z,1740578606.076 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-02-26T14:03:26.084Z,1740578606.084 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-02-26T14:03:26.087Z,1740578606.087 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-02-26T14:03:26.090Z,1740578606.090 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-02-26T14:03:26.096Z,1740578606.096 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-26T14:03:26.099Z,1740578606.099 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-02-26T14:03:26.102Z,1740578606.102 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-02-26T14:03:26.108Z,1740578606.108 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-02-26T14:03:26.109Z,1740578606.109 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-02-26T14:03:26.112Z,1740578606.112 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-02-26T14:03:26.118Z,1740578606.118 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = reader:sink.DepthDeadband
2025-02-26T14:03:26.119Z,1740578606.119 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = reader:sink.TargetDepthTimeout
2025-02-26T14:03:26.137Z,1740578606.137 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = reader:sink.BTSettleTime
2025-02-26T14:03:26.139Z,1740578606.139 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstTimeout = reader:sink.EstimationTimeout
2025-02-26T14:03:26.140Z,1740578606.140 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MinEstTime = reader:sink.MinEstimationTime
2025-02-26T14:03:26.146Z,1740578606.146 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = reader:sink.MassEstimationErrorBound
2025-02-26T14:03:26.147Z,1740578606.147 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = reader:sink.BuoyEstimationErrorBound
2025-02-26T14:03:26.153Z,1740578606.153 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstConfidence = reader:sink.EstimationConfidence
2025-02-26T14:03:26.168Z,1740578606.168 [sink:FloatUp:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T14:03:26.175Z,1740578606.175 [sink:FloatUp:B.Wait](DEBUG): Construct Wait.
2025-02-26T14:03:26.313Z,1740578606.313 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission sink {
  arguments {
    SinkDuration = 2 hour
      """
      Overall B&T timeout, or time to sink before ascending if not running B&T.
      Mission timeout will be SinkDuration + WaitToFloat.
      """

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  output {
    MissionTimeout = SinkDuration
  }

  timeout duration=MissionTimeout

  assign in sequence MissionTimeout = SinkDuration + WaitToFloat

  insert Insert/Science.tl

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

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate startComms {
    run in sequence

    break if ( SkipComms )

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

  aggregate RunSink {
    run in sequence

    timeout duration=SinkDuration

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

    aggregate RunBallastAndTrim {
      run in sequence

      break if (
        isNaN ( Depth )
        or not DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

      call refId="BallastAndTrim"
    }

    aggregate JustSink {
      run in sequence

      break if (
        isNaN ( Depth )
        or DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

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

      call refId="BallastAndTrim"
    }
  }

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

    run in sequence

    break if ( Universal:depth < SurfaceThreshold )

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyDefault
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = WaitToFloat
    }
  }

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


2025-02-26T14:03:26.314Z,1740578606.314 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/sink.tl id=sink
2025-02-26T14:03:55.578Z,1740578635.578 [CommandExec](IMPORTANT): got command set sink.SinkDuration 2 hour
2025-02-26T14:03:55.579Z,1740578635.579 [CommandExec](IMPORTANT): got command set sink.Depth 10 meter
2025-02-26T14:03:55.579Z,1740578635.579 [CommandExec](IMPORTANT): got command set sink.DepthDeadband 5 meter
2025-02-26T14:03:55.580Z,1740578635.580 [CommandExec](IMPORTANT): got command set sink.TargetDepthTimeout 120 minute
2025-02-26T14:03:55.581Z,1740578635.581 [CommandExec](IMPORTANT): got command set sink:BackseatDriver.EnableBackseat 1 bool
2025-02-26T14:03:55.581Z,1740578635.581 [CommandExec](IMPORTANT): got command run
2025-02-26T14:03:55.583Z,1740578635.583 [CommandExec](IMPORTANT): Running 
2025-02-26T14:03:55.638Z,1740578635.638 [Default] Stopped
2025-02-26T14:03:55.638Z,1740578635.638 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T14:03:55.638Z,1740578635.638 [Default:B.GoToSurface] Stopped
2025-02-26T14:03:55.638Z,1740578635.638 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T14:03:55.638Z,1740578635.638 [Default:CheckIn] Stopped
2025-02-26T14:03:55.638Z,1740578635.638 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T14:03:55.638Z,1740578635.638 [Default:CheckIn:C.Wait] Stopped
2025-02-26T14:03:55.638Z,1740578635.638 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T14:03:55.638Z,1740578635.638 [MissionManager](IMPORTANT): Started mission sink
2025-02-26T14:03:55.639Z,1740578635.639 [sink] Running Loop=1
2025-02-26T14:03:55.639Z,1740578635.639 [sink](DEBUG): Aggregate::initialize sink
2025-02-26T14:03:55.639Z,1740578635.639 [sink:Science] Running Loop=1
2025-02-26T14:03:55.639Z,1740578635.639 [sink:Science](DEBUG): Aggregate::initialize sink:Science
2025-02-26T14:03:55.639Z,1740578635.639 [sink:Science:A] Running Loop=1
2025-02-26T14:03:55.639Z,1740578635.639 [sink:Science:B] Running Loop=1
2025-02-26T14:03:55.639Z,1740578635.639 [sink:Science:C] Running Loop=1
2025-02-26T14:03:55.639Z,1740578635.639 [sink:Science:D] Running Loop=1
2025-02-26T14:03:55.639Z,1740578635.639 [sink:Science:E] Running Loop=1
2025-02-26T14:03:55.639Z,1740578635.639 [sink:Science:F] Running Loop=1
2025-02-26T14:03:55.639Z,1740578635.639 [sink:Science:Read_Oil] Running Loop=1
2025-02-26T14:03:55.639Z,1740578635.639 [sink:Science:PeakDetectChl] Running Loop=1
2025-02-26T14:03:55.640Z,1740578635.640 [sink:Science:PeakDetectChl](DEBUG): Aggregate::initialize sink:Science:PeakDetectChl
2025-02-26T14:03:55.640Z,1740578635.640 [sink:Science:PeakDetectChl:A] Running Loop=1
2025-02-26T14:03:55.640Z,1740578635.640 [sink:Science:EdgeDetectChl] Running Loop=1
2025-02-26T14:03:55.640Z,1740578635.640 [sink:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sink:Science:EdgeDetectChl
2025-02-26T14:03:55.640Z,1740578635.640 [sink:Science:EdgeDetectChl:A] Running Loop=1
2025-02-26T14:03:55.640Z,1740578635.640 [sink:Science:HighestChlPeakReport] Running Loop=1
2025-02-26T14:03:55.640Z,1740578635.640 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestChlPeakReport
2025-02-26T14:03:55.640Z,1740578635.640 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T14:03:55.640Z,1740578635.640 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T14:03:55.645Z,1740578635.645 [sink:Science:PeakDetectNO3] Running Loop=1
2025-02-26T14:03:55.645Z,1740578635.645 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sink:Science:PeakDetectNO3
2025-02-26T14:03:55.645Z,1740578635.645 [sink:Science:PeakDetectNO3:A] Running Loop=1
2025-02-26T14:03:55.645Z,1740578635.645 [sink:Science:PeakDetectOil] Running Loop=1
2025-02-26T14:03:55.645Z,1740578635.645 [sink:Science:PeakDetectOil](DEBUG): Aggregate::initialize sink:Science:PeakDetectOil
2025-02-26T14:03:55.646Z,1740578635.646 [sink:Science:PeakDetectOil:A] Running Loop=1
2025-02-26T14:03:55.646Z,1740578635.646 [sink:Science:HighestOilPeakReport] Running Loop=1
2025-02-26T14:03:55.646Z,1740578635.646 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestOilPeakReport
2025-02-26T14:03:55.646Z,1740578635.646 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T14:03:55.646Z,1740578635.646 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T14:03:55.646Z,1740578635.646 [sink:Science:PeakDetectFDOM] Running Loop=1
2025-02-26T14:03:55.646Z,1740578635.646 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sink:Science:PeakDetectFDOM
2025-02-26T14:03:55.647Z,1740578635.647 [sink:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-26T14:03:55.647Z,1740578635.647 [sink:Science:PeakDetectSalinity] Running Loop=1
2025-02-26T14:03:55.647Z,1740578635.647 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sink:Science:PeakDetectSalinity
2025-02-26T14:03:55.647Z,1740578635.647 [sink:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-26T14:03:55.647Z,1740578635.647 [sink:Science:HighestSaltPeakReport] Running Loop=1
2025-02-26T14:03:55.647Z,1740578635.647 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestSaltPeakReport
2025-02-26T14:03:55.647Z,1740578635.647 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T14:03:55.647Z,1740578635.647 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T14:03:55.648Z,1740578635.648 [sink:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T14:03:55.648Z,1740578635.648 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T14:03:55.648Z,1740578635.648 [sink:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T14:03:55.648Z,1740578635.648 [sink:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T14:03:55.648Z,1740578635.648 [sink:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T14:03:55.648Z,1740578635.648 [sink:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T14:03:55.648Z,1740578635.648 [sink:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-26T14:03:55.648Z,1740578635.648 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T14:03:55.648Z,1740578635.648 [sink:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-26T14:03:55.649Z,1740578635.649 [sink:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-26T14:03:55.657Z,1740578635.657 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T14:03:55.657Z,1740578635.657 [sink:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-26T14:03:55.657Z,1740578635.657 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-26T14:03:55.657Z,1740578635.657 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T14:03:55.658Z,1740578635.658 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-26T14:03:55.658Z,1740578635.658 [sink:Science:ChlThreshTrigger] Running Loop=1
2025-02-26T14:03:55.658Z,1740578635.658 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sink:Science:ChlThreshTrigger
2025-02-26T14:03:55.658Z,1740578635.658 [sink:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-26T14:03:55.658Z,1740578635.658 [sink:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-26T14:03:55.658Z,1740578635.658 [sink:Science:OceanCurrent] Running Loop=1
2025-02-26T14:03:55.658Z,1740578635.658 [sink:Science:OceanCurrent](DEBUG): Aggregate::initialize sink:Science:OceanCurrent
2025-02-26T14:03:55.658Z,1740578635.658 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T14:03:55.659Z,1740578635.659 [sink:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-26T14:03:55.659Z,1740578635.659 [sink:StandardEnvelopes] Running Loop=1
2025-02-26T14:03:55.659Z,1740578635.659 [sink:StandardEnvelopes](DEBUG): Aggregate::initialize sink:StandardEnvelopes
2025-02-26T14:03:55.659Z,1740578635.659 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T14:03:55.659Z,1740578635.659 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-26T14:03:55.659Z,1740578635.659 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T14:03:55.659Z,1740578635.659 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-26T14:03:55.659Z,1740578635.659 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T14:03:55.659Z,1740578635.659 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-26T14:03:55.659Z,1740578635.659 [sink:BackseatDriver] Running Loop=1
2025-02-26T14:03:55.660Z,1740578635.660 [sink:BackseatDriver](DEBUG): Aggregate::initialize sink:BackseatDriver
2025-02-26T14:03:55.660Z,1740578635.660 [sink:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-26T14:03:55.660Z,1740578635.660 [sink:PowerOnly] Running Loop=1
2025-02-26T14:03:55.660Z,1740578635.660 [sink:PowerOnly](DEBUG): Aggregate::initialize sink:PowerOnly
2025-02-26T14:03:55.660Z,1740578635.660 [sink:PowerOnly:A] Running Loop=1
2025-02-26T14:03:55.660Z,1740578635.660 [sink:PowerOnly:B] Running Loop=1
2025-02-26T14:03:55.660Z,1740578635.660 [sink:PowerOnly:C] Running Loop=1
2025-02-26T14:03:55.660Z,1740578635.660 [sink:PowerOnly:D] Running Loop=1
2025-02-26T14:03:55.661Z,1740578635.661 [sink:PowerOnly:E.Wait] Running Loop=1
2025-02-26T14:03:55.666Z,1740578635.666 [sink:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-26T14:03:55.666Z,1740578635.666 [sink:A] Running Loop=1
2025-02-26T14:03:55.667Z,1740578635.667 [sink:PowerOnly] Running Loop=1
2025-02-26T14:03:55.667Z,1740578635.667 [sink:PowerOnly:D] Stopped
2025-02-26T14:03:55.667Z,1740578635.667 [sink:PowerOnly:C] Stopped
2025-02-26T14:03:55.667Z,1740578635.667 [sink:PowerOnly:B] Stopped
2025-02-26T14:03:55.667Z,1740578635.667 [sink:PowerOnly:A] Stopped
2025-02-26T14:03:55.667Z,1740578635.667 [sink:BackseatDriver] Running Loop=1
2025-02-26T14:03:55.668Z,1740578635.668 [sink:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-26T14:03:55.711Z,1740578635.711 [sink:StandardEnvelopes] Running Loop=1
2025-02-26T14:03:55.711Z,1740578635.711 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T14:03:55.711Z,1740578635.711 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T14:03:55.712Z,1740578635.712 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T14:03:55.712Z,1740578635.712 [sink:Science] Running Loop=1
2025-02-26T14:03:55.713Z,1740578635.713 [sink:Science:ChlThreshTrigger] Stopped
2025-02-26T14:03:55.714Z,1740578635.714 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sink:Science:ChlThreshTrigger
2025-02-26T14:03:55.714Z,1740578635.714 [sink:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-26T14:03:55.714Z,1740578635.714 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-26T14:03:55.714Z,1740578635.714 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-26T14:03:55.714Z,1740578635.714 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T14:03:55.714Z,1740578635.714 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-26T14:03:55.714Z,1740578635.714 [sink:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-26T14:03:55.714Z,1740578635.714 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T14:03:55.714Z,1740578635.714 [sink:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-26T14:03:55.714Z,1740578635.714 [sink:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-26T14:03:55.714Z,1740578635.714 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T14:03:55.714Z,1740578635.714 [sink:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-26T14:03:55.714Z,1740578635.714 [sink:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-26T14:03:55.715Z,1740578635.715 [sink:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T14:03:55.715Z,1740578635.715 [sink:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T14:03:55.715Z,1740578635.715 [sink:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-26T14:03:55.715Z,1740578635.715 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T14:03:55.715Z,1740578635.715 [sink:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T14:03:55.715Z,1740578635.715 [sink:Science:HighestSaltPeakReport] Stopped
2025-02-26T14:03:55.715Z,1740578635.715 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestSaltPeakReport
2025-02-26T14:03:55.715Z,1740578635.715 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T14:03:55.715Z,1740578635.715 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T14:03:55.715Z,1740578635.715 [sink:Science:PeakDetectSalinity] Stopped
2025-02-26T14:03:55.715Z,1740578635.715 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectSalinity
2025-02-26T14:03:55.715Z,1740578635.715 [sink:Science:PeakDetectSalinity:A] Stopped
2025-02-26T14:03:55.715Z,1740578635.715 [sink:Science:PeakDetectFDOM] Stopped
2025-02-26T14:03:55.716Z,1740578635.716 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectFDOM
2025-02-26T14:03:55.716Z,1740578635.716 [sink:Science:PeakDetectFDOM:A] Stopped
2025-02-26T14:03:55.716Z,1740578635.716 [sink:Science:HighestOilPeakReport] Stopped
2025-02-26T14:03:55.716Z,1740578635.716 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestOilPeakReport
2025-02-26T14:03:55.716Z,1740578635.716 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T14:03:55.716Z,1740578635.716 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T14:03:55.716Z,1740578635.716 [sink:Science:PeakDetectOil] Stopped
2025-02-26T14:03:55.716Z,1740578635.716 [sink:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectOil
2025-02-26T14:03:55.716Z,1740578635.716 [sink:Science:PeakDetectOil:A] Stopped
2025-02-26T14:03:55.716Z,1740578635.716 [sink:Science:PeakDetectNO3] Stopped
2025-02-26T14:03:55.716Z,1740578635.716 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectNO3
2025-02-26T14:03:55.716Z,1740578635.716 [sink:Science:PeakDetectNO3:A] Stopped
2025-02-26T14:03:55.716Z,1740578635.716 [sink:Science:HighestChlPeakReport] Stopped
2025-02-26T14:03:55.717Z,1740578635.717 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestChlPeakReport
2025-02-26T14:03:55.721Z,1740578635.721 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T14:03:55.721Z,1740578635.721 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T14:03:55.721Z,1740578635.721 [sink:Science:EdgeDetectChl] Stopped
2025-02-26T14:03:55.721Z,1740578635.721 [sink:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectChl
2025-02-26T14:03:55.721Z,1740578635.721 [sink:Science:EdgeDetectChl:A] Stopped
2025-02-26T14:03:55.721Z,1740578635.721 [sink:Science:PeakDetectChl] Stopped
2025-02-26T14:03:55.721Z,1740578635.721 [sink:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectChl
2025-02-26T14:03:55.721Z,1740578635.721 [sink:Science:PeakDetectChl:A] Stopped
2025-02-26T14:03:55.722Z,1740578635.722 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T14:03:55.722Z,1740578635.722 [sink:Science:Read_Oil] Stopped
2025-02-26T14:03:55.722Z,1740578635.722 [sink:Science:F] Stopped
2025-02-26T14:03:55.722Z,1740578635.722 [sink:Science:E] Running Loop=1
2025-02-26T14:03:55.722Z,1740578635.722 [sink:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-26T14:03:55.722Z,1740578635.722 [sink:Science:D] Stopped
2025-02-26T14:03:55.722Z,1740578635.722 [sink:Science:C] Running Loop=1
2025-02-26T14:03:55.723Z,1740578635.723 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-26T14:03:55.723Z,1740578635.723 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-26T14:03:55.723Z,1740578635.723 [sink:Science:B] Running Loop=1
2025-02-26T14:03:55.724Z,1740578635.724 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-26T14:03:55.724Z,1740578635.724 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-26T14:03:55.724Z,1740578635.724 [sink:Science:A] Stopped
2025-02-26T14:03:55.729Z,1740578635.729 [sink:A] Stopped
2025-02-26T14:03:55.729Z,1740578635.729 [sink:D] Running Loop=1
2025-02-26T14:03:55.777Z,1740578635.777 [BackseatComponent](INFO): Powering up
2025-02-26T14:03:55.778Z,1740578635.778 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-26T14:03:55.873Z,1740578635.873 [WetLabsBB2FL](INFO): Powering up
2025-02-26T14:03:55.988Z,1740578635.988 [sink:D] Stopped
2025-02-26T14:03:55.989Z,1740578635.989 [sink:F] Running Loop=1
2025-02-26T14:03:56.393Z,1740578636.393 [sink:F] Stopped
2025-02-26T14:03:56.393Z,1740578636.393 [sink:G] Running Loop=1
2025-02-26T14:03:56.777Z,1740578636.777 [sink:G] Stopped
2025-02-26T14:03:56.777Z,1740578636.777 [sink:H] Running Loop=1
2025-02-26T14:03:57.185Z,1740578637.185 [sink:H] Stopped
2025-02-26T14:03:57.186Z,1740578637.186 [sink:startComms] Running Loop=1
2025-02-26T14:03:57.186Z,1740578637.186 [sink:startComms](DEBUG): Aggregate::initialize sink:startComms
2025-02-26T14:03:57.186Z,1740578637.186 [sink:startComms:StartingMission] Running Loop=1
2025-02-26T14:03:57.186Z,1740578637.186 [sink:startComms:StartingMission](DEBUG): Aggregate::initialize sink:startComms:StartingMission
2025-02-26T14:03:57.187Z,1740578637.187 [sink:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-26T14:03:57.590Z,1740578637.590 [sink:NeedComms] Running Loop=1
2025-02-26T14:03:57.590Z,1740578637.590 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-02-26T14:03:57.590Z,1740578637.590 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-02-26T14:03:57.590Z,1740578637.590 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T14:03:57.590Z,1740578637.590 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-26T14:03:57.591Z,1740578637.591 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-26T14:03:57.591Z,1740578637.591 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-26T14:03:57.591Z,1740578637.591 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-26T14:03:57.592Z,1740578637.592 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T14:03:57.592Z,1740578637.592 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T14:03:57.592Z,1740578637.592 [sink:NeedComms:A] Running Loop=1
2025-02-26T14:03:57.594Z,1740578637.594 [sink:NeedComms:A](INFO): last time_fix was:  1740578447.000000 second since 1970/01/01T00:00:00Z 
2025-02-26T14:03:57.594Z,1740578637.594 [sink:NeedComms:A] Stopped
2025-02-26T14:03:58.007Z,1740578638.007 [sink:NeedComms:C] Running Loop=1
2025-02-26T14:03:58.416Z,1740578638.416 [sink:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T14:03:59.670Z,1740578639.670 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-26T14:03:59.995Z,1740578639.995 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,140359.00,A,3648.66352,N,12149.28066,W,0.622,14.81,260225,,,A*45
2025-02-26T14:03:59.998Z,1740578639.998 [NAL9602](INFO): GPS fix at 20250226T140359: (36.811059, -121.821344)
2025-02-26T14:04:00.034Z,1740578640.034 [sink:NeedComms:C] Stopped
2025-02-26T14:04:00.034Z,1740578640.034 [sink:NeedComms:D] Running Loop=1
2025-02-26T14:04:00.454Z,1740578640.454 [sink:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-26T14:04:08.608Z,1740578648.608 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250226T074052/Courier0130.lzma
2025-02-26T14:04:09.611Z,1740578649.611 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0130.lzma.bak
2025-02-26T14:04:09.611Z,1740578649.611 [DataOverHttps](INFO): SBD MOMSN=23979114
2025-02-26T14:04:17.919Z,1740578657.919 [NAL9602](INFO): SBD MO Status=1, MOMSN=13569, MT Status=0, MTMSN=0
2025-02-26T14:04:17.920Z,1740578657.920 [NAL9602](INFO): No messages in MT queue
2025-02-26T14:04:31.330Z,1740578671.330 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-02-26T14:04:31.379Z,1740578671.379 [DataOverHttps](INFO): Sending 339 bytes from file Logs/20250226T074052/Express0131.lzma
2025-02-26T14:04:32.427Z,1740578672.427 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0131.lzma.bak
2025-02-26T14:04:32.427Z,1740578672.427 [DataOverHttps](INFO): SBD MOMSN=23979117
2025-02-26T14:04:34.586Z,1740578674.586 [sink:NeedComms:D] Stopped
2025-02-26T14:04:34.586Z,1740578674.586 [sink:NeedComms:E] Running Loop=1
2025-02-26T14:04:34.910Z,1740578674.910 [sink:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T14:04:36.518Z,1740578676.518 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,140435.00,A,3648.66661,N,12149.27837,W,0.758,23.23,260225,,,A*4E
2025-02-26T14:04:36.536Z,1740578676.536 [NAL9602](INFO): GPS fix at 20250226T140435: (36.811110, -121.821306)
2025-02-26T14:04:36.566Z,1740578676.566 [sink:NeedComms:E] Stopped
2025-02-26T14:04:36.567Z,1740578676.567 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-02-26T14:04:36.567Z,1740578676.567 [sink:NeedComms] Stopped
2025-02-26T14:04:36.567Z,1740578676.567 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-02-26T14:04:36.567Z,1740578676.567 [sink:NeedComms:B.GoToSurface] Stopped
2025-02-26T14:04:36.567Z,1740578676.567 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T14:04:36.915Z,1740578676.915 [sink:startComms:StartingMission](INFO): Completed sink:startComms:StartingMission
2025-02-26T14:04:36.915Z,1740578676.915 [sink:startComms:StartingMission] Stopped
2025-02-26T14:04:36.915Z,1740578676.915 [sink:startComms:StartingMission](DEBUG): Aggregate::uninitialize sink:startComms:StartingMission
2025-02-26T14:04:36.915Z,1740578676.915 [sink:startComms](INFO): Completed sink:startComms
2025-02-26T14:04:36.915Z,1740578676.915 [sink:startComms] Stopped
2025-02-26T14:04:36.915Z,1740578676.915 [sink:startComms](DEBUG): Aggregate::uninitialize sink:startComms
2025-02-26T14:04:36.916Z,1740578676.916 [sink:RunSink] Running Loop=1
2025-02-26T14:04:36.916Z,1740578676.916 [sink:RunSink](DEBUG): Aggregate::initialize sink:RunSink
2025-02-26T14:04:36.916Z,1740578676.916 [sink:RunSink:RunBallastAndTrim] Running Loop=1
2025-02-26T14:04:36.916Z,1740578676.916 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:RunBallastAndTrim
2025-02-26T14:04:36.916Z,1740578676.916 [sink:RunSink:RunBallastAndTrim:A] Running Loop=1
2025-02-26T14:04:37.342Z,1740578677.342 [sink:RunSink:RunBallastAndTrim] Stopped
2025-02-26T14:04:37.342Z,1740578677.342 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:RunBallastAndTrim
2025-02-26T14:04:37.342Z,1740578677.342 [sink:RunSink:RunBallastAndTrim:A] Stopped
2025-02-26T14:04:37.342Z,1740578677.342 [sink:RunSink:JustSink] Running Loop=1
2025-02-26T14:04:37.342Z,1740578677.342 [sink:RunSink:JustSink](DEBUG): Aggregate::initialize sink:RunSink:JustSink
2025-02-26T14:04:37.342Z,1740578677.342 [sink:RunSink:JustSink:A] Running Loop=1
2025-02-26T14:04:37.727Z,1740578677.727 [sink:RunSink:JustSink:A] Stopped
2025-02-26T14:04:37.727Z,1740578677.727 [sink:RunSink:JustSink:B] Running Loop=1
2025-02-26T14:04:38.128Z,1740578678.128 [sink:RunSink:JustSink:B] Stopped
2025-02-26T14:04:38.133Z,1740578678.133 [sink:RunSink:JustSink:C] Running Loop=1
2025-02-26T14:04:38.133Z,1740578678.133 [sink:RunSink:JustSink:C](DEBUG): Aggregate::initialize sink:RunSink:JustSink:C
2025-02-26T14:04:38.519Z,1740578678.519 [sink:RunSink:BallastAndTrim] Running Loop=1
2025-02-26T14:04:38.519Z,1740578678.519 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim
2025-02-26T14:04:38.519Z,1740578678.519 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-02-26T14:04:38.519Z,1740578678.519 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-02-26T14:04:38.519Z,1740578678.519 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-02-26T14:04:38.519Z,1740578678.519 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-02-26T14:04:38.519Z,1740578678.519 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-02-26T14:04:38.520Z,1740578678.520 [sink:RunSink:BallastAndTrim:F] Running Loop=1
2025-02-26T14:04:38.546Z,1740578678.546 [sink:RunSink:BallastAndTrim:F](INFO): Going to target depth. Speed set to  0.000000 m/s 
2025-02-26T14:04:38.546Z,1740578678.546 [sink:RunSink:BallastAndTrim:F] Stopped
2025-02-26T14:04:38.546Z,1740578678.546 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-02-26T14:04:38.546Z,1740578678.546 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-02-26T14:04:38.546Z,1740578678.546 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-02-26T14:04:38.547Z,1740578678.547 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-02-26T14:04:38.547Z,1740578678.547 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-02-26T14:04:38.547Z,1740578678.547 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-02-26T14:04:38.547Z,1740578678.547 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-02-26T14:04:38.547Z,1740578678.547 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-02-26T14:04:38.547Z,1740578678.547 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T14:04:38.547Z,1740578678.547 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-02-26T14:04:38.547Z,1740578678.547 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-02-26T14:04:38.547Z,1740578678.547 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-02-26T14:04:38.547Z,1740578678.547 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-26T14:04:38.548Z,1740578678.548 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-02-26T14:04:38.548Z,1740578678.548 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-02-26T14:04:38.548Z,1740578678.548 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-02-26T14:04:38.548Z,1740578678.548 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-02-26T14:04:38.548Z,1740578678.548 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-02-26T14:04:38.557Z,1740578678.557 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-02-26T14:04:38.932Z,1740578678.932 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-02-26T14:04:38.932Z,1740578678.932 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-02-26T14:04:38.932Z,1740578678.932 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-02-26T14:04:38.932Z,1740578678.932 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-02-26T14:04:38.932Z,1740578678.932 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-02-26T14:04:38.932Z,1740578678.932 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-02-26T14:04:38.932Z,1740578678.932 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-02-26T14:04:38.932Z,1740578678.932 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-02-26T14:04:38.932Z,1740578678.932 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T14:04:38.932Z,1740578678.932 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-02-26T14:04:38.932Z,1740578678.932 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-02-26T14:04:39.355Z,1740578679.355 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-02-26T14:04:39.355Z,1740578679.355 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-02-26T14:04:39.355Z,1740578679.355 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T14:04:39.355Z,1740578679.355 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-26T14:04:39.355Z,1740578679.355 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-02-26T14:04:39.355Z,1740578679.355 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-26T14:04:39.355Z,1740578679.355 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-02-26T14:04:39.355Z,1740578679.355 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-26T14:04:39.355Z,1740578679.355 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-02-26T14:04:39.355Z,1740578679.355 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-02-26T14:04:39.356Z,1740578679.356 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-02-26T14:04:39.759Z,1740578679.759 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-02-26T14:04:39.760Z,1740578679.760 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  10.000000 m 
2025-02-26T14:04:39.760Z,1740578679.760 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-02-26T14:04:39.765Z,1740578679.765 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-02-26T14:04:39.765Z,1740578679.765 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-02-26T14:05:06.428Z,1740578706.428 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250226T140504
2025-02-26T14:05:08.109Z,1740578708.109 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T14:06:05.421Z,1740578765.421 [sink:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2119
2025-02-26T14:07:17.300Z,1740578837.300 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:07:30.230Z,1740578850.230 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:07:43.158Z,1740578863.158 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:07:45.513Z,1740578865.513 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T14:07:55.692Z,1740578875.692 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:08:01.340Z,1740578881.340 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-02-26T14:08:08.204Z,1740578888.204 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:08:16.658Z,1740578896.658 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T14:08:19.505Z,1740578899.505 [Radio_Surface](INFO): Powering down
2025-02-26T14:08:20.728Z,1740578900.728 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:08:33.657Z,1740578913.657 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:08:46.584Z,1740578926.584 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:08:47.789Z,1740578927.789 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T14:08:48.793Z,1740578928.793 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T14:08:59.513Z,1740578939.513 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:09:12.036Z,1740578952.036 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:09:24.969Z,1740578964.969 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:09:37.094Z,1740578977.094 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:09:52.034Z,1740578992.034 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:09:54.054Z,1740578994.054 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.751450
2025-02-26T14:10:04.566Z,1740579004.566 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:10:07.019Z,1740579007.019 [sink:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2120
2025-02-26T14:10:17.888Z,1740579017.888 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:10:30.817Z,1740579030.817 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:10:43.744Z,1740579043.744 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:10:56.672Z,1740579056.672 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:11:09.214Z,1740579069.214 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:11:22.123Z,1740579082.123 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:11:35.052Z,1740579095.052 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:11:47.985Z,1740579107.985 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:12:01.314Z,1740579121.314 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:16:59.113Z,1740579419.113 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-02-26T14:17:05.119Z,1740579425.119 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:17:18.052Z,1740579438.052 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:17:30.979Z,1740579450.979 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:17:43.904Z,1740579463.904 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:17:56.836Z,1740579476.836 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:18:09.360Z,1740579489.360 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:18:22.293Z,1740579502.293 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:18:34.413Z,1740579514.413 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:18:47.340Z,1740579527.340 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:18:59.865Z,1740579539.865 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:19:12.395Z,1740579552.395 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:19:37.841Z,1740579577.841 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:19:50.771Z,1740579590.771 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:20:02.889Z,1740579602.889 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:20:15.816Z,1740579615.816 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:20:28.340Z,1740579628.340 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:20:40.864Z,1740579640.864 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:20:54.197Z,1740579654.197 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:21:06.316Z,1740579666.316 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:21:18.844Z,1740579678.844 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:21:31.778Z,1740579691.778 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:21:44.305Z,1740579704.305 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:21:57.632Z,1740579717.632 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:26:44.085Z,1740580004.085 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:26:46.562Z,1740580006.562 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-02-26T14:26:57.014Z,1740580017.014 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:27:09.940Z,1740580029.940 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:27:22.868Z,1740580042.868 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:27:35.393Z,1740580055.393 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:27:47.924Z,1740580067.924 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:28:00.844Z,1740580080.844 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:28:13.368Z,1740580093.368 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:28:26.296Z,1740580106.296 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:28:39.228Z,1740580119.228 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:28:52.157Z,1740580132.157 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:29:19.651Z,1740580159.651 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:29:33.031Z,1740580173.031 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:29:45.086Z,1740580185.086 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:29:57.605Z,1740580197.605 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:30:10.544Z,1740580210.544 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:30:24.268Z,1740580224.268 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:30:36.388Z,1740580236.388 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:30:48.916Z,1740580248.916 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:30:52.149Z,1740580252.149 [BPC1](ERROR): Battery stick #57 (s/n: 01A7) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x0BD0.
2025-02-26T14:30:52.150Z,1740580252.150 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-26T14:30:52.150Z,1740580252.150 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 6.
2025-02-26T14:30:52.154Z,1740580252.154 [BPC1](FAULT): Failed to receive data from 5 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 25, 26, 36, 37, 62.
2025-02-26T14:41:59.588Z,1740580919.588 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:42:12.522Z,1740580932.522 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:42:25.444Z,1740580945.444 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:42:38.421Z,1740580958.421 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:42:50.902Z,1740580970.902 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:43:03.420Z,1740580983.420 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:43:16.348Z,1740580996.348 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:45:05.048Z,1740581105.048 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-02-26T14:45:05.048Z,1740581105.048 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-26T14:45:05.048Z,1740581105.048 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-02-26T14:45:05.049Z,1740581105.049 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-26T14:45:05.049Z,1740581105.049 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-02-26T14:45:05.049Z,1740581105.049 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-02-26T14:45:05.049Z,1740581105.049 [sink:RunSink:BallastAndTrim:GoToTargetDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-02-26T14:45:05.049Z,1740581105.049 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Stopped
2025-02-26T14:45:05.050Z,1740581105.050 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-02-26T14:45:05.050Z,1740581105.050 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-02-26T14:45:05.050Z,1740581105.050 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-02-26T14:45:05.050Z,1740581105.050 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-02-26T14:45:05.050Z,1740581105.050 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-02-26T14:45:05.050Z,1740581105.050 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-02-26T14:45:05.050Z,1740581105.050 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-02-26T14:45:05.050Z,1740581105.050 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-02-26T14:45:05.050Z,1740581105.050 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-02-26T14:45:05.454Z,1740581105.454 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  10.031567 m 
2025-02-26T14:45:05.454Z,1740581105.454 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-02-26T14:45:05.454Z,1740581105.454 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-02-26T14:45:05.455Z,1740581105.455 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-02-26T14:45:05.455Z,1740581105.455 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-02-26T14:45:05.455Z,1740581105.455 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-02-26T14:48:19.364Z,1740581299.364 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:48:31.082Z,1740581311.082 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:48:41.991Z,1740581321.991 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:48:53.300Z,1740581333.300 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:49:04.622Z,1740581344.622 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:49:16.328Z,1740581356.328 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:49:27.640Z,1740581367.640 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:49:39.356Z,1740581379.356 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:49:50.668Z,1740581390.668 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:50:01.982Z,1740581401.982 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:50:13.292Z,1740581413.292 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:50:24.605Z,1740581424.605 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:50:36.320Z,1740581436.320 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:50:53.288Z,1740581453.288 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:51:08.242Z,1740581468.242 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:51:23.260Z,1740581483.260 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:51:38.543Z,1740581498.543 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:51:53.490Z,1740581513.490 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:52:08.438Z,1740581528.438 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:52:23.791Z,1740581543.791 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:52:38.737Z,1740581558.737 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:52:54.099Z,1740581574.099 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:53:09.042Z,1740581589.042 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T14:57:57.095Z,1740581877.095 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:58:09.619Z,1740581889.619 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:58:22.159Z,1740581902.159 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:58:35.075Z,1740581915.075 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:58:47.599Z,1740581927.599 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:59:00.532Z,1740581940.532 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:59:13.862Z,1740581953.862 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:59:26.791Z,1740581966.791 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:59:39.715Z,1740581979.715 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T14:59:53.048Z,1740581993.048 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T15:00:05.984Z,1740582005.984 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T15:00:18.508Z,1740582018.508 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T15:00:34.282Z,1740582034.282 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:00:47.596Z,1740582047.596 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:01:00.120Z,1740582060.120 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:01:13.054Z,1740582073.054 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:01:25.576Z,1740582085.576 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:01:37.696Z,1740582097.696 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:01:50.623Z,1740582110.623 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:02:03.147Z,1740582123.147 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:02:16.075Z,1740582136.075 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:02:29.003Z,1740582149.003 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:02:42.739Z,1740582162.739 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:02:55.668Z,1740582175.668 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:03:29.610Z,1740582209.610 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-02-26T15:07:42.911Z,1740582462.911 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T15:07:43.737Z,1740582463.737 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:07:55.031Z,1740582475.031 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T15:08:07.558Z,1740582487.558 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T15:08:20.483Z,1740582500.483 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T15:08:33.007Z,1740582513.007 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T15:08:45.935Z,1740582525.935 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T15:08:58.863Z,1740582538.863 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T15:09:11.387Z,1740582551.387 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T15:09:24.317Z,1740582564.317 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T15:09:37.244Z,1740582577.244 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T15:09:49.770Z,1740582589.770 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T15:10:20.068Z,1740582620.068 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:10:35.016Z,1740582635.016 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:10:49.963Z,1740582649.963 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:11:05.319Z,1740582665.319 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:11:20.273Z,1740582680.273 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:11:35.224Z,1740582695.224 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:11:50.576Z,1740582710.576 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:11:51.398Z,1740582711.398 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file).
2025-02-26T15:11:54.214Z,1740582714.214 [BPC1](ERROR): Battery stick #60 (s/n: 00B4) reported OVER_TEMP_ALARM. Status code: 0x1717.
2025-02-26T15:11:54.215Z,1740582714.215 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-26T15:11:54.216Z,1740582714.216 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 6.
2025-02-26T15:11:54.219Z,1740582714.219 [BPC1](FAULT): Failed to receive data from 5 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 25, 26, 36, 37, 62.
2025-02-26T15:23:02.476Z,1740583382.476 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:23:15.799Z,1740583395.799 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:23:28.713Z,1740583408.713 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:23:42.448Z,1740583422.448 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:23:55.375Z,1740583435.375 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:24:08.308Z,1740583448.308 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:24:20.837Z,1740583460.837 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T15:29:17.369Z,1740583757.369 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-02-26T15:29:22.225Z,1740583762.225 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-26T15:29:22.226Z,1740583762.226 [BPC1](INFO): Calculating totals. Valid battery stick count: 52. Valid reserve battery stick count: 6.
2025-02-26T15:29:22.228Z,1740583762.228 [BPC1](INFO): Received data from all battery sticks.
2025-02-26T16:04:37.259Z,1740585877.259 [sink:RunSink](INFO): Timed out from 2025-02-26T14:04:36.9Z
2025-02-26T16:04:37.259Z,1740585877.259 [sink:RunSink] Stopped
2025-02-26T16:04:37.259Z,1740585877.259 [sink:RunSink](DEBUG): Aggregate::uninitialize sink:RunSink
2025-02-26T16:04:37.259Z,1740585877.259 [sink:RunSink:BallastAndTrim] Stopped
2025-02-26T16:04:37.259Z,1740585877.259 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim
2025-02-26T16:04:37.259Z,1740585877.259 [sink:RunSink:BallastAndTrim:A] Stopped
2025-02-26T16:04:37.259Z,1740585877.259 [sink:RunSink:BallastAndTrim:B] Stopped
2025-02-26T16:04:37.259Z,1740585877.259 [sink:RunSink:BallastAndTrim:C] Stopped
2025-02-26T16:04:37.259Z,1740585877.259 [sink:RunSink:BallastAndTrim:D] Stopped
2025-02-26T16:04:37.259Z,1740585877.259 [sink:RunSink:BallastAndTrim:E] Stopped
2025-02-26T16:04:37.259Z,1740585877.259 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-02-26T16:04:37.260Z,1740585877.260 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-02-26T16:04:37.260Z,1740585877.260 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-02-26T16:04:37.260Z,1740585877.260 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-02-26T16:04:37.260Z,1740585877.260 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-02-26T16:04:37.260Z,1740585877.260 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-02-26T16:04:37.260Z,1740585877.260 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T16:04:37.260Z,1740585877.260 [sink:RunSink:JustSink] Stopped
2025-02-26T16:04:37.260Z,1740585877.260 [sink:RunSink:JustSink](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink
2025-02-26T16:04:37.260Z,1740585877.260 [sink:RunSink:JustSink:C] Stopped
2025-02-26T16:04:37.260Z,1740585877.260 [sink:RunSink:JustSink:C](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink:C
2025-02-26T16:04:37.261Z,1740585877.261 [sink:FloatUp] Running Loop=1
2025-02-26T16:04:37.261Z,1740585877.261 [sink:FloatUp](DEBUG): Aggregate::initialize sink:FloatUp
2025-02-26T16:04:37.261Z,1740585877.261 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-02-26T16:04:37.261Z,1740585877.261 [sink:FloatUp:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T16:04:37.261Z,1740585877.261 [sink:FloatUp:B.Wait] Running Loop=1
2025-02-26T16:04:37.261Z,1740585877.261 [sink:FloatUp:B.Wait](DEBUG): Initialize Wait Component.
2025-02-26T16:04:37.676Z,1740585877.676 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-02-26T16:07:16.033Z,1740586036.033 [sink:FloatUp] Stopped
2025-02-26T16:07:16.033Z,1740586036.033 [sink:FloatUp](DEBUG): Aggregate::uninitialize sink:FloatUp
2025-02-26T16:07:16.033Z,1740586036.033 [sink:FloatUp:A.Buoyancy] Stopped
2025-02-26T16:07:16.033Z,1740586036.033 [sink:FloatUp:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T16:07:16.033Z,1740586036.033 [sink:FloatUp:B.Wait] Stopped
2025-02-26T16:07:16.033Z,1740586036.033 [sink:FloatUp:B.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T16:07:16.034Z,1740586036.034 [sink:EndingMission] Running Loop=1
2025-02-26T16:07:16.034Z,1740586036.034 [sink:EndingMission](DEBUG): Aggregate::initialize sink:EndingMission
2025-02-26T16:07:16.442Z,1740586036.442 [sink:NeedComms] Running Loop=1
2025-02-26T16:07:16.442Z,1740586036.442 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-02-26T16:07:16.442Z,1740586036.442 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-02-26T16:07:16.442Z,1740586036.442 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T16:07:16.442Z,1740586036.442 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-26T16:07:16.443Z,1740586036.443 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-26T16:07:16.443Z,1740586036.443 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-26T16:07:16.443Z,1740586036.443 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-26T16:07:16.444Z,1740586036.444 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T16:07:16.444Z,1740586036.444 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T16:07:16.444Z,1740586036.444 [sink:NeedComms:A] Running Loop=1
2025-02-26T16:07:16.446Z,1740586036.446 [sink:NeedComms:A](INFO): last time_fix was:  1740578675.000000 second since 1970/01/01T00:00:00Z 
2025-02-26T16:07:16.446Z,1740586036.446 [sink:NeedComms:A] Stopped
2025-02-26T16:07:27.759Z,1740586047.759 [sink:NeedComms:C] Running Loop=1
2025-02-26T16:07:28.313Z,1740586048.313 [Radio_Surface](INFO): Powering up
2025-02-26T16:07:34.073Z,1740586054.073 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T16:08:02.487Z,1740586082.487 [NAL9602](INFO): SBD MO Status=2, MOMSN=13570, MT Status=2, MTMSN=0
2025-02-26T16:08:02.487Z,1740586082.487 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T16:08:04.197Z,1740586084.197 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T16:08:15.015Z,1740586095.015 [NAL9602](INFO): SBD MO Status=1, MOMSN=13570, MT Status=0, MTMSN=0
2025-02-26T16:08:15.016Z,1740586095.016 [NAL9602](INFO): No messages in MT queue
2025-02-26T16:08:16.225Z,1740586096.225 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,160815.00,A,3649.13138,N,12148.89012,W,0.194,60.72,260225,,,A*45
2025-02-26T16:08:16.227Z,1740586096.227 [NAL9602](INFO): GPS fix at 20250226T160815: (36.818856, -121.814835)
2025-02-26T16:08:16.241Z,1740586096.241 [sink:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2025-02-26T16:08:16.250Z,1740586096.250 [sink:NeedComms:C] Stopped
2025-02-26T16:08:16.250Z,1740586096.250 [sink:NeedComms:D] Running Loop=1
2025-02-26T16:08:28.570Z,1740586108.570 [NAL9602](INFO): SBD MO Status=1, MOMSN=13571, MT Status=0, MTMSN=0
2025-02-26T16:08:28.621Z,1740586108.621 [NAL9602](INFO): Sent 85 bytes from file Logs/20250226T074052/Courier0135.lzma
2025-02-26T16:08:28.621Z,1740586108.621 [NAL9602](INFO): Packets left to send: 0
2025-02-26T16:08:35.373Z,1740586115.373 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T16:08:43.918Z,1740586123.918 [NAL9602](INFO): SBD MO Status=2, MOMSN=13572, MT Status=2, MTMSN=0
2025-02-26T16:08:43.918Z,1740586123.918 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T16:08:55.960Z,1740586135.960 [NAL9602](INFO): SBD MO Status=1, MOMSN=13572, MT Status=0, MTMSN=0
2025-02-26T16:08:56.021Z,1740586136.021 [NAL9602](INFO): Sent 332 bytes from file Logs/20250226T074052/Express0134.lzma
2025-02-26T16:08:56.021Z,1740586136.021 [NAL9602](INFO): Packets left to send: 1
2025-02-26T16:09:05.408Z,1740586145.408 [NAL9602](INFO): SBD MO Status=1, MOMSN=13573, MT Status=0, MTMSN=0
2025-02-26T16:09:05.465Z,1740586145.465 [NAL9602](INFO): Sent 204 bytes from file Logs/20250226T074052/Express0134.lzma
2025-02-26T16:09:05.465Z,1740586145.465 [NAL9602](INFO): Packets left to send: 0
2025-02-26T16:09:06.509Z,1740586146.509 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T16:09:15.311Z,1740586155.311 [NAL9602](INFO): SBD MO Status=0, MOMSN=13574, MT Status=0, MTMSN=0
2025-02-26T16:09:15.409Z,1740586155.409 [sink:NeedComms:D] Stopped
2025-02-26T16:09:15.410Z,1740586155.410 [sink:NeedComms:E] Running Loop=1
2025-02-26T16:09:17.780Z,1740586157.780 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,160917.00,A,3649.13494,N,12148.88584,W,0.428,81.34,260225,,,A*41
2025-02-26T16:09:17.784Z,1740586157.784 [NAL9602](INFO): GPS fix at 20250226T160917: (36.818916, -121.814764)
2025-02-26T16:09:17.829Z,1740586157.829 [sink:NeedComms:E] Stopped
2025-02-26T16:09:17.830Z,1740586157.830 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-02-26T16:09:17.830Z,1740586157.830 [sink:NeedComms] Stopped
2025-02-26T16:09:17.830Z,1740586157.830 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-02-26T16:09:17.830Z,1740586157.830 [sink:NeedComms:B.GoToSurface] Stopped
2025-02-26T16:09:17.830Z,1740586157.830 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T16:09:18.221Z,1740586158.221 [sink:EndingMission](INFO): Completed sink:EndingMission
2025-02-26T16:09:18.221Z,1740586158.221 [sink:EndingMission] Stopped
2025-02-26T16:09:18.222Z,1740586158.222 [sink:EndingMission](DEBUG): Aggregate::uninitialize sink:EndingMission
2025-02-26T16:09:18.235Z,1740586158.235 [sink](INFO): Completed sink
2025-02-26T16:09:18.235Z,1740586158.235 [MissionManager](INFO): sink is completed.
2025-02-26T16:09:18.235Z,1740586158.235 [MissionManager](INFO): Uninitializing Mission sink
2025-02-26T16:09:18.235Z,1740586158.235 [sink] Stopped
2025-02-26T16:09:18.235Z,1740586158.235 [sink](DEBUG): Aggregate::uninitialize sink
2025-02-26T16:09:18.235Z,1740586158.235 [sink:Science] Stopped
2025-02-26T16:09:18.235Z,1740586158.235 [sink:Science](DEBUG): Aggregate::uninitialize sink:Science
2025-02-26T16:09:18.235Z,1740586158.235 [sink:Science:B] Stopped
2025-02-26T16:09:18.235Z,1740586158.235 [sink:Science:C] Stopped
2025-02-26T16:09:18.235Z,1740586158.235 [sink:Science:E] Stopped
2025-02-26T16:09:18.235Z,1740586158.235 [sink:Science:OceanCurrent] Stopped
2025-02-26T16:09:18.236Z,1740586158.236 [sink:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sink:Science:OceanCurrent
2025-02-26T16:09:18.236Z,1740586158.236 [sink:Science:OceanCurrent:A.] Stopped
2025-02-26T16:09:18.236Z,1740586158.236 [sink:StandardEnvelopes] Stopped
2025-02-26T16:09:18.236Z,1740586158.236 [sink:StandardEnvelopes](DEBUG): Aggregate::uninitialize sink:StandardEnvelopes
2025-02-26T16:09:18.236Z,1740586158.236 [sink:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-26T16:09:18.236Z,1740586158.236 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-26T16:09:18.236Z,1740586158.236 [sink:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-26T16:09:18.236Z,1740586158.236 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-26T16:09:18.236Z,1740586158.236 [sink:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-26T16:09:18.236Z,1740586158.236 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-26T16:09:18.236Z,1740586158.236 [sink:BackseatDriver] Stopped
2025-02-26T16:09:18.236Z,1740586158.236 [sink:BackseatDriver](DEBUG): Aggregate::uninitialize sink:BackseatDriver
2025-02-26T16:09:18.236Z,1740586158.236 [sink:BackseatDriver:A.BackseatDriver] Stopped
2025-02-26T16:09:18.238Z,1740586158.238 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-26T16:09:18.239Z,1740586158.239 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-26T16:09:18.239Z,1740586158.239 [sink:PowerOnly] Stopped
2025-02-26T16:09:18.239Z,1740586158.239 [sink:PowerOnly](DEBUG): Aggregate::uninitialize sink:PowerOnly
2025-02-26T16:09:18.239Z,1740586158.239 [sink:PowerOnly:E.Wait] Stopped
2025-02-26T16:09:18.240Z,1740586158.240 [sink:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T16:09:18.715Z,1740586158.715 [WetLabsBB2FL](INFO): Powering down
2025-02-26T16:09:18.743Z,1740586158.743 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T16:09:18.743Z,1740586158.743 [Default] Running Loop=1
2025-02-26T16:09:18.743Z,1740586158.743 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T16:09:18.743Z,1740586158.743 [Default:B.GoToSurface] Running Loop=1
2025-02-26T16:09:18.743Z,1740586158.743 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T16:09:18.743Z,1740586158.743 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T16:09:18.744Z,1740586158.744 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T16:09:18.744Z,1740586158.744 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T16:09:18.744Z,1740586158.744 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T16:09:18.745Z,1740586158.745 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T16:09:18.745Z,1740586158.745 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T16:09:18.745Z,1740586158.745 [Default:A.Wait] Running Loop=1
2025-02-26T16:09:18.745Z,1740586158.745 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T16:09:31.770Z,1740586171.770 [Default:A.Wait](INFO): Done Waiting.
2025-02-26T16:09:31.770Z,1740586171.770 [Default:A.Wait] Stopped
2025-02-26T16:09:31.770Z,1740586171.770 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T16:09:32.183Z,1740586172.183 [Default:CheckIn] Running Loop=1
2025-02-26T16:09:32.183Z,1740586172.183 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T16:09:32.183Z,1740586172.183 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T16:09:34.184Z,1740586174.184 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,160933.00,A,3649.13605,N,12148.88552,W,0.467,58.78,260225,,,A*41
2025-02-26T16:09:34.187Z,1740586174.187 [NAL9602](INFO): GPS fix at 20250226T160933: (36.818934, -121.814759)
2025-02-26T16:09:34.218Z,1740586174.218 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T16:09:34.218Z,1740586174.218 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T16:09:36.429Z,1740586176.429 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-26T16:09:36.430Z,1740586176.430 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-26T16:09:36.430Z,1740586176.430 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-26T16:09:37.669Z,1740586177.669 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T16:09:49.129Z,1740586189.129 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003075
2025-02-26T16:09:59.339Z,1740586199.339 [NAL9602](INFO): SBD MO Status=1, MOMSN=13575, MT Status=0, MTMSN=0
2025-02-26T16:09:59.389Z,1740586199.389 [NAL9602](INFO): Sent 73 bytes from file Logs/20250226T074052/Courier0139.lzma
2025-02-26T16:09:59.389Z,1740586199.389 [NAL9602](INFO): Packets left to send: 0
2025-02-26T16:10:01.453Z,1740586201.453 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250226T074052/Courier0139.lzma
2025-02-26T16:10:03.235Z,1740586203.235 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0139.lzma.bak
2025-02-26T16:10:03.235Z,1740586203.235 [DataOverHttps](INFO): SBD MOMSN=23979143
2025-02-26T16:10:19.090Z,1740586219.090 [DataOverHttps](INFO): Sending 132 bytes from file Logs/20250226T074052/Express0140.lzma
2025-02-26T16:10:20.091Z,1740586220.091 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0140.lzma.bak
2025-02-26T16:10:20.091Z,1740586220.091 [DataOverHttps](INFO): SBD MOMSN=23979146
2025-02-26T16:10:22.174Z,1740586222.174 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T16:10:22.175Z,1740586222.175 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T16:10:22.175Z,1740586222.175 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T16:10:33.870Z,1740586233.870 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T16:15:22.657Z,1740586522.657 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-26T16:15:22.657Z,1740586522.657 [Default:CheckIn:C.Wait] Stopped
2025-02-26T16:15:22.657Z,1740586522.657 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T16:15:22.657Z,1740586522.657 [Default:CheckIn:D] Running Loop=1
2025-02-26T16:15:23.080Z,1740586523.080 [Default:CheckIn:D] Stopped
2025-02-26T16:15:23.081Z,1740586523.081 [Default:CheckIn:E] Running Loop=1
2025-02-26T16:15:23.468Z,1740586523.468 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  6.072292 min 
2025-02-26T16:15:23.468Z,1740586523.468 [Default:CheckIn:E] Stopped
2025-02-26T16:15:23.468Z,1740586523.468 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-26T16:15:23.468Z,1740586523.468 [Default:CheckIn] Stopped
2025-02-26T16:15:23.468Z,1740586523.468 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T16:15:23.468Z,1740586523.468 [Default:CheckIn](INFO): Running loop #2
2025-02-26T16:15:23.468Z,1740586523.468 [Default:CheckIn] Running Loop=2
2025-02-26T16:15:23.468Z,1740586523.468 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T16:15:23.468Z,1740586523.468 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T16:15:25.471Z,1740586525.471 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,161524.00,A,3649.15945,N,12148.86293,W,0.253,37.92,260225,,,D*4A
2025-02-26T16:15:25.473Z,1740586525.473 [NAL9602](INFO): GPS fix at 20250226T161524: (36.819324, -121.814382)
2025-02-26T16:15:25.485Z,1740586525.485 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T16:15:25.486Z,1740586525.486 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T16:15:32.978Z,1740586532.978 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250226T074052/Courier0142.lzma
2025-02-26T16:15:33.980Z,1740586533.980 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0142.lzma.bak
2025-02-26T16:15:33.980Z,1740586533.980 [DataOverHttps](INFO): SBD MOMSN=23979151
2025-02-26T16:15:50.634Z,1740586550.634 [DataOverHttps](INFO): Sending 142 bytes from file Logs/20250226T074052/Express0143.lzma
2025-02-26T16:15:51.635Z,1740586551.635 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0143.lzma.bak
2025-02-26T16:15:51.635Z,1740586551.635 [DataOverHttps](INFO): SBD MOMSN=23979154
2025-02-26T16:15:53.148Z,1740586553.148 [NAL9602](INFO): SBD MO Status=0, MOMSN=13576, MT Status=0, MTMSN=0
2025-02-26T16:15:53.148Z,1740586553.148 [NAL9602](INFO): No messages in MT queue
2025-02-26T16:15:53.556Z,1740586553.556 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T16:15:53.556Z,1740586553.556 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T16:15:53.557Z,1740586553.557 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T16:16:23.865Z,1740586583.865 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T16:16:57.477Z,1740586617.477 [MassServo](FAULT): Invalid EZ Servo response:"88\r"
2025-02-26T16:16:57.478Z,1740586617.478 [MassServo] Communications Fault, FailCount= 1
2025-02-26T16:16:57.478Z,1740586617.478 [MassServo](ERROR): Communications Fault
2025-02-26T16:16:57.617Z,1740586617.617 [CBIT](ERROR): Communications Fault in component: MassServo
2025-02-26T16:16:57.872Z,1740586617.872 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-26T16:16:57.872Z,1740586617.872 [MassServo](INFO): Powering down
2025-02-26T16:16:58.701Z,1740586618.701 [MassServo](DEBUG): Initializing EZServoServo.
2025-02-26T16:16:58.822Z,1740586618.822 [MassServo](DEBUG): Initializing MassServo.
2025-02-26T16:16:58.965Z,1740586618.965 [CBIT](INFO): Clearing failed state for component MassServo
2025-02-26T16:16:58.965Z,1740586618.965 [MassServo] No Fault, FailCount= 1
2025-02-26T16:20:54.201Z,1740586854.201 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2025-02-26T16:20:54.201Z,1740586854.201 [Default:CheckIn:C.Wait] Stopped
2025-02-26T16:20:54.201Z,1740586854.201 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T16:20:54.201Z,1740586854.201 [Default:CheckIn:D] Running Loop=1
2025-02-26T16:20:54.609Z,1740586854.609 [Default:CheckIn:D] Stopped
2025-02-26T16:20:54.609Z,1740586854.609 [Default:CheckIn:E] Running Loop=1
2025-02-26T16:20:55.013Z,1740586855.013 [Default:CheckIn:E](IMPORTANT): Default mission has been running for  11.597764 min 
2025-02-26T16:20:55.013Z,1740586855.013 [Default:CheckIn:E] Stopped
2025-02-26T16:20:55.013Z,1740586855.013 [Default:CheckIn](INFO): Completed Default:CheckIn
2025-02-26T16:20:55.013Z,1740586855.013 [Default:CheckIn] Stopped
2025-02-26T16:20:55.013Z,1740586855.013 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T16:20:55.014Z,1740586855.014 [Default:CheckIn](INFO): Running loop #3
2025-02-26T16:20:55.014Z,1740586855.014 [Default:CheckIn] Running Loop=3
2025-02-26T16:20:55.014Z,1740586855.014 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T16:20:55.014Z,1740586855.014 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T16:20:57.016Z,1740586857.016 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162056.00,A,3649.18319,N,12148.84472,W,0.292,284.71,260225,,,D*76
2025-02-26T16:20:57.018Z,1740586857.018 [NAL9602](INFO): GPS fix at 20250226T162056: (36.819720, -121.814079)
2025-02-26T16:20:57.029Z,1740586857.029 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T16:20:57.029Z,1740586857.029 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T16:21:06.889Z,1740586866.889 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250226T074052/Courier0145.lzma
2025-02-26T16:21:07.891Z,1740586867.891 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0145.lzma.bak
2025-02-26T16:21:07.892Z,1740586867.892 [DataOverHttps](INFO): SBD MOMSN=23979158
2025-02-26T16:21:12.403Z,1740586872.403 [NAL9602](INFO): SBD MO Status=0, MOMSN=13577, MT Status=0, MTMSN=0
2025-02-26T16:21:12.404Z,1740586872.404 [NAL9602](INFO): No messages in MT queue
2025-02-26T16:21:32.248Z,1740586892.248 [DataOverHttps](INFO): Sending 170 bytes from file Logs/20250226T074052/Express0146.lzma
2025-02-26T16:21:34.039Z,1740586894.039 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0146.lzma.bak
2025-02-26T16:21:34.039Z,1740586894.039 [DataOverHttps](INFO): SBD MOMSN=23979161
2025-02-26T16:21:34.460Z,1740586894.460 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-26T16:21:35.310Z,1740586895.310 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T16:21:35.310Z,1740586895.310 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T16:21:35.310Z,1740586895.310 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T16:21:42.947Z,1740586902.947 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T16:22:21.287Z,1740586941.287 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T162220
2025-02-26T16:22:29.045Z,1740586949.045 [DataOverHttps](INFO): Received command: load Engineering/sink.tl;set sink.SinkDuration .5 h;set sink.Depth 10 m;set sink.DepthDeadband 5 m;set sink.TargetDepthTimeout 120 min;set sink:BackseatDriver.EnableBackseat 1 bool;run
2025-02-26T16:22:29.094Z,1740586949.094 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/sink.tl
2025-02-26T16:22:29.095Z,1740586949.095 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/sink.tl
2025-02-26T16:22:29.095Z,1740586949.095 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/sink.tl
2025-02-26T16:22:29.097Z,1740586949.097 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/sink.tl
2025-02-26T16:22:32.922Z,1740586952.922 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/sink.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sink">
    <DefineArg Name="SinkDuration">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="WaitToFloat">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Units:meter />
        <Value>2.5</Value>
    </DefineArg>
    <DefineArg Name="TargetDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DoBallastAndTrim">
        <False />
    </DefineArg>
    <DefineArg Name="BTSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineOutput Name="MissionTimeout">
        <Arg Name="SinkDuration" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="SinkDuration" />
        <Add>
            <Arg Name="WaitToFloat" />
        </Add>
    </Assign>
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="startComms">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Call RefId="NeedComms" Id="StartingMission" />
    </Aggregate>
    <Aggregate Id="RunSink">
        <Sequence />
        <Timeout Duration="SinkDuration" />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="TargetDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="BTSettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunBallastAndTrim">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Not>
                        <Arg Name="DoBallastAndTrim" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
        <Aggregate Id="JustSink">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Arg Name="DoBallastAndTrim" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="BTSettleTime" />
                <Arg Name="SinkDuration" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
    </Aggregate>
    <Aggregate Id="FloatUp">
        <Sequence />
        <Break>
            <Universal:depth />
            <Lt>
                <Arg Name="SurfaceThreshold" />
            </Lt>
        </Break>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyDefault />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="WaitToFloat" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" />
</Mission>

2025-02-26T16:22:32.927Z,1740586952.927 [MissionManager](INFO): DefineArg sink.SinkDuration = 2.000000 h
2025-02-26T16:22:32.930Z,1740586952.930 [MissionManager](INFO): DefineArg sink.WaitToFloat = 20.000000 min
2025-02-26T16:22:32.932Z,1740586952.932 [MissionManager](INFO): DefineArg sink.Depth = 20.000000 m
2025-02-26T16:22:32.934Z,1740586952.934 [MissionManager](INFO): DefineArg sink.DepthDeadband = 1.000000 m
2025-02-26T16:22:32.936Z,1740586952.936 [MissionManager](INFO): DefineArg sink.SurfaceThreshold = 2.500000 m
2025-02-26T16:22:32.939Z,1740586952.939 [MissionManager](INFO): DefineArg sink.TargetDepthTimeout = 20.000000 min
2025-02-26T16:22:32.941Z,1740586952.941 [MissionManager](INFO): DefineArg sink.DoBallastAndTrim = 0 bool
2025-02-26T16:22:32.943Z,1740586952.943 [MissionManager](INFO): DefineArg sink.BTSettleTime = 10.000000 min
2025-02-26T16:22:32.946Z,1740586952.946 [MissionManager](INFO): DefineArg sink.EstimationTimeout = 45.000000 min
2025-02-26T16:22:32.948Z,1740586952.948 [MissionManager](INFO): DefineArg sink.MinEstimationTime = 10.000000 min
2025-02-26T16:22:32.950Z,1740586952.950 [MissionManager](INFO): DefineArg sink.MassEstimationErrorBound = 0.500000 mm
2025-02-26T16:22:32.952Z,1740586952.952 [MissionManager](INFO): DefineArg sink.BuoyEstimationErrorBound = 25.000000 cc
2025-02-26T16:22:32.955Z,1740586952.955 [MissionManager](INFO): DefineArg sink.EstimationConfidence = 98.000000 %
2025-02-26T16:22:32.958Z,1740586952.958 [MissionManager](INFO): DefineArg sink.MinAltitude = 5.000000 m
2025-02-26T16:22:32.960Z,1740586952.960 [MissionManager](INFO): DefineArg sink.MaxDepth = 30.000000 m
2025-02-26T16:22:32.963Z,1740586952.963 [MissionManager](INFO): DefineArg sink.MinOffshore = 2.000000 km
2025-02-26T16:22:32.964Z,1740586952.964 [MissionManager](INFO): DefineArg sink.SkipComms = 0 bool
2025-02-26T16:22:32.967Z,1740586952.967 [MissionManager](INFO): DefineOutput sink.MissionTimeout = 2.000000 h
2025-02-26T16:22:33.006Z,1740586953.006 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-26T16:22:33.006Z,1740586953.006 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-26T16:22:33.015Z,1740586953.015 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-26T16:22:35.728Z,1740586955.728 [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>

2025-02-26T16:22:35.760Z,1740586955.760 [MissionManager](INFO): DefineArg sink:Science.PeakDetectChlActive = 0 bool
2025-02-26T16:22:35.762Z,1740586955.762 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectChlActive = 0 bool
2025-02-26T16:22:35.764Z,1740586955.764 [MissionManager](INFO): DefineArg sink:Science.TimeWindowPeakReport = nan min
2025-02-26T16:22:35.766Z,1740586955.766 [MissionManager](INFO): DefineArg sink:Science.HighestChlPeakReportActive = 0 bool
2025-02-26T16:22:35.768Z,1740586955.768 [MissionManager](INFO): DefineArg sink:Science.HighestSaltPeakReportActive = 0 bool
2025-02-26T16:22:35.770Z,1740586955.770 [MissionManager](INFO): DefineArg sink:Science.HighestOilPeakReportActive = 0 bool
2025-02-26T16:22:35.772Z,1740586955.772 [MissionManager](INFO): DefineArg sink:Science.PatchTracking = 0 bool
2025-02-26T16:22:35.774Z,1740586955.774 [MissionManager](INFO): DefineArg sink:Science.FilterWidthHorizontal = 3.000000 count
2025-02-26T16:22:35.776Z,1740586955.776 [MissionManager](INFO): DefineArg sink:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-26T16:22:35.779Z,1740586955.779 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-26T16:22:35.781Z,1740586955.781 [MissionManager](INFO): DefineArg sink:Science.PeakDetectNO3Active = 0 bool
2025-02-26T16:22:35.783Z,1740586955.783 [MissionManager](INFO): DefineArg sink:Science.PeakDetectOilActive = 0 bool
2025-02-26T16:22:35.785Z,1740586955.785 [MissionManager](INFO): DefineArg sink:Science.PeakDetectFDOMActive = 0 bool
2025-02-26T16:22:35.787Z,1740586955.787 [MissionManager](INFO): DefineArg sink:Science.PeakDetectSalinityActive = 0 bool
2025-02-26T16:22:35.788Z,1740586955.788 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T16:22:35.791Z,1740586955.791 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T16:22:35.792Z,1740586955.792 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-26T16:22:35.795Z,1740586955.795 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-26T16:22:35.825Z,1740586955.825 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-26T16:22:35.827Z,1740586955.827 [MissionManager](INFO): DefineArg sink:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-26T16:22:35.877Z,1740586955.877 [MissionManager](INFO): DefineArg sink:Science.EnabledAanderaaO2 = 0 bool
2025-02-26T16:22:35.880Z,1740586955.880 [MissionManager](INFO): DefineArg sink:Science.EnabledNeilBrown = 0 bool
2025-02-26T16:22:35.903Z,1740586955.903 [MissionManager](INFO): DefineArg sink:Science.EnabledSeabird = 1 bool
2025-02-26T16:22:35.922Z,1740586955.922 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-26T16:22:35.929Z,1740586955.929 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-26T16:22:35.932Z,1740586955.932 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsUBAT = 0 bool
2025-02-26T16:22:35.943Z,1740586955.943 [MissionManager](INFO): DefineArg sink:Science.LowPassWindowLength = 20.000000 count
2025-02-26T16:22:35.949Z,1740586955.949 [MissionManager](INFO): DefineArg sink:Science.MedianFilterLen = 5.000000 count
2025-02-26T16:22:35.952Z,1740586955.952 [MissionManager](INFO): DefineArg sink:Science.ShallowBound = nan m
2025-02-26T16:22:35.965Z,1740586955.965 [MissionManager](INFO): DefineArg sink:Science.DeepBound = nan m
2025-02-26T16:22:35.968Z,1740586955.968 [MissionManager](INFO): DefineArg sink:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-26T16:22:35.974Z,1740586955.974 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionVertical = nan %
2025-02-26T16:22:35.976Z,1740586955.976 [MissionManager](INFO): DefineArg sink:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-26T16:22:35.982Z,1740586955.982 [MissionManager](INFO): DefineArg sink:Science.ChlThreshTriggerActive = 0 bool
2025-02-26T16:22:35.985Z,1740586955.985 [MissionManager](INFO): DefineArg sink:Science.ChlLowerThresh = nan ug/l
2025-02-26T16:22:35.995Z,1740586955.995 [MissionManager](INFO): DefineArg sink:Science.ChlUpperThresh = nan ug/l
2025-02-26T16:22:36.001Z,1740586956.001 [MissionManager](INFO): DefineArg sink:Science.NumProfilesThresh = 5.000000 count
2025-02-26T16:22:36.004Z,1740586956.004 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-26T16:22:36.006Z,1740586956.006 [MissionManager](INFO): DefineOutput sink:Science.GoDown = 1 bool
2025-02-26T16:22:36.008Z,1740586956.008 [MissionManager](INFO): DefineOutput sink:Science.PeakChl = nan ug/l
2025-02-26T16:22:36.023Z,1740586956.023 [MissionManager](INFO): DefineOutput sink:Science.PeakChlDepth = nan m
2025-02-26T16:22:36.032Z,1740586956.032 [MissionManager](INFO): DefineOutput sink:Science.PeakChlTemperature = nan degC
2025-02-26T16:22:36.042Z,1740586956.042 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLatitude = nan arcdeg
2025-02-26T16:22:36.044Z,1740586956.044 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLongitude = nan arcdeg
2025-02-26T16:22:36.047Z,1740586956.047 [MissionManager](INFO): DefineOutput sink:Science.EdgeChl = nan ug/l
2025-02-26T16:22:36.060Z,1740586956.060 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlDepth = nan m
2025-02-26T16:22:36.071Z,1740586956.071 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlTemperature = nan degC
2025-02-26T16:22:36.077Z,1740586956.077 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlLatitude = nan arcdeg
2025-02-26T16:22:36.080Z,1740586956.080 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlLongitude = nan arcdeg
2025-02-26T16:22:36.082Z,1740586956.082 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3 = nan umol/l
2025-02-26T16:22:36.084Z,1740586956.084 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Depth = nan m
2025-02-26T16:22:36.099Z,1740586956.099 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Latitude = nan arcdeg
2025-02-26T16:22:36.105Z,1740586956.105 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Longitude = nan arcdeg
2025-02-26T16:22:36.108Z,1740586956.108 [MissionManager](INFO): DefineOutput sink:Science.PeakOil = nan kg/m3
2025-02-26T16:22:36.110Z,1740586956.110 [MissionManager](INFO): DefineOutput sink:Science.PeakOilDepth = nan m
2025-02-26T16:22:36.112Z,1740586956.112 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLatitude = nan arcdeg
2025-02-26T16:22:36.127Z,1740586956.127 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLongitude = nan arcdeg
2025-02-26T16:22:36.133Z,1740586956.133 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOM = nan ppb
2025-02-26T16:22:36.136Z,1740586956.136 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMDepth = nan m
2025-02-26T16:22:36.150Z,1740586956.150 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMTemperature = nan degC
2025-02-26T16:22:36.152Z,1740586956.152 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLatitude = nan arcdeg
2025-02-26T16:22:36.154Z,1740586956.154 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLongitude = nan arcdeg
2025-02-26T16:22:36.156Z,1740586956.156 [MissionManager](INFO): DefineOutput sink:Science.PeakSalt = nan psu
2025-02-26T16:22:36.159Z,1740586956.159 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltDepth = nan m
2025-02-26T16:22:36.175Z,1740586956.175 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltTemperature = nan degC
2025-02-26T16:22:36.177Z,1740586956.177 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLatitude = nan arcdeg
2025-02-26T16:22:36.180Z,1740586956.180 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLongitude = nan arcdeg
2025-02-26T16:22:36.182Z,1740586956.182 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-26T16:22:36.184Z,1740586956.184 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-26T16:22:36.211Z,1740586956.211 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-26T16:22:36.227Z,1740586956.227 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T16:22:36.229Z,1740586956.229 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T16:22:36.232Z,1740586956.232 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-26T16:22:36.234Z,1740586956.234 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-26T16:22:36.236Z,1740586956.236 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-26T16:22:36.294Z,1740586956.294 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T16:22:36.309Z,1740586956.309 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T16:22:36.318Z,1740586956.318 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-26T16:22:36.320Z,1740586956.320 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-26T16:22:36.327Z,1740586956.327 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-26T16:22:36.331Z,1740586956.331 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-26T16:22:36.346Z,1740586956.346 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-26T16:22:36.348Z,1740586956.348 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-26T16:22:36.354Z,1740586956.354 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-26T16:22:36.369Z,1740586956.369 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-26T16:22:36.371Z,1740586956.371 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-26T16:22:36.376Z,1740586956.376 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-26T16:22:36.391Z,1740586956.391 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-26T16:22:36.397Z,1740586956.397 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-26T16:22:36.400Z,1740586956.400 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-26T16:22:36.407Z,1740586956.407 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-26T16:22:36.417Z,1740586956.417 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-26T16:22:36.420Z,1740586956.420 [MissionManager](INFO): DefineOutput sink:Science.PatchChl = nan ug/l
2025-02-26T16:22:36.435Z,1740586956.435 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDepth = nan m
2025-02-26T16:22:36.441Z,1740586956.441 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLatitude = nan arcdeg
2025-02-26T16:22:36.444Z,1740586956.444 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLongitude = nan arcdeg
2025-02-26T16:22:36.459Z,1740586956.459 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDistance = nan m
2025-02-26T16:22:36.469Z,1740586956.469 [MissionManager](INFO): DefineOutput sink:Science.PatchSalt = nan psu
2025-02-26T16:22:36.471Z,1740586956.471 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDepth = nan m
2025-02-26T16:22:36.475Z,1740586956.475 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLatitude = nan arcdeg
2025-02-26T16:22:36.490Z,1740586956.490 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLongitude = nan arcdeg
2025-02-26T16:22:36.492Z,1740586956.492 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDistance = nan m
2025-02-26T16:22:36.499Z,1740586956.499 [MissionManager](INFO): DefineOutput sink:Science.PatchOil = nan psu
2025-02-26T16:22:36.513Z,1740586956.513 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDepth = nan m
2025-02-26T16:22:36.516Z,1740586956.516 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLatitude = nan arcdeg
2025-02-26T16:22:36.521Z,1740586956.521 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLongitude = nan arcdeg
2025-02-26T16:22:36.531Z,1740586956.531 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDistance = nan m
2025-02-26T16:22:36.537Z,1740586956.537 [MissionManager](INFO): DefineOutput sink:Science.TriggeredOnChl = 0 bool
2025-02-26T16:22:36.539Z,1740586956.539 [MissionManager](INFO): DefineOutput sink:Science.ChlTriggering = nan ug/l
2025-02-26T16:22:36.580Z,1740586956.580 [sink:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T16:22:36.615Z,1740586956.615 [sink:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T16:22:36.694Z,1740586956.694 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T16:22:36.759Z,1740586956.759 [sink:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T16:22:36.792Z,1740586956.792 [sink:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T16:22:36.832Z,1740586956.832 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T16:22:36.878Z,1740586956.878 [sink:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T16:22:36.895Z,1740586956.895 [sink:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T16:22:36.918Z,1740586956.918 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T16:22:36.958Z,1740586956.958 [sink:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T16:22:36.983Z,1740586956.983 [sink:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T16:22:37.086Z,1740586957.086 [sink:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T16:22:37.130Z,1740586957.130 [sink:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T16:22:37.159Z,1740586957.159 [sink:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T16:22:37.182Z,1740586957.182 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-26T16:22:37.190Z,1740586957.190 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-26T16:22:37.191Z,1740586957.191 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-26T16:22:37.192Z,1740586957.192 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-26T16:22:37.379Z,1740586957.379 [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>

2025-02-26T16:22:37.384Z,1740586957.384 [MissionManager](INFO): DefineArg sink:NeedComms.DiveInterval = 1.000000 h
2025-02-26T16:22:37.386Z,1740586957.386 [MissionManager](INFO): DefineArg sink:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-26T16:22:37.388Z,1740586957.388 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-26T16:22:37.390Z,1740586957.390 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceDepthRate = nan m/s
2025-02-26T16:22:37.392Z,1740586957.392 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-26T16:22:37.399Z,1740586957.399 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-26T16:22:37.401Z,1740586957.401 [MissionManager](INFO): DefineArg sink:NeedComms.GPSTimeout = 7.000000 min
2025-02-26T16:22:37.403Z,1740586957.403 [MissionManager](INFO): DefineArg sink:NeedComms.CommsTimeout = 30.000000 min
2025-02-26T16:22:37.433Z,1740586957.433 [sink:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T16:22:37.505Z,1740586957.505 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-26T16:22:37.505Z,1740586957.505 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-26T16:22:37.507Z,1740586957.507 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-26T16:22:37.603Z,1740586957.603 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-02-26T16:22:37.607Z,1740586957.607 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-26T16:22:37.609Z,1740586957.609 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-26T16:22:37.611Z,1740586957.611 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-26T16:22:37.631Z,1740586957.631 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-26T16:22:37.632Z,1740586957.632 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-26T16:22:37.638Z,1740586957.638 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-26T16:22:37.653Z,1740586957.653 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-26T16:22:37.684Z,1740586957.684 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-26T16:22:37.684Z,1740586957.684 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-26T16:22:37.688Z,1740586957.688 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-26T16:22:37.736Z,1740586957.736 [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>

2025-02-26T16:22:37.739Z,1740586957.739 [MissionManager](INFO): DefineArg sink:BackseatDriver.EnableBackseat = 0 bool
2025-02-26T16:22:37.741Z,1740586957.741 [sink:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-26T16:22:37.743Z,1740586957.743 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-26T16:22:37.744Z,1740586957.744 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-26T16:22:37.745Z,1740586957.745 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-26T16:22:37.903Z,1740586957.903 [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>

2025-02-26T16:22:37.910Z,1740586957.910 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleAll = 0 bool
2025-02-26T16:22:37.912Z,1740586957.912 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad1 = 0 bool
2025-02-26T16:22:37.919Z,1740586957.919 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad2 = 0 bool
2025-02-26T16:22:37.921Z,1740586957.921 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad3 = 0 bool
2025-02-26T16:22:37.923Z,1740586957.923 [MissionManager](INFO): DefineArg sink:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-26T16:22:37.966Z,1740586957.966 [sink:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-26T16:22:37.978Z,1740586957.978 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-02-26T16:22:37.978Z,1740586957.978 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-02-26T16:22:37.979Z,1740586957.979 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-02-26T16:22:38.490Z,1740586958.490 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BallastAndTrim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BallastAndTrim">
    <DefineArg Name="InsertDepth">
        <Units:meter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSpeed">
        <Units:meter_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstErrorBound">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstErrorBound">
        <Units:cubic_centimeter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="EstConfidence">
        <Units:percent />
        <Value>99.9</Value>
    </DefineArg>
    <DefineArg Name="InsertDepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="InsertMassDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <When>
        <Called />
    </When>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kpPitchMass />
        <Units:ratio />
        <Value>0.005</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kiPitchMass />
        <Units:reciprocal_second />
        <Value>0.00075</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kdPitchMass />
        <Units:second />
        <Value>0</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.massDeadband />
        <Arg Name="InsertMassDeadband" />
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.depthDeadband />
        <Arg Name="InsertDepthDeadband" />
    </Assign>
    <Syslog Severity="Info">
        Going to target depth. Speed set to 
        <Arg Name="InsertApproachSpeed" />
        <Units:meter_per_second />
    </Syslog>
    <Aggregate Id="GoToTargetDepth">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.pitchLimit />
            <Arg Name="InsertApproachPitchLimit" />
        </Assign>
        <Aggregate Id="ActuatorHold">
            <While>
                <Arg Name="InsertApproachSpeed" />
                <Gt>
                    <Units:meter_per_second />
                    <Value>0</Value>
                </Gt>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Units:degree />
                    <Value>13</Value>
                </Setting>
            </Guidance:Point>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Control:VerticalControl.buoyancyNeutral />
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.massPosition />
                    <Control:VerticalControl.massDefault />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
        <Aggregate Id="WaitPreDive">
            <Sequence />
            <Break>
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Le>
                    <Units:minute />
                    <Value>0</Value>
                </Le>
            </Break>
            <Syslog Severity="Info">
                Waiting for 
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Units:minute />
                while pumping down to neutral.
            </Syslog>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="InsertApproachSettleTimePreDive" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
        <Aggregate Id="ApproachDepth">
            <Sequence />
            <Syslog>
                Moving to 
                <Arg Name="InsertDepth" />
                <Units:meter />
            </Syslog>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="InsertApproachSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Guidance:Pitch>
                <Sequence />
                <Timeout Duration="InsertApproachDepthTimeout">
                    <Syslog Severity="Important">
                        Timed out trying to reach the target depth. Stopping mission at current depth of 
                        <Universal:depth />
                        <Units:meter />
                    </Syslog>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Timeout>
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="InsertDepth" />
                </Setting>
                <Setting>
                    <Guidance:Pitch.depthRate />
                    <Arg Name="InsertApproachDepthRate" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="BallastAndTrimAtTargetDepth">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Units:meter_per_second />
                <Value>0</Value>
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="InsertDepth" />
            </Setting>
        </Guidance:Pitch>
        <Syslog Severity="Info">
            Waiting for the vehicle to settle. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="InsertSettleTime" />
            </Setting>
        </Guidance:Wait>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>gfscan</String>
            </Setting>
        </Guidance:Execute>
        <Syslog Severity="Info">
            Running ballast and trim. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Estimation:BallastAndTrim>
            <Sequence />
            <Setting>
                <Estimation:BallastAndTrim.estimationTimeout />
                <Arg Name="EstTimeout" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.minEstimationTime />
                <Arg Name="MinEstTime" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.massErrorBound />
                <Arg Name="MassEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.buoyErrorBound />
                <Arg Name="BuoyEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.confidenceLevel />
                <Arg Name="EstConfidence" />
            </Setting>
        </Estimation:BallastAndTrim>
    </Aggregate>
</Aggregate>

2025-02-26T16:22:38.496Z,1740586958.496 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepth = 25.000000 m
2025-02-26T16:22:38.499Z,1740586958.499 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-02-26T16:22:38.501Z,1740586958.501 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-02-26T16:22:38.503Z,1740586958.503 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-02-26T16:22:38.505Z,1740586958.505 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-02-26T16:22:38.507Z,1740586958.507 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-02-26T16:22:38.510Z,1740586958.510 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-02-26T16:22:38.512Z,1740586958.512 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstTimeout = 45.000000 min
2025-02-26T16:22:38.559Z,1740586958.559 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MinEstTime = 10.000000 min
2025-02-26T16:22:38.568Z,1740586958.568 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-02-26T16:22:38.570Z,1740586958.570 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-02-26T16:22:38.572Z,1740586958.572 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstConfidence = 99.900002 %
2025-02-26T16:22:38.575Z,1740586958.575 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-02-26T16:22:38.577Z,1740586958.577 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-02-26T16:22:38.589Z,1740586958.589 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-02-26T16:22:38.599Z,1740586958.599 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T16:22:38.602Z,1740586958.602 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-02-26T16:22:38.608Z,1740586958.608 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-02-26T16:22:38.612Z,1740586958.612 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-02-26T16:22:38.614Z,1740586958.614 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-02-26T16:22:38.668Z,1740586958.668 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-26T16:22:38.703Z,1740586958.703 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-02-26T16:22:38.714Z,1740586958.714 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-02-26T16:22:38.735Z,1740586958.735 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-02-26T16:22:38.745Z,1740586958.745 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-02-26T16:22:38.757Z,1740586958.757 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-02-26T16:22:38.773Z,1740586958.773 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = reader:sink.DepthDeadband
2025-02-26T16:22:38.774Z,1740586958.774 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = reader:sink.TargetDepthTimeout
2025-02-26T16:22:38.776Z,1740586958.776 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = reader:sink.BTSettleTime
2025-02-26T16:22:38.778Z,1740586958.778 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstTimeout = reader:sink.EstimationTimeout
2025-02-26T16:22:38.779Z,1740586958.779 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MinEstTime = reader:sink.MinEstimationTime
2025-02-26T16:22:38.780Z,1740586958.780 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = reader:sink.MassEstimationErrorBound
2025-02-26T16:22:38.790Z,1740586958.790 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = reader:sink.BuoyEstimationErrorBound
2025-02-26T16:22:38.792Z,1740586958.792 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstConfidence = reader:sink.EstimationConfidence
2025-02-26T16:22:38.815Z,1740586958.815 [sink:FloatUp:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T16:22:38.853Z,1740586958.853 [sink:FloatUp:B.Wait](DEBUG): Construct Wait.
2025-02-26T16:22:38.914Z,1740586958.914 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission sink {
  arguments {
    SinkDuration = 2 hour
      """
      Overall B&T timeout, or time to sink before ascending if not running B&T.
      Mission timeout will be SinkDuration + WaitToFloat.
      """

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  output {
    MissionTimeout = SinkDuration
  }

  timeout duration=MissionTimeout

  assign in sequence MissionTimeout = SinkDuration + WaitToFloat

  insert Insert/Science.tl

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

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate startComms {
    run in sequence

    break if ( SkipComms )

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

  aggregate RunSink {
    run in sequence

    timeout duration=SinkDuration

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

    aggregate RunBallastAndTrim {
      run in sequence

      break if (
        isNaN ( Depth )
        or not DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

      call refId="BallastAndTrim"
    }

    aggregate JustSink {
      run in sequence

      break if (
        isNaN ( Depth )
        or DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

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

      call refId="BallastAndTrim"
    }
  }

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

    run in sequence

    break if ( Universal:depth < SurfaceThreshold )

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyDefault
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = WaitToFloat
    }
  }

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


2025-02-26T16:22:38.915Z,1740586958.915 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/sink.tl id=sink
2025-02-26T16:23:00.300Z,1740586980.300 [CommandExec](IMPORTANT): got command set sink.SinkDuration .5 hour
2025-02-26T16:23:00.307Z,1740586980.307 [CommandExec](IMPORTANT): got command set sink.Depth 10 meter
2025-02-26T16:23:00.308Z,1740586980.308 [CommandExec](IMPORTANT): got command set sink.DepthDeadband 5 meter
2025-02-26T16:23:00.313Z,1740586980.313 [CommandExec](IMPORTANT): got command set sink.TargetDepthTimeout 120 minute
2025-02-26T16:23:00.314Z,1740586980.314 [CommandExec](IMPORTANT): got command set sink:BackseatDriver.EnableBackseat 1 bool
2025-02-26T16:23:00.315Z,1740586980.315 [CommandExec](IMPORTANT): got command run
2025-02-26T16:23:00.322Z,1740586980.322 [CommandExec](IMPORTANT): Running 
2025-02-26T16:23:00.526Z,1740586980.526 [Default] Stopped
2025-02-26T16:23:00.526Z,1740586980.526 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T16:23:00.527Z,1740586980.527 [Default:B.GoToSurface] Stopped
2025-02-26T16:23:00.527Z,1740586980.527 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T16:23:00.527Z,1740586980.527 [Default:CheckIn] Stopped
2025-02-26T16:23:00.527Z,1740586980.527 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T16:23:00.527Z,1740586980.527 [Default:CheckIn:C.Wait] Stopped
2025-02-26T16:23:00.527Z,1740586980.527 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T16:23:00.527Z,1740586980.527 [MissionManager](IMPORTANT): Started mission sink
2025-02-26T16:23:00.527Z,1740586980.527 [sink] Running Loop=1
2025-02-26T16:23:00.527Z,1740586980.527 [sink](DEBUG): Aggregate::initialize sink
2025-02-26T16:23:00.528Z,1740586980.528 [sink:Science] Running Loop=1
2025-02-26T16:23:00.528Z,1740586980.528 [sink:Science](DEBUG): Aggregate::initialize sink:Science
2025-02-26T16:23:00.528Z,1740586980.528 [sink:Science:A] Running Loop=1
2025-02-26T16:23:00.528Z,1740586980.528 [sink:Science:B] Running Loop=1
2025-02-26T16:23:00.528Z,1740586980.528 [sink:Science:C] Running Loop=1
2025-02-26T16:23:00.528Z,1740586980.528 [sink:Science:D] Running Loop=1
2025-02-26T16:23:00.528Z,1740586980.528 [sink:Science:E] Running Loop=1
2025-02-26T16:23:00.528Z,1740586980.528 [sink:Science:F] Running Loop=1
2025-02-26T16:23:00.528Z,1740586980.528 [sink:Science:Read_Oil] Running Loop=1
2025-02-26T16:23:00.528Z,1740586980.528 [sink:Science:PeakDetectChl] Running Loop=1
2025-02-26T16:23:00.528Z,1740586980.528 [sink:Science:PeakDetectChl](DEBUG): Aggregate::initialize sink:Science:PeakDetectChl
2025-02-26T16:23:00.528Z,1740586980.528 [sink:Science:PeakDetectChl:A] Running Loop=1
2025-02-26T16:23:00.529Z,1740586980.529 [sink:Science:EdgeDetectChl] Running Loop=1
2025-02-26T16:23:00.533Z,1740586980.533 [sink:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sink:Science:EdgeDetectChl
2025-02-26T16:23:00.533Z,1740586980.533 [sink:Science:EdgeDetectChl:A] Running Loop=1
2025-02-26T16:23:00.533Z,1740586980.533 [sink:Science:HighestChlPeakReport] Running Loop=1
2025-02-26T16:23:00.533Z,1740586980.533 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestChlPeakReport
2025-02-26T16:23:00.533Z,1740586980.533 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T16:23:00.533Z,1740586980.533 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T16:23:00.534Z,1740586980.534 [sink:Science:PeakDetectNO3] Running Loop=1
2025-02-26T16:23:00.534Z,1740586980.534 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sink:Science:PeakDetectNO3
2025-02-26T16:23:00.534Z,1740586980.534 [sink:Science:PeakDetectNO3:A] Running Loop=1
2025-02-26T16:23:00.534Z,1740586980.534 [sink:Science:PeakDetectOil] Running Loop=1
2025-02-26T16:23:00.534Z,1740586980.534 [sink:Science:PeakDetectOil](DEBUG): Aggregate::initialize sink:Science:PeakDetectOil
2025-02-26T16:23:00.534Z,1740586980.534 [sink:Science:PeakDetectOil:A] Running Loop=1
2025-02-26T16:23:00.534Z,1740586980.534 [sink:Science:HighestOilPeakReport] Running Loop=1
2025-02-26T16:23:00.535Z,1740586980.535 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestOilPeakReport
2025-02-26T16:23:00.535Z,1740586980.535 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T16:23:00.535Z,1740586980.535 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T16:23:00.535Z,1740586980.535 [sink:Science:PeakDetectFDOM] Running Loop=1
2025-02-26T16:23:00.535Z,1740586980.535 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sink:Science:PeakDetectFDOM
2025-02-26T16:23:00.535Z,1740586980.535 [sink:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-26T16:23:00.535Z,1740586980.535 [sink:Science:PeakDetectSalinity] Running Loop=1
2025-02-26T16:23:00.536Z,1740586980.536 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sink:Science:PeakDetectSalinity
2025-02-26T16:23:00.536Z,1740586980.536 [sink:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-26T16:23:00.536Z,1740586980.536 [sink:Science:HighestSaltPeakReport] Running Loop=1
2025-02-26T16:23:00.536Z,1740586980.536 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestSaltPeakReport
2025-02-26T16:23:00.536Z,1740586980.536 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T16:23:00.536Z,1740586980.536 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T16:23:00.536Z,1740586980.536 [sink:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T16:23:00.537Z,1740586980.537 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T16:23:00.541Z,1740586980.541 [sink:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T16:23:00.541Z,1740586980.541 [sink:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T16:23:00.541Z,1740586980.541 [sink:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T16:23:00.541Z,1740586980.541 [sink:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T16:23:00.541Z,1740586980.541 [sink:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-26T16:23:00.541Z,1740586980.541 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T16:23:00.542Z,1740586980.542 [sink:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-26T16:23:00.542Z,1740586980.542 [sink:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-26T16:23:00.542Z,1740586980.542 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T16:23:00.542Z,1740586980.542 [sink:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-26T16:23:00.542Z,1740586980.542 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-26T16:23:00.542Z,1740586980.542 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T16:23:00.542Z,1740586980.542 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-26T16:23:00.542Z,1740586980.542 [sink:Science:ChlThreshTrigger] Running Loop=1
2025-02-26T16:23:00.542Z,1740586980.542 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sink:Science:ChlThreshTrigger
2025-02-26T16:23:00.543Z,1740586980.543 [sink:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-26T16:23:00.543Z,1740586980.543 [sink:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-26T16:23:00.543Z,1740586980.543 [sink:Science:OceanCurrent] Running Loop=1
2025-02-26T16:23:00.543Z,1740586980.543 [sink:Science:OceanCurrent](DEBUG): Aggregate::initialize sink:Science:OceanCurrent
2025-02-26T16:23:00.543Z,1740586980.543 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T16:23:00.544Z,1740586980.544 [sink:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-26T16:23:00.544Z,1740586980.544 [sink:StandardEnvelopes] Running Loop=1
2025-02-26T16:23:00.544Z,1740586980.544 [sink:StandardEnvelopes](DEBUG): Aggregate::initialize sink:StandardEnvelopes
2025-02-26T16:23:00.544Z,1740586980.544 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T16:23:00.544Z,1740586980.544 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-26T16:23:00.544Z,1740586980.544 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T16:23:00.544Z,1740586980.544 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-26T16:23:00.544Z,1740586980.544 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T16:23:00.544Z,1740586980.544 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-26T16:23:00.544Z,1740586980.544 [sink:BackseatDriver] Running Loop=1
2025-02-26T16:23:00.565Z,1740586980.565 [sink:BackseatDriver](DEBUG): Aggregate::initialize sink:BackseatDriver
2025-02-26T16:23:00.565Z,1740586980.565 [sink:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-26T16:23:00.565Z,1740586980.565 [sink:PowerOnly] Running Loop=1
2025-02-26T16:23:00.565Z,1740586980.565 [sink:PowerOnly](DEBUG): Aggregate::initialize sink:PowerOnly
2025-02-26T16:23:00.565Z,1740586980.565 [sink:PowerOnly:A] Running Loop=1
2025-02-26T16:23:00.565Z,1740586980.565 [sink:PowerOnly:B] Running Loop=1
2025-02-26T16:23:00.565Z,1740586980.565 [sink:PowerOnly:C] Running Loop=1
2025-02-26T16:23:00.565Z,1740586980.565 [sink:PowerOnly:D] Running Loop=1
2025-02-26T16:23:00.566Z,1740586980.566 [sink:PowerOnly:E.Wait] Running Loop=1
2025-02-26T16:23:00.566Z,1740586980.566 [sink:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-26T16:23:00.566Z,1740586980.566 [sink:A] Running Loop=1
2025-02-26T16:23:00.567Z,1740586980.567 [sink:PowerOnly] Running Loop=1
2025-02-26T16:23:00.567Z,1740586980.567 [sink:PowerOnly:D] Stopped
2025-02-26T16:23:00.567Z,1740586980.567 [sink:PowerOnly:C] Stopped
2025-02-26T16:23:00.567Z,1740586980.567 [sink:PowerOnly:B] Stopped
2025-02-26T16:23:00.567Z,1740586980.567 [sink:PowerOnly:A] Stopped
2025-02-26T16:23:00.567Z,1740586980.567 [sink:BackseatDriver] Running Loop=1
2025-02-26T16:23:00.567Z,1740586980.567 [sink:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-26T16:23:00.619Z,1740586980.619 [sink:StandardEnvelopes] Running Loop=1
2025-02-26T16:23:00.619Z,1740586980.619 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T16:23:00.619Z,1740586980.619 [sink:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2025-02-26T16:23:00.643Z,1740586980.643 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T16:23:00.643Z,1740586980.643 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T16:23:00.644Z,1740586980.644 [sink:Science] Running Loop=1
2025-02-26T16:23:00.653Z,1740586980.653 [sink:Science:ChlThreshTrigger] Stopped
2025-02-26T16:23:00.653Z,1740586980.653 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sink:Science:ChlThreshTrigger
2025-02-26T16:23:00.653Z,1740586980.653 [sink:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-26T16:23:00.653Z,1740586980.653 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-26T16:23:00.654Z,1740586980.654 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-26T16:23:00.654Z,1740586980.654 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T16:23:00.654Z,1740586980.654 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-26T16:23:00.654Z,1740586980.654 [sink:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-26T16:23:00.654Z,1740586980.654 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T16:23:00.654Z,1740586980.654 [sink:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-26T16:23:00.654Z,1740586980.654 [sink:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-26T16:23:00.654Z,1740586980.654 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T16:23:00.654Z,1740586980.654 [sink:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-26T16:23:00.654Z,1740586980.654 [sink:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-26T16:23:00.654Z,1740586980.654 [sink:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T16:23:00.654Z,1740586980.654 [sink:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T16:23:00.654Z,1740586980.654 [sink:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-26T16:23:00.655Z,1740586980.655 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T16:23:00.655Z,1740586980.655 [sink:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T16:23:00.655Z,1740586980.655 [sink:Science:HighestSaltPeakReport] Stopped
2025-02-26T16:23:00.655Z,1740586980.655 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestSaltPeakReport
2025-02-26T16:23:00.655Z,1740586980.655 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T16:23:00.655Z,1740586980.655 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T16:23:00.655Z,1740586980.655 [sink:Science:PeakDetectSalinity] Stopped
2025-02-26T16:23:00.655Z,1740586980.655 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectSalinity
2025-02-26T16:23:00.655Z,1740586980.655 [sink:Science:PeakDetectSalinity:A] Stopped
2025-02-26T16:23:00.655Z,1740586980.655 [sink:Science:PeakDetectFDOM] Stopped
2025-02-26T16:23:00.655Z,1740586980.655 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectFDOM
2025-02-26T16:23:00.655Z,1740586980.655 [sink:Science:PeakDetectFDOM:A] Stopped
2025-02-26T16:23:00.655Z,1740586980.655 [sink:Science:HighestOilPeakReport] Stopped
2025-02-26T16:23:00.656Z,1740586980.656 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestOilPeakReport
2025-02-26T16:23:00.656Z,1740586980.656 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T16:23:00.656Z,1740586980.656 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T16:23:00.656Z,1740586980.656 [sink:Science:PeakDetectOil] Stopped
2025-02-26T16:23:00.656Z,1740586980.656 [sink:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectOil
2025-02-26T16:23:00.656Z,1740586980.656 [sink:Science:PeakDetectOil:A] Stopped
2025-02-26T16:23:00.656Z,1740586980.656 [sink:Science:PeakDetectNO3] Stopped
2025-02-26T16:23:00.656Z,1740586980.656 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectNO3
2025-02-26T16:23:00.656Z,1740586980.656 [sink:Science:PeakDetectNO3:A] Stopped
2025-02-26T16:23:00.656Z,1740586980.656 [sink:Science:HighestChlPeakReport] Stopped
2025-02-26T16:23:00.656Z,1740586980.656 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestChlPeakReport
2025-02-26T16:23:00.656Z,1740586980.656 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T16:23:00.656Z,1740586980.656 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T16:23:00.657Z,1740586980.657 [sink:Science:EdgeDetectChl] Stopped
2025-02-26T16:23:00.665Z,1740586980.665 [sink:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectChl
2025-02-26T16:23:00.665Z,1740586980.665 [sink:Science:EdgeDetectChl:A] Stopped
2025-02-26T16:23:00.665Z,1740586980.665 [sink:Science:PeakDetectChl] Stopped
2025-02-26T16:23:00.665Z,1740586980.665 [sink:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectChl
2025-02-26T16:23:00.665Z,1740586980.665 [sink:Science:PeakDetectChl:A] Stopped
2025-02-26T16:23:00.665Z,1740586980.665 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T16:23:00.665Z,1740586980.665 [sink:Science:Read_Oil] Stopped
2025-02-26T16:23:00.666Z,1740586980.666 [sink:Science:F] Stopped
2025-02-26T16:23:00.666Z,1740586980.666 [sink:Science:E] Running Loop=1
2025-02-26T16:23:00.666Z,1740586980.666 [sink:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-26T16:23:00.666Z,1740586980.666 [sink:Science:D] Stopped
2025-02-26T16:23:00.666Z,1740586980.666 [sink:Science:C] Running Loop=1
2025-02-26T16:23:00.667Z,1740586980.667 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-26T16:23:00.667Z,1740586980.667 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-26T16:23:00.667Z,1740586980.667 [sink:Science:B] Running Loop=1
2025-02-26T16:23:00.668Z,1740586980.668 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-26T16:23:00.668Z,1740586980.668 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-26T16:23:00.668Z,1740586980.668 [sink:Science:A] Stopped
2025-02-26T16:23:00.677Z,1740586980.677 [sink:A] Stopped
2025-02-26T16:23:00.677Z,1740586980.677 [sink:D] Running Loop=1
2025-02-26T16:23:00.723Z,1740586980.723 [WetLabsBB2FL](INFO): Powering up
2025-02-26T16:23:00.729Z,1740586980.729 [BackseatComponent](INFO): Powering up
2025-02-26T16:23:00.730Z,1740586980.730 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-26T16:23:01.082Z,1740586981.082 [sink:D] Stopped
2025-02-26T16:23:01.082Z,1740586981.082 [sink:F] Running Loop=1
2025-02-26T16:23:01.418Z,1740586981.418 [sink:F] Stopped
2025-02-26T16:23:01.418Z,1740586981.418 [sink:G] Running Loop=1
2025-02-26T16:23:01.813Z,1740586981.813 [sink:G] Stopped
2025-02-26T16:23:01.813Z,1740586981.813 [sink:H] Running Loop=1
2025-02-26T16:23:02.273Z,1740586982.273 [sink:H] Stopped
2025-02-26T16:23:02.273Z,1740586982.273 [sink:startComms] Running Loop=1
2025-02-26T16:23:02.274Z,1740586982.274 [sink:startComms](DEBUG): Aggregate::initialize sink:startComms
2025-02-26T16:23:02.274Z,1740586982.274 [sink:startComms:StartingMission] Running Loop=1
2025-02-26T16:23:02.274Z,1740586982.274 [sink:startComms:StartingMission](DEBUG): Aggregate::initialize sink:startComms:StartingMission
2025-02-26T16:23:02.307Z,1740586982.307 [sink:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-26T16:23:02.646Z,1740586982.646 [sink:NeedComms] Running Loop=1
2025-02-26T16:23:02.646Z,1740586982.646 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-02-26T16:23:02.646Z,1740586982.646 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-02-26T16:23:02.646Z,1740586982.646 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T16:23:02.647Z,1740586982.647 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-26T16:23:02.647Z,1740586982.647 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-26T16:23:02.648Z,1740586982.648 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-26T16:23:02.648Z,1740586982.648 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-26T16:23:02.648Z,1740586982.648 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T16:23:02.648Z,1740586982.648 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T16:23:02.649Z,1740586982.649 [sink:NeedComms:A] Running Loop=1
2025-02-26T16:23:02.650Z,1740586982.650 [sink:NeedComms:A](INFO): last time_fix was:  1740586856.000000 second since 1970/01/01T00:00:00Z 
2025-02-26T16:23:02.650Z,1740586982.650 [sink:NeedComms:A] Stopped
2025-02-26T16:23:03.051Z,1740586983.051 [sink:NeedComms:C] Running Loop=1
2025-02-26T16:23:03.486Z,1740586983.486 [sink:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T16:23:04.230Z,1740586984.230 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-26T16:23:05.019Z,1740586985.019 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162304.00,A,3649.19264,N,12148.83649,W,0.816,326.80,260225,,,D*74
2025-02-26T16:23:05.022Z,1740586985.022 [NAL9602](INFO): GPS fix at 20250226T162304: (36.819877, -121.813941)
2025-02-26T16:23:05.081Z,1740586985.081 [sink:NeedComms:C] Stopped
2025-02-26T16:23:05.081Z,1740586985.081 [sink:NeedComms:D] Running Loop=1
2025-02-26T16:23:05.488Z,1740586985.488 [sink:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-26T16:23:18.625Z,1740586998.625 [DataOverHttps](INFO): Sending 71 bytes from file Logs/20250226T074052/Courier0148.lzma
2025-02-26T16:23:19.627Z,1740586999.627 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0148.lzma.bak
2025-02-26T16:23:19.627Z,1740586999.627 [DataOverHttps](INFO): SBD MOMSN=23979168
2025-02-26T16:23:28.823Z,1740587008.823 [NAL9602](INFO): SBD MO Status=0, MOMSN=13578, MT Status=0, MTMSN=0
2025-02-26T16:23:28.824Z,1740587008.824 [NAL9602](INFO): No messages in MT queue
2025-02-26T16:23:38.188Z,1740587018.188 [DataOverHttps](INFO): Sending 367 bytes from file Logs/20250226T074052/Express0149.lzma
2025-02-26T16:23:39.188Z,1740587019.188 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0149.lzma.bak
2025-02-26T16:23:39.188Z,1740587019.188 [DataOverHttps](INFO): SBD MOMSN=23979171
2025-02-26T16:23:56.843Z,1740587036.843 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250226T074052/Express0152.lzma
2025-02-26T16:23:57.843Z,1740587037.843 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0152.lzma.bak
2025-02-26T16:23:57.844Z,1740587037.844 [DataOverHttps](INFO): SBD MOMSN=23979186
2025-02-26T16:23:59.257Z,1740587039.257 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T16:24:00.849Z,1740587040.849 [sink:NeedComms:D] Stopped
2025-02-26T16:24:00.850Z,1740587040.850 [sink:NeedComms:E] Running Loop=1
2025-02-26T16:24:01.342Z,1740587041.342 [sink:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T16:24:03.036Z,1740587043.036 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162402.00,A,3649.19708,N,12148.83076,W,0.680,56.88,260225,,,D*4D
2025-02-26T16:24:03.042Z,1740587043.042 [NAL9602](INFO): GPS fix at 20250226T162402: (36.819951, -121.813846)
2025-02-26T16:24:03.118Z,1740587043.118 [sink:NeedComms:E] Stopped
2025-02-26T16:24:03.119Z,1740587043.119 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-02-26T16:24:03.119Z,1740587043.119 [sink:NeedComms] Stopped
2025-02-26T16:24:03.119Z,1740587043.119 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-02-26T16:24:03.119Z,1740587043.119 [sink:NeedComms:B.GoToSurface] Stopped
2025-02-26T16:24:03.120Z,1740587043.120 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T16:24:03.587Z,1740587043.587 [sink:startComms:StartingMission](INFO): Completed sink:startComms:StartingMission
2025-02-26T16:24:03.587Z,1740587043.587 [sink:startComms:StartingMission] Stopped
2025-02-26T16:24:03.587Z,1740587043.587 [sink:startComms:StartingMission](DEBUG): Aggregate::uninitialize sink:startComms:StartingMission
2025-02-26T16:24:03.587Z,1740587043.587 [sink:startComms](INFO): Completed sink:startComms
2025-02-26T16:24:03.587Z,1740587043.587 [sink:startComms] Stopped
2025-02-26T16:24:03.587Z,1740587043.587 [sink:startComms](DEBUG): Aggregate::uninitialize sink:startComms
2025-02-26T16:24:03.588Z,1740587043.588 [sink:RunSink] Running Loop=1
2025-02-26T16:24:03.588Z,1740587043.588 [sink:RunSink](DEBUG): Aggregate::initialize sink:RunSink
2025-02-26T16:24:03.588Z,1740587043.588 [sink:RunSink:RunBallastAndTrim] Running Loop=1
2025-02-26T16:24:03.588Z,1740587043.588 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:RunBallastAndTrim
2025-02-26T16:24:03.588Z,1740587043.588 [sink:RunSink:RunBallastAndTrim:A] Running Loop=1
2025-02-26T16:24:04.035Z,1740587044.035 [sink:RunSink:RunBallastAndTrim] Stopped
2025-02-26T16:24:04.035Z,1740587044.035 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:RunBallastAndTrim
2025-02-26T16:24:04.035Z,1740587044.035 [sink:RunSink:RunBallastAndTrim:A] Stopped
2025-02-26T16:24:04.035Z,1740587044.035 [sink:RunSink:JustSink] Running Loop=1
2025-02-26T16:24:04.036Z,1740587044.036 [sink:RunSink:JustSink](DEBUG): Aggregate::initialize sink:RunSink:JustSink
2025-02-26T16:24:04.036Z,1740587044.036 [sink:RunSink:JustSink:A] Running Loop=1
2025-02-26T16:24:04.423Z,1740587044.423 [sink:RunSink:JustSink:A] Stopped
2025-02-26T16:24:04.423Z,1740587044.423 [sink:RunSink:JustSink:B] Running Loop=1
2025-02-26T16:24:04.879Z,1740587044.879 [sink:RunSink:JustSink:B] Stopped
2025-02-26T16:24:04.879Z,1740587044.879 [sink:RunSink:JustSink:C] Running Loop=1
2025-02-26T16:24:04.879Z,1740587044.879 [sink:RunSink:JustSink:C](DEBUG): Aggregate::initialize sink:RunSink:JustSink:C
2025-02-26T16:24:05.242Z,1740587045.242 [sink:RunSink:BallastAndTrim] Running Loop=1
2025-02-26T16:24:05.242Z,1740587045.242 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim
2025-02-26T16:24:05.242Z,1740587045.242 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-02-26T16:24:05.242Z,1740587045.242 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-02-26T16:24:05.242Z,1740587045.242 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-02-26T16:24:05.242Z,1740587045.242 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-02-26T16:24:05.242Z,1740587045.242 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-02-26T16:24:05.243Z,1740587045.243 [sink:RunSink:BallastAndTrim:F] Running Loop=1
2025-02-26T16:24:05.249Z,1740587045.249 [sink:RunSink:BallastAndTrim:F](INFO): Going to target depth. Speed set to  0.000000 m/s 
2025-02-26T16:24:05.250Z,1740587045.250 [sink:RunSink:BallastAndTrim:F] Stopped
2025-02-26T16:24:05.250Z,1740587045.250 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-02-26T16:24:05.251Z,1740587045.251 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-02-26T16:24:05.251Z,1740587045.251 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-02-26T16:24:05.252Z,1740587045.252 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-02-26T16:24:05.252Z,1740587045.252 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-02-26T16:24:05.252Z,1740587045.252 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-02-26T16:24:05.260Z,1740587045.260 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-02-26T16:24:05.260Z,1740587045.260 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-02-26T16:24:05.260Z,1740587045.260 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T16:24:05.261Z,1740587045.261 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-02-26T16:24:05.265Z,1740587045.265 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-02-26T16:24:05.265Z,1740587045.265 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-02-26T16:24:05.265Z,1740587045.265 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-26T16:24:05.265Z,1740587045.265 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-02-26T16:24:05.265Z,1740587045.265 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-02-26T16:24:05.266Z,1740587045.266 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-02-26T16:24:05.266Z,1740587045.266 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-02-26T16:24:05.266Z,1740587045.266 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-02-26T16:24:05.266Z,1740587045.266 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-02-26T16:24:05.620Z,1740587045.620 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-02-26T16:24:05.620Z,1740587045.620 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-02-26T16:24:05.620Z,1740587045.620 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-02-26T16:24:05.621Z,1740587045.621 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-02-26T16:24:05.625Z,1740587045.625 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-02-26T16:24:05.625Z,1740587045.625 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-02-26T16:24:05.625Z,1740587045.625 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-02-26T16:24:05.625Z,1740587045.625 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-02-26T16:24:05.625Z,1740587045.625 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T16:24:05.625Z,1740587045.625 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-02-26T16:24:05.625Z,1740587045.625 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-02-26T16:24:06.034Z,1740587046.034 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-02-26T16:24:06.035Z,1740587046.035 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-02-26T16:24:06.035Z,1740587046.035 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T16:24:06.035Z,1740587046.035 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-26T16:24:06.035Z,1740587046.035 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-02-26T16:24:06.035Z,1740587046.035 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-26T16:24:06.035Z,1740587046.035 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-02-26T16:24:06.035Z,1740587046.035 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-26T16:24:06.035Z,1740587046.035 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-02-26T16:24:06.035Z,1740587046.035 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-02-26T16:24:06.036Z,1740587046.036 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-02-26T16:24:06.444Z,1740587046.444 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-02-26T16:24:06.444Z,1740587046.444 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  10.000000 m 
2025-02-26T16:24:06.445Z,1740587046.445 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-02-26T16:24:06.450Z,1740587046.450 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-02-26T16:24:06.450Z,1740587046.450 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-02-26T16:24:21.439Z,1740587061.439 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250226T162419
2025-02-26T16:24:22.574Z,1740587062.574 [CTD_Seabird](ERROR): Failed to parse device response: 0.49,12.586.36
2025-02-26T16:24:30.253Z,1740587070.253 [NAL9602](INFO): SBD MO Status=2, MOMSN=13579, MT Status=2, MTMSN=0
2025-02-26T16:24:30.253Z,1740587070.253 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T16:25:11.309Z,1740587111.309 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T16:25:20.232Z,1740587120.232 [sink:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2119
2025-02-26T16:25:28.729Z,1740587128.729 [Radio_Surface](INFO): Powering down
2025-02-26T16:25:42.433Z,1740587142.433 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T16:25:43.438Z,1740587143.438 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T16:27:20.825Z,1740587240.825 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.735245
2025-02-26T16:28:18.506Z,1740587298.506 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-02-26T16:28:18.506Z,1740587298.506 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-26T16:28:18.506Z,1740587298.506 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-02-26T16:28:18.506Z,1740587298.506 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-26T16:28:18.507Z,1740587298.507 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-02-26T16:28:18.507Z,1740587298.507 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-02-26T16:28:18.507Z,1740587298.507 [sink:RunSink:BallastAndTrim:GoToTargetDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-02-26T16:28:18.507Z,1740587298.507 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Stopped
2025-02-26T16:28:18.507Z,1740587298.507 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-02-26T16:28:18.507Z,1740587298.507 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-02-26T16:28:18.507Z,1740587298.507 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-02-26T16:28:18.507Z,1740587298.507 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-02-26T16:28:18.508Z,1740587298.508 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-02-26T16:28:18.508Z,1740587298.508 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-02-26T16:28:18.508Z,1740587298.508 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-02-26T16:28:18.508Z,1740587298.508 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-02-26T16:28:18.508Z,1740587298.508 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-02-26T16:28:18.906Z,1740587298.906 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  10.141080 m 
2025-02-26T16:28:18.907Z,1740587298.907 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-02-26T16:28:18.907Z,1740587298.907 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-02-26T16:28:18.907Z,1740587298.907 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-02-26T16:28:18.907Z,1740587298.907 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-02-26T16:28:18.907Z,1740587298.907 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-02-26T16:29:05.444Z,1740587345.444 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-02-26T16:29:22.006Z,1740587362.006 [sink:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2120
2025-02-26T16:29:36.130Z,1740587376.130 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T16:30:28.899Z,1740587428.899 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T16:30:41.180Z,1740587441.180 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T16:30:54.701Z,1740587454.701 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T16:31:08.260Z,1740587468.260 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T16:31:21.609Z,1740587481.609 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T16:31:34.315Z,1740587494.315 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T16:31:34.740Z,1740587494.740 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-26T16:31:47.341Z,1740587507.341 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T16:33:21.878Z,1740587601.878 [CTD_Seabird](ERROR): Failed to parse device response: 12.0426,3.81781,2247.86
2025-02-26T16:36:47.420Z,1740587807.420 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7).
2025-02-26T16:36:53.479Z,1740587813.479 [BPC1](ERROR): BPC1A got IPBS message with 5 sticks (min is 7).
2025-02-26T16:36:55.919Z,1740587815.919 [BPC1](ERROR): Battery stick #62 (s/n: 00CC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-02-26T16:36:55.919Z,1740587815.919 [BPC1](INFO): Calculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 6.
2025-02-26T16:36:55.922Z,1740587815.922 [BPC1](INFO): Received data from all battery sticks.
2025-02-26T16:41:35.100Z,1740588095.100 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-26T16:51:35.465Z,1740588695.465 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-26T16:54:03.778Z,1740588843.778 [sink:RunSink](INFO): Timed out from 2025-02-26T16:24:03.6Z
2025-02-26T16:54:03.778Z,1740588843.778 [sink:RunSink] Stopped
2025-02-26T16:54:03.778Z,1740588843.778 [sink:RunSink](DEBUG): Aggregate::uninitialize sink:RunSink
2025-02-26T16:54:03.778Z,1740588843.778 [sink:RunSink:BallastAndTrim] Stopped
2025-02-26T16:54:03.779Z,1740588843.779 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim
2025-02-26T16:54:03.779Z,1740588843.779 [sink:RunSink:BallastAndTrim:A] Stopped
2025-02-26T16:54:03.779Z,1740588843.779 [sink:RunSink:BallastAndTrim:B] Stopped
2025-02-26T16:54:03.779Z,1740588843.779 [sink:RunSink:BallastAndTrim:C] Stopped
2025-02-26T16:54:03.779Z,1740588843.779 [sink:RunSink:BallastAndTrim:D] Stopped
2025-02-26T16:54:03.779Z,1740588843.779 [sink:RunSink:BallastAndTrim:E] Stopped
2025-02-26T16:54:03.779Z,1740588843.779 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-02-26T16:54:03.779Z,1740588843.779 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-02-26T16:54:03.779Z,1740588843.779 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-02-26T16:54:03.779Z,1740588843.779 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-02-26T16:54:03.779Z,1740588843.779 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-02-26T16:54:03.779Z,1740588843.779 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-02-26T16:54:03.780Z,1740588843.780 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T16:54:03.780Z,1740588843.780 [sink:RunSink:JustSink] Stopped
2025-02-26T16:54:03.780Z,1740588843.780 [sink:RunSink:JustSink](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink
2025-02-26T16:54:03.780Z,1740588843.780 [sink:RunSink:JustSink:C] Stopped
2025-02-26T16:54:03.780Z,1740588843.780 [sink:RunSink:JustSink:C](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink:C
2025-02-26T16:54:03.780Z,1740588843.780 [sink:FloatUp] Running Loop=1
2025-02-26T16:54:03.786Z,1740588843.786 [sink:FloatUp](DEBUG): Aggregate::initialize sink:FloatUp
2025-02-26T16:54:03.787Z,1740588843.787 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-02-26T16:54:03.787Z,1740588843.787 [sink:FloatUp:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T16:54:03.787Z,1740588843.787 [sink:FloatUp:B.Wait] Running Loop=1
2025-02-26T16:54:03.787Z,1740588843.787 [sink:FloatUp:B.Wait](DEBUG): Initialize Wait Component.
2025-02-26T16:54:04.162Z,1740588844.162 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-02-26T16:57:56.065Z,1740589076.065 [sink:FloatUp] Stopped
2025-02-26T16:57:56.065Z,1740589076.065 [sink:FloatUp](DEBUG): Aggregate::uninitialize sink:FloatUp
2025-02-26T16:57:56.065Z,1740589076.065 [sink:FloatUp:A.Buoyancy] Stopped
2025-02-26T16:57:56.065Z,1740589076.065 [sink:FloatUp:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T16:57:56.065Z,1740589076.065 [sink:FloatUp:B.Wait] Stopped
2025-02-26T16:57:56.065Z,1740589076.065 [sink:FloatUp:B.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T16:57:56.066Z,1740589076.066 [sink:EndingMission] Running Loop=1
2025-02-26T16:57:56.066Z,1740589076.066 [sink:EndingMission](DEBUG): Aggregate::initialize sink:EndingMission
2025-02-26T16:57:56.470Z,1740589076.470 [sink:NeedComms] Running Loop=1
2025-02-26T16:57:56.470Z,1740589076.470 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-02-26T16:57:56.470Z,1740589076.470 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-02-26T16:57:56.470Z,1740589076.470 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T16:57:56.470Z,1740589076.470 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-26T16:57:56.471Z,1740589076.471 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-26T16:57:56.471Z,1740589076.471 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-26T16:57:56.471Z,1740589076.471 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-26T16:57:56.472Z,1740589076.472 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T16:57:56.472Z,1740589076.472 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T16:57:56.472Z,1740589076.472 [sink:NeedComms:A] Running Loop=1
2025-02-26T16:57:56.490Z,1740589076.490 [sink:NeedComms:A](INFO): last time_fix was:  1740587042.000000 second since 1970/01/01T00:00:00Z 
2025-02-26T16:57:56.490Z,1740589076.490 [sink:NeedComms:A] Stopped
2025-02-26T16:58:04.951Z,1740589084.951 [sink:NeedComms:C] Running Loop=1
2025-02-26T16:58:05.538Z,1740589085.538 [Radio_Surface](INFO): Powering up
2025-02-26T16:58:11.421Z,1740589091.421 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T16:58:37.657Z,1740589117.657 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-02-26T16:58:37.737Z,1740589117.737 [NAL9602](ERROR): received: 
+CSQ:0

OK579, 2, 0, 0, 0

OK
2025-02-26T16:58:41.553Z,1740589121.553 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T16:58:51.824Z,1740589131.824 [NAL9602](INFO): SBD MO Status=0, MOMSN=13579, MT Status=0, MTMSN=0
2025-02-26T16:58:51.824Z,1740589131.824 [NAL9602](INFO): No messages in MT queue
2025-02-26T16:58:53.032Z,1740589133.032 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165852.00,A,3649.11404,N,12149.13002,W,0.311,299.62,260225,,,A*72
2025-02-26T16:58:53.035Z,1740589133.035 [NAL9602](INFO): GPS fix at 20250226T165852: (36.818567, -121.818834)
2025-02-26T16:58:53.047Z,1740589133.047 [UniversalFixResidualReporter](INFO): Fix residual: 27.0 %DT, over the last 650.2 m. Residual distance 175.2 m at bearing -155.2 degrees. Fix at (36.8186, -121.8188) with 469.9 m made good.
2025-02-26T16:58:53.049Z,1740589133.049 [sink:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2025-02-26T16:58:53.057Z,1740589133.057 [sink:NeedComms:C] Stopped
2025-02-26T16:58:53.057Z,1740589133.057 [sink:NeedComms:D] Running Loop=1
2025-02-26T16:59:01.984Z,1740589141.984 [NAL9602](INFO): SBD MO Status=1, MOMSN=13580, MT Status=0, MTMSN=0
2025-02-26T16:59:02.033Z,1740589142.033 [NAL9602](INFO): Sent 94 bytes from file Logs/20250226T074052/Courier0154.lzma
2025-02-26T16:59:02.033Z,1740589142.033 [NAL9602](INFO): Packets left to send: 0
2025-02-26T16:59:12.678Z,1740589152.678 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T16:59:15.632Z,1740589155.632 [NAL9602](INFO): SBD MO Status=1, MOMSN=13581, MT Status=0, MTMSN=0
2025-02-26T16:59:15.689Z,1740589155.689 [NAL9602](INFO): Sent 332 bytes from file Logs/20250226T074052/Express0155.lzma
2025-02-26T16:59:15.689Z,1740589155.689 [NAL9602](INFO): Packets left to send: 1
2025-02-26T16:59:31.735Z,1740589171.735 [NAL9602](INFO): SBD MO Status=1, MOMSN=13582, MT Status=0, MTMSN=0
2025-02-26T16:59:31.793Z,1740589171.793 [NAL9602](INFO): Sent 200 bytes from file Logs/20250226T074052/Express0155.lzma
2025-02-26T16:59:31.793Z,1740589171.793 [NAL9602](INFO): Packets left to send: 0
2025-02-26T16:59:39.987Z,1740589179.987 [NAL9602](INFO): SBD MO Status=0, MOMSN=13583, MT Status=0, MTMSN=0
2025-02-26T16:59:40.084Z,1740589180.084 [sink:NeedComms:D] Stopped
2025-02-26T16:59:40.104Z,1740589180.104 [sink:NeedComms:E] Running Loop=1
2025-02-26T16:59:42.424Z,1740589182.424 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165941.00,A,3649.11773,N,12149.12744,W,0.350,40.34,260225,,,D*43
2025-02-26T16:59:42.434Z,1740589182.434 [NAL9602](INFO): GPS fix at 20250226T165941: (36.818629, -121.818791)
2025-02-26T16:59:42.457Z,1740589182.457 [sink:NeedComms:E] Stopped
2025-02-26T16:59:42.458Z,1740589182.458 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-02-26T16:59:42.458Z,1740589182.458 [sink:NeedComms] Stopped
2025-02-26T16:59:42.458Z,1740589182.458 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-02-26T16:59:42.458Z,1740589182.458 [sink:NeedComms:B.GoToSurface] Stopped
2025-02-26T16:59:42.458Z,1740589182.458 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T16:59:42.861Z,1740589182.861 [sink:EndingMission](INFO): Completed sink:EndingMission
2025-02-26T16:59:42.861Z,1740589182.861 [sink:EndingMission] Stopped
2025-02-26T16:59:42.861Z,1740589182.861 [sink:EndingMission](DEBUG): Aggregate::uninitialize sink:EndingMission
2025-02-26T16:59:42.880Z,1740589182.880 [sink](INFO): Completed sink
2025-02-26T16:59:42.881Z,1740589182.881 [MissionManager](INFO): sink is completed.
2025-02-26T16:59:42.881Z,1740589182.881 [MissionManager](INFO): Uninitializing Mission sink
2025-02-26T16:59:42.881Z,1740589182.881 [sink] Stopped
2025-02-26T16:59:42.881Z,1740589182.881 [sink](DEBUG): Aggregate::uninitialize sink
2025-02-26T16:59:42.881Z,1740589182.881 [sink:Science] Stopped
2025-02-26T16:59:42.881Z,1740589182.881 [sink:Science](DEBUG): Aggregate::uninitialize sink:Science
2025-02-26T16:59:42.881Z,1740589182.881 [sink:Science:B] Stopped
2025-02-26T16:59:42.881Z,1740589182.881 [sink:Science:C] Stopped
2025-02-26T16:59:42.882Z,1740589182.882 [sink:Science:E] Stopped
2025-02-26T16:59:42.882Z,1740589182.882 [sink:Science:OceanCurrent] Stopped
2025-02-26T16:59:42.882Z,1740589182.882 [sink:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sink:Science:OceanCurrent
2025-02-26T16:59:42.882Z,1740589182.882 [sink:Science:OceanCurrent:A.] Stopped
2025-02-26T16:59:42.882Z,1740589182.882 [sink:StandardEnvelopes] Stopped
2025-02-26T16:59:42.882Z,1740589182.882 [sink:StandardEnvelopes](DEBUG): Aggregate::uninitialize sink:StandardEnvelopes
2025-02-26T16:59:42.882Z,1740589182.882 [sink:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-26T16:59:42.882Z,1740589182.882 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-26T16:59:42.882Z,1740589182.882 [sink:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-26T16:59:42.882Z,1740589182.882 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-26T16:59:42.882Z,1740589182.882 [sink:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-26T16:59:42.882Z,1740589182.882 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-26T16:59:42.882Z,1740589182.882 [sink:BackseatDriver] Stopped
2025-02-26T16:59:42.883Z,1740589182.883 [sink:BackseatDriver](DEBUG): Aggregate::uninitialize sink:BackseatDriver
2025-02-26T16:59:42.883Z,1740589182.883 [sink:BackseatDriver:A.BackseatDriver] Stopped
2025-02-26T16:59:42.883Z,1740589182.883 [sink:PowerOnly] Stopped
2025-02-26T16:59:42.883Z,1740589182.883 [sink:PowerOnly](DEBUG): Aggregate::uninitialize sink:PowerOnly
2025-02-26T16:59:42.883Z,1740589182.883 [sink:PowerOnly:E.Wait] Stopped
2025-02-26T16:59:42.883Z,1740589182.883 [sink:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T16:59:43.197Z,1740589183.197 [WetLabsBB2FL](INFO): Powering down
2025-02-26T16:59:43.363Z,1740589183.363 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T16:59:43.363Z,1740589183.363 [Default] Running Loop=1
2025-02-26T16:59:43.363Z,1740589183.363 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T16:59:43.363Z,1740589183.363 [Default:B.GoToSurface] Running Loop=1
2025-02-26T16:59:43.363Z,1740589183.363 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T16:59:43.364Z,1740589183.364 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T16:59:43.364Z,1740589183.364 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T16:59:43.364Z,1740589183.364 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T16:59:43.365Z,1740589183.365 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T16:59:43.381Z,1740589183.381 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T16:59:43.381Z,1740589183.381 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T16:59:43.382Z,1740589183.382 [Default:A.Wait] Running Loop=1
2025-02-26T16:59:43.382Z,1740589183.382 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T16:59:43.690Z,1740589183.690 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-26T16:59:43.690Z,1740589183.690 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-26T16:59:43.801Z,1740589183.801 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T16:59:56.741Z,1740589196.741 [Default:A.Wait](INFO): Done Waiting.
2025-02-26T16:59:56.741Z,1740589196.741 [Default:A.Wait] Stopped
2025-02-26T16:59:56.741Z,1740589196.741 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T16:59:57.140Z,1740589197.140 [Default:CheckIn] Running Loop=1
2025-02-26T16:59:57.140Z,1740589197.140 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-02-26T16:59:57.140Z,1740589197.140 [Default:CheckIn:Read_GPS] Running Loop=1
2025-02-26T16:59:59.160Z,1740589199.160 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,165958.00,A,3649.11904,N,12149.12697,W,0.914,330.59,260225,,,D*7F
2025-02-26T16:59:59.162Z,1740589199.162 [NAL9602](INFO): GPS fix at 20250226T165958: (36.818651, -121.818783)
2025-02-26T16:59:59.173Z,1740589199.173 [Default:CheckIn:Read_GPS] Stopped
2025-02-26T16:59:59.173Z,1740589199.173 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-02-26T17:00:01.850Z,1740589201.850 [BackseatComponent](INFO): Powering down and starting shutdown timer (18.00 sec).
2025-02-26T17:00:01.851Z,1740589201.851 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2025-02-26T17:00:01.851Z,1740589201.851 [LcmUniversalReporter](INFO): Deactivating messaging.
2025-02-26T17:00:14.925Z,1740589214.925 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T17:00:18.977Z,1740589218.977 [NAL9602](INFO): SBD MO Status=1, MOMSN=13584, MT Status=0, MTMSN=0
2025-02-26T17:00:19.033Z,1740589219.033 [NAL9602](INFO): Sent 73 bytes from file Logs/20250226T074052/Courier0157.lzma
2025-02-26T17:00:19.033Z,1740589219.033 [NAL9602](INFO): Packets left to send: 0
2025-02-26T17:00:23.903Z,1740589223.903 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.008631
2025-02-26T17:00:34.565Z,1740589234.565 [DataOverHttps](INFO): Sending 131 bytes from file Logs/20250226T074052/Express0158.lzma
2025-02-26T17:00:35.083Z,1740589235.083 [NAL9602](INFO): SBD MO Status=2, MOMSN=13585, MT Status=2, MTMSN=0
2025-02-26T17:00:35.084Z,1740589235.084 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T17:00:35.568Z,1740589235.568 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0158.lzma.bak
2025-02-26T17:00:35.568Z,1740589235.568 [DataOverHttps](INFO): SBD MOMSN=23979199
2025-02-26T17:00:37.514Z,1740589237.514 [Default:CheckIn:Read_Iridium] Stopped
2025-02-26T17:00:37.514Z,1740589237.514 [Default:CheckIn:C.Wait] Running Loop=1
2025-02-26T17:00:37.515Z,1740589237.514 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-02-26T17:01:05.781Z,1740589265.781 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T17:01:17.802Z,1740589277.802 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T170116
2025-02-26T17:01:25.577Z,1740589285.577 [DataOverHttps](INFO): Received command: load Engineering/sink.tl;set sink.SinkDuration .5 h;set sink.Depth 10 m;set sink.DepthDeadband 5 m;set sink.TargetDepthTimeout 120 min;set sink:BackseatDriver.EnableBackseat 1 bool;run
2025-02-26T17:01:25.646Z,1740589285.646 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/sink.tl
2025-02-26T17:01:25.647Z,1740589285.647 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/sink.tl
2025-02-26T17:01:25.647Z,1740589285.647 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/sink.tl
2025-02-26T17:01:25.661Z,1740589285.661 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/sink.tl
2025-02-26T17:01:29.463Z,1740589289.463 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/sink.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="sink">
    <DefineArg Name="SinkDuration">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="WaitToFloat">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfaceThreshold">
        <Units:meter />
        <Value>2.5</Value>
    </DefineArg>
    <DefineArg Name="TargetDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="DoBallastAndTrim">
        <False />
    </DefineArg>
    <DefineArg Name="BTSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineOutput Name="MissionTimeout">
        <Arg Name="SinkDuration" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="SinkDuration" />
        <Add>
            <Arg Name="WaitToFloat" />
        </Add>
    </Assign>
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="startComms">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Call RefId="NeedComms" Id="StartingMission" />
    </Aggregate>
    <Aggregate Id="RunSink">
        <Sequence />
        <Timeout Duration="SinkDuration" />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="TargetDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="BTSettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunBallastAndTrim">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Not>
                        <Arg Name="DoBallastAndTrim" />
                    </Not>
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
        <Aggregate Id="JustSink">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth" />
                </IsNaN>
                <Or>
                    <Arg Name="DoBallastAndTrim" />
                </Or>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="BTSettleTime" />
                <Arg Name="SinkDuration" />
            </Assign>
            <Call RefId="BallastAndTrim" />
        </Aggregate>
    </Aggregate>
    <Aggregate Id="FloatUp">
        <Sequence />
        <Break>
            <Universal:depth />
            <Lt>
                <Arg Name="SurfaceThreshold" />
            </Lt>
        </Break>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyDefault />
            </Setting>
        </Guidance:Buoyancy>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="WaitToFloat" />
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" />
</Mission>

2025-02-26T17:01:29.472Z,1740589289.472 [MissionManager](INFO): DefineArg sink.SinkDuration = 2.000000 h
2025-02-26T17:01:29.475Z,1740589289.475 [MissionManager](INFO): DefineArg sink.WaitToFloat = 20.000000 min
2025-02-26T17:01:29.477Z,1740589289.477 [MissionManager](INFO): DefineArg sink.Depth = 20.000000 m
2025-02-26T17:01:29.479Z,1740589289.479 [MissionManager](INFO): DefineArg sink.DepthDeadband = 1.000000 m
2025-02-26T17:01:29.482Z,1740589289.482 [MissionManager](INFO): DefineArg sink.SurfaceThreshold = 2.500000 m
2025-02-26T17:01:29.484Z,1740589289.484 [MissionManager](INFO): DefineArg sink.TargetDepthTimeout = 20.000000 min
2025-02-26T17:01:29.486Z,1740589289.486 [MissionManager](INFO): DefineArg sink.DoBallastAndTrim = 0 bool
2025-02-26T17:01:29.488Z,1740589289.488 [MissionManager](INFO): DefineArg sink.BTSettleTime = 10.000000 min
2025-02-26T17:01:29.491Z,1740589289.491 [MissionManager](INFO): DefineArg sink.EstimationTimeout = 45.000000 min
2025-02-26T17:01:29.493Z,1740589289.493 [MissionManager](INFO): DefineArg sink.MinEstimationTime = 10.000000 min
2025-02-26T17:01:29.495Z,1740589289.495 [MissionManager](INFO): DefineArg sink.MassEstimationErrorBound = 0.500000 mm
2025-02-26T17:01:29.499Z,1740589289.499 [MissionManager](INFO): DefineArg sink.BuoyEstimationErrorBound = 25.000000 cc
2025-02-26T17:01:29.501Z,1740589289.501 [MissionManager](INFO): DefineArg sink.EstimationConfidence = 98.000000 %
2025-02-26T17:01:29.503Z,1740589289.503 [MissionManager](INFO): DefineArg sink.MinAltitude = 5.000000 m
2025-02-26T17:01:29.506Z,1740589289.506 [MissionManager](INFO): DefineArg sink.MaxDepth = 30.000000 m
2025-02-26T17:01:29.508Z,1740589289.508 [MissionManager](INFO): DefineArg sink.MinOffshore = 2.000000 km
2025-02-26T17:01:29.510Z,1740589289.510 [MissionManager](INFO): DefineArg sink.SkipComms = 0 bool
2025-02-26T17:01:29.512Z,1740589289.512 [MissionManager](INFO): DefineOutput sink.MissionTimeout = 2.000000 h
2025-02-26T17:01:29.514Z,1740589289.514 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-02-26T17:01:29.514Z,1740589289.514 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-02-26T17:01:29.555Z,1740589289.555 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-02-26T17:01:32.325Z,1740589292.325 [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>

2025-02-26T17:01:32.350Z,1740589292.350 [MissionManager](INFO): DefineArg sink:Science.PeakDetectChlActive = 0 bool
2025-02-26T17:01:32.352Z,1740589292.352 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectChlActive = 0 bool
2025-02-26T17:01:32.354Z,1740589292.354 [MissionManager](INFO): DefineArg sink:Science.TimeWindowPeakReport = nan min
2025-02-26T17:01:32.356Z,1740589292.356 [MissionManager](INFO): DefineArg sink:Science.HighestChlPeakReportActive = 0 bool
2025-02-26T17:01:32.382Z,1740589292.382 [MissionManager](INFO): DefineArg sink:Science.HighestSaltPeakReportActive = 0 bool
2025-02-26T17:01:32.384Z,1740589292.384 [MissionManager](INFO): DefineArg sink:Science.HighestOilPeakReportActive = 0 bool
2025-02-26T17:01:32.390Z,1740589292.390 [MissionManager](INFO): DefineArg sink:Science.PatchTracking = 0 bool
2025-02-26T17:01:32.393Z,1740589292.393 [MissionManager](INFO): DefineArg sink:Science.FilterWidthHorizontal = 3.000000 count
2025-02-26T17:01:32.399Z,1740589292.399 [MissionManager](INFO): DefineArg sink:Science.NumProfilesSlidingwindow = 100.000000 count
2025-02-26T17:01:32.405Z,1740589292.405 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionHorizontal = 80.000000 %
2025-02-26T17:01:32.407Z,1740589292.407 [MissionManager](INFO): DefineArg sink:Science.PeakDetectNO3Active = 0 bool
2025-02-26T17:01:32.413Z,1740589292.413 [MissionManager](INFO): DefineArg sink:Science.PeakDetectOilActive = 0 bool
2025-02-26T17:01:32.415Z,1740589292.415 [MissionManager](INFO): DefineArg sink:Science.PeakDetectFDOMActive = 0 bool
2025-02-26T17:01:32.429Z,1740589292.429 [MissionManager](INFO): DefineArg sink:Science.PeakDetectSalinityActive = 0 bool
2025-02-26T17:01:32.431Z,1740589292.431 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T17:01:32.465Z,1740589292.465 [MissionManager](INFO): DefineArg sink:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-02-26T17:01:32.467Z,1740589292.467 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-02-26T17:01:32.474Z,1740589292.474 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-02-26T17:01:32.476Z,1740589292.476 [MissionManager](INFO): DefineArg sink:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-02-26T17:01:32.486Z,1740589292.486 [MissionManager](INFO): DefineArg sink:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-02-26T17:01:32.488Z,1740589292.488 [MissionManager](INFO): DefineArg sink:Science.EnabledAanderaaO2 = 0 bool
2025-02-26T17:01:32.507Z,1740589292.507 [MissionManager](INFO): DefineArg sink:Science.EnabledNeilBrown = 0 bool
2025-02-26T17:01:32.518Z,1740589292.518 [MissionManager](INFO): DefineArg sink:Science.EnabledSeabird = 1 bool
2025-02-26T17:01:32.520Z,1740589292.520 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsBB2FL = 1 bool
2025-02-26T17:01:32.541Z,1740589292.541 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-02-26T17:01:32.544Z,1740589292.544 [MissionManager](INFO): DefineArg sink:Science.EnabledWetLabsUBAT = 0 bool
2025-02-26T17:01:32.551Z,1740589292.551 [MissionManager](INFO): DefineArg sink:Science.LowPassWindowLength = 20.000000 count
2025-02-26T17:01:32.557Z,1740589292.557 [MissionManager](INFO): DefineArg sink:Science.MedianFilterLen = 5.000000 count
2025-02-26T17:01:32.559Z,1740589292.559 [MissionManager](INFO): DefineArg sink:Science.ShallowBound = nan m
2025-02-26T17:01:32.564Z,1740589292.564 [MissionManager](INFO): DefineArg sink:Science.DeepBound = nan m
2025-02-26T17:01:32.583Z,1740589292.583 [MissionManager](INFO): DefineArg sink:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-02-26T17:01:32.589Z,1740589292.589 [MissionManager](INFO): DefineArg sink:Science.OffPeakFractionVertical = nan %
2025-02-26T17:01:32.591Z,1740589292.591 [MissionManager](INFO): DefineArg sink:Science.ChlPeakThresh = 0.000000 ug/l
2025-02-26T17:01:32.598Z,1740589292.598 [MissionManager](INFO): DefineArg sink:Science.ChlThreshTriggerActive = 0 bool
2025-02-26T17:01:32.600Z,1740589292.600 [MissionManager](INFO): DefineArg sink:Science.ChlLowerThresh = nan ug/l
2025-02-26T17:01:32.603Z,1740589292.603 [MissionManager](INFO): DefineArg sink:Science.ChlUpperThresh = nan ug/l
2025-02-26T17:01:32.613Z,1740589292.613 [MissionManager](INFO): DefineArg sink:Science.NumProfilesThresh = 5.000000 count
2025-02-26T17:01:32.616Z,1740589292.616 [MissionManager](INFO): DefineArg sink:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-02-26T17:01:32.631Z,1740589292.631 [MissionManager](INFO): DefineOutput sink:Science.GoDown = 1 bool
2025-02-26T17:01:32.639Z,1740589292.639 [MissionManager](INFO): DefineOutput sink:Science.PeakChl = nan ug/l
2025-02-26T17:01:32.653Z,1740589292.653 [MissionManager](INFO): DefineOutput sink:Science.PeakChlDepth = nan m
2025-02-26T17:01:32.656Z,1740589292.656 [MissionManager](INFO): DefineOutput sink:Science.PeakChlTemperature = nan degC
2025-02-26T17:01:32.662Z,1740589292.662 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLatitude = nan arcdeg
2025-02-26T17:01:32.664Z,1740589292.664 [MissionManager](INFO): DefineOutput sink:Science.PeakChlLongitude = nan arcdeg
2025-02-26T17:01:32.667Z,1740589292.667 [MissionManager](INFO): DefineOutput sink:Science.EdgeChl = nan ug/l
2025-02-26T17:01:32.674Z,1740589292.674 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlDepth = nan m
2025-02-26T17:01:32.676Z,1740589292.676 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlTemperature = nan degC
2025-02-26T17:01:32.691Z,1740589292.691 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlLatitude = nan arcdeg
2025-02-26T17:01:32.697Z,1740589292.697 [MissionManager](INFO): DefineOutput sink:Science.EdgeChlLongitude = nan arcdeg
2025-02-26T17:01:32.699Z,1740589292.699 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3 = nan umol/l
2025-02-26T17:01:32.706Z,1740589292.706 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Depth = nan m
2025-02-26T17:01:32.708Z,1740589292.708 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Latitude = nan arcdeg
2025-02-26T17:01:32.712Z,1740589292.712 [MissionManager](INFO): DefineOutput sink:Science.PeakNO3Longitude = nan arcdeg
2025-02-26T17:01:32.731Z,1740589292.731 [MissionManager](INFO): DefineOutput sink:Science.PeakOil = nan kg/m3
2025-02-26T17:01:32.737Z,1740589292.737 [MissionManager](INFO): DefineOutput sink:Science.PeakOilDepth = nan m
2025-02-26T17:01:32.749Z,1740589292.749 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLatitude = nan arcdeg
2025-02-26T17:01:32.752Z,1740589292.752 [MissionManager](INFO): DefineOutput sink:Science.PeakOilLongitude = nan arcdeg
2025-02-26T17:01:32.756Z,1740589292.756 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOM = nan ppb
2025-02-26T17:01:32.767Z,1740589292.767 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMDepth = nan m
2025-02-26T17:01:32.774Z,1740589292.774 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMTemperature = nan degC
2025-02-26T17:01:32.776Z,1740589292.776 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLatitude = nan arcdeg
2025-02-26T17:01:32.795Z,1740589292.795 [MissionManager](INFO): DefineOutput sink:Science.PeakFDOMLongitude = nan arcdeg
2025-02-26T17:01:32.805Z,1740589292.805 [MissionManager](INFO): DefineOutput sink:Science.PeakSalt = nan psu
2025-02-26T17:01:32.808Z,1740589292.808 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltDepth = nan m
2025-02-26T17:01:32.821Z,1740589292.821 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltTemperature = nan degC
2025-02-26T17:01:32.823Z,1740589292.823 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLatitude = nan arcdeg
2025-02-26T17:01:32.835Z,1740589292.835 [MissionManager](INFO): DefineOutput sink:Science.PeakSaltLongitude = nan arcdeg
2025-02-26T17:01:32.837Z,1740589292.837 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-02-26T17:01:32.839Z,1740589292.839 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-02-26T17:01:32.882Z,1740589292.882 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-02-26T17:01:32.884Z,1740589292.884 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T17:01:32.915Z,1740589292.915 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T17:01:32.926Z,1740589292.926 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-02-26T17:01:32.934Z,1740589292.934 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-02-26T17:01:32.936Z,1740589292.936 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-02-26T17:01:32.942Z,1740589292.942 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-02-26T17:01:32.953Z,1740589292.953 [MissionManager](INFO): DefineOutput sink:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-02-26T17:01:32.955Z,1740589292.955 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-02-26T17:01:32.973Z,1740589292.973 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-02-26T17:01:32.976Z,1740589292.976 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-02-26T17:01:32.982Z,1740589292.982 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-02-26T17:01:32.984Z,1740589292.984 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-02-26T17:01:32.995Z,1740589292.995 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-02-26T17:01:32.998Z,1740589292.998 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-02-26T17:01:32.000Z,1740589293.000 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-02-26T17:01:33.031Z,1740589293.031 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-02-26T17:01:33.038Z,1740589293.038 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-02-26T17:01:33.040Z,1740589293.040 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-02-26T17:01:33.051Z,1740589293.051 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-02-26T17:01:33.058Z,1740589293.058 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-02-26T17:01:33.060Z,1740589293.060 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-02-26T17:01:33.063Z,1740589293.063 [MissionManager](INFO): DefineOutput sink:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-02-26T17:01:33.078Z,1740589293.078 [MissionManager](INFO): DefineOutput sink:Science.PatchChl = nan ug/l
2025-02-26T17:01:33.080Z,1740589293.080 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDepth = nan m
2025-02-26T17:01:33.086Z,1740589293.086 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLatitude = nan arcdeg
2025-02-26T17:01:33.089Z,1740589293.089 [MissionManager](INFO): DefineOutput sink:Science.PatchChlLongitude = nan arcdeg
2025-02-26T17:01:33.091Z,1740589293.091 [MissionManager](INFO): DefineOutput sink:Science.PatchChlDistance = nan m
2025-02-26T17:01:33.106Z,1740589293.106 [MissionManager](INFO): DefineOutput sink:Science.PatchSalt = nan psu
2025-02-26T17:01:33.108Z,1740589293.108 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDepth = nan m
2025-02-26T17:01:33.115Z,1740589293.115 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLatitude = nan arcdeg
2025-02-26T17:01:33.121Z,1740589293.121 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltLongitude = nan arcdeg
2025-02-26T17:01:33.126Z,1740589293.126 [MissionManager](INFO): DefineOutput sink:Science.PatchSaltDistance = nan m
2025-02-26T17:01:33.128Z,1740589293.128 [MissionManager](INFO): DefineOutput sink:Science.PatchOil = nan psu
2025-02-26T17:01:33.130Z,1740589293.130 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDepth = nan m
2025-02-26T17:01:33.137Z,1740589293.137 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLatitude = nan arcdeg
2025-02-26T17:01:33.146Z,1740589293.146 [MissionManager](INFO): DefineOutput sink:Science.PatchOilLongitude = nan arcdeg
2025-02-26T17:01:33.148Z,1740589293.148 [MissionManager](INFO): DefineOutput sink:Science.PatchOilDistance = nan m
2025-02-26T17:01:33.154Z,1740589293.154 [MissionManager](INFO): DefineOutput sink:Science.TriggeredOnChl = 0 bool
2025-02-26T17:01:33.156Z,1740589293.156 [MissionManager](INFO): DefineOutput sink:Science.ChlTriggering = nan ug/l
2025-02-26T17:01:33.226Z,1740589293.226 [sink:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T17:01:33.283Z,1740589293.283 [sink:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T17:01:33.336Z,1740589293.336 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T17:01:33.370Z,1740589293.370 [sink:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T17:01:33.389Z,1740589293.389 [sink:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T17:01:33.400Z,1740589293.400 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T17:01:33.432Z,1740589293.432 [sink:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T17:01:33.488Z,1740589293.488 [sink:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T17:01:33.532Z,1740589293.532 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-02-26T17:01:33.571Z,1740589293.571 [sink:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T17:01:33.595Z,1740589293.595 [sink:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-02-26T17:01:33.635Z,1740589293.635 [sink:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T17:01:33.690Z,1740589293.690 [sink:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T17:01:33.723Z,1740589293.723 [sink:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-02-26T17:01:33.743Z,1740589293.743 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-02-26T17:01:33.749Z,1740589293.749 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-02-26T17:01:33.749Z,1740589293.749 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-02-26T17:01:33.751Z,1740589293.751 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-02-26T17:01:33.951Z,1740589293.951 [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>

2025-02-26T17:01:33.956Z,1740589293.956 [MissionManager](INFO): DefineArg sink:NeedComms.DiveInterval = 1.000000 h
2025-02-26T17:01:33.958Z,1740589293.958 [MissionManager](INFO): DefineArg sink:NeedComms.WaitForPitchUp = 10.000000 min
2025-02-26T17:01:33.960Z,1740589293.960 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-02-26T17:01:33.963Z,1740589293.963 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceDepthRate = nan m/s
2025-02-26T17:01:33.965Z,1740589293.965 [MissionManager](INFO): DefineArg sink:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-02-26T17:01:33.967Z,1740589293.967 [MissionManager](INFO): DefineArg sink:NeedComms.SurfacingTimeout = 1000.000000 s
2025-02-26T17:01:33.969Z,1740589293.969 [MissionManager](INFO): DefineArg sink:NeedComms.GPSTimeout = 7.000000 min
2025-02-26T17:01:33.971Z,1740589293.971 [MissionManager](INFO): DefineArg sink:NeedComms.CommsTimeout = 30.000000 min
2025-02-26T17:01:34.015Z,1740589294.015 [sink:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-02-26T17:01:34.042Z,1740589294.042 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-02-26T17:01:34.043Z,1740589294.043 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-02-26T17:01:34.044Z,1740589294.044 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-02-26T17:01:34.174Z,1740589294.174 [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>

2025-02-26T17:01:34.178Z,1740589294.178 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinAltitude = 5.000000 m
2025-02-26T17:01:34.180Z,1740589294.180 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-02-26T17:01:34.183Z,1740589294.183 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MaxDepth = 200.000000 m
2025-02-26T17:01:34.203Z,1740589294.203 [MissionManager](INFO): DefineArg sink:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-02-26T17:01:34.204Z,1740589294.204 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-02-26T17:01:34.210Z,1740589294.210 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-02-26T17:01:34.216Z,1740589294.216 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-02-26T17:01:34.224Z,1740589294.224 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-02-26T17:01:34.225Z,1740589294.225 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-02-26T17:01:34.226Z,1740589294.226 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-02-26T17:01:34.276Z,1740589294.276 [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>

2025-02-26T17:01:34.280Z,1740589294.280 [MissionManager](INFO): DefineArg sink:BackseatDriver.EnableBackseat = 0 bool
2025-02-26T17:01:34.282Z,1740589294.282 [sink:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-02-26T17:01:34.284Z,1740589294.284 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-02-26T17:01:34.284Z,1740589294.284 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-02-26T17:01:34.285Z,1740589294.285 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-02-26T17:01:34.397Z,1740589294.397 [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>

2025-02-26T17:01:34.400Z,1740589294.400 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleAll = 0 bool
2025-02-26T17:01:34.403Z,1740589294.403 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad1 = 0 bool
2025-02-26T17:01:34.405Z,1740589294.405 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad2 = 0 bool
2025-02-26T17:01:34.407Z,1740589294.407 [MissionManager](INFO): DefineArg sink:PowerOnly.SampleLoad3 = 0 bool
2025-02-26T17:01:34.410Z,1740589294.410 [MissionManager](INFO): DefineArg sink:PowerOnly.EnabledPowerOnly = 0 bool
2025-02-26T17:01:34.418Z,1740589294.418 [sink:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-02-26T17:01:34.421Z,1740589294.421 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-02-26T17:01:34.422Z,1740589294.422 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-02-26T17:01:34.423Z,1740589294.423 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-02-26T17:01:34.972Z,1740589294.972 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BallastAndTrim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BallastAndTrim">
    <DefineArg Name="InsertDepth">
        <Units:meter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSpeed">
        <Units:meter_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="InsertApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="InsertSettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstErrorBound">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstErrorBound">
        <Units:cubic_centimeter />
        <Value>15</Value>
    </DefineArg>
    <DefineArg Name="EstConfidence">
        <Units:percent />
        <Value>99.9</Value>
    </DefineArg>
    <DefineArg Name="InsertDepthDeadband">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="InsertMassDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <When>
        <Called />
    </When>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kpPitchMass />
        <Units:ratio />
        <Value>0.005</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kiPitchMass />
        <Units:reciprocal_second />
        <Value>0.00075</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.kdPitchMass />
        <Units:second />
        <Value>0</Value>
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.massDeadband />
        <Arg Name="InsertMassDeadband" />
    </Assign>
    <Assign>
        <Parallel />
        <Control:VerticalControl.depthDeadband />
        <Arg Name="InsertDepthDeadband" />
    </Assign>
    <Syslog Severity="Info">
        Going to target depth. Speed set to 
        <Arg Name="InsertApproachSpeed" />
        <Units:meter_per_second />
    </Syslog>
    <Aggregate Id="GoToTargetDepth">
        <Sequence />
        <Assign>
            <Parallel />
            <Control:VerticalControl.pitchLimit />
            <Arg Name="InsertApproachPitchLimit" />
        </Assign>
        <Aggregate Id="ActuatorHold">
            <While>
                <Arg Name="InsertApproachSpeed" />
                <Gt>
                    <Units:meter_per_second />
                    <Value>0</Value>
                </Gt>
            </While>
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Units:degree />
                    <Value>13</Value>
                </Setting>
            </Guidance:Point>
            <Guidance:Buoyancy>
                <Parallel />
                <Setting>
                    <Guidance:Buoyancy.position />
                    <Control:VerticalControl.buoyancyNeutral />
                </Setting>
            </Guidance:Buoyancy>
            <Guidance:Pitch>
                <Parallel />
                <Setting>
                    <Guidance:Pitch.massPosition />
                    <Control:VerticalControl.massDefault />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
        <Aggregate Id="WaitPreDive">
            <Sequence />
            <Break>
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Le>
                    <Units:minute />
                    <Value>0</Value>
                </Le>
            </Break>
            <Syslog Severity="Info">
                Waiting for 
                <Arg Name="InsertApproachSettleTimePreDive" />
                <Units:minute />
                while pumping down to neutral.
            </Syslog>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="InsertApproachSettleTimePreDive" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
        <Aggregate Id="ApproachDepth">
            <Sequence />
            <Syslog>
                Moving to 
                <Arg Name="InsertDepth" />
                <Units:meter />
            </Syslog>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="InsertApproachSpeed" />
                </Setting>
            </Guidance:SetSpeed>
            <Guidance:Pitch>
                <Sequence />
                <Timeout Duration="InsertApproachDepthTimeout">
                    <Syslog Severity="Important">
                        Timed out trying to reach the target depth. Stopping mission at current depth of 
                        <Universal:depth />
                        <Units:meter />
                    </Syslog>
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>stop</String>
                        </Setting>
                    </Guidance:Execute>
                </Timeout>
                <Setting>
                    <Guidance:Pitch.depth />
                    <Arg Name="InsertDepth" />
                </Setting>
                <Setting>
                    <Guidance:Pitch.depthRate />
                    <Arg Name="InsertApproachDepthRate" />
                </Setting>
            </Guidance:Pitch>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="BallastAndTrimAtTargetDepth">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Units:meter_per_second />
                <Value>0</Value>
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="InsertDepth" />
            </Setting>
        </Guidance:Pitch>
        <Syslog Severity="Info">
            Waiting for the vehicle to settle. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Arg Name="InsertSettleTime" />
            </Setting>
        </Guidance:Wait>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>gfscan</String>
            </Setting>
        </Guidance:Execute>
        <Syslog Severity="Info">
            Running ballast and trim. Depth = 
            <Universal:depth />
            <Units:meter />
        </Syslog>
        <Estimation:BallastAndTrim>
            <Sequence />
            <Setting>
                <Estimation:BallastAndTrim.estimationTimeout />
                <Arg Name="EstTimeout" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.minEstimationTime />
                <Arg Name="MinEstTime" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.massErrorBound />
                <Arg Name="MassEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.buoyErrorBound />
                <Arg Name="BuoyEstErrorBound" />
            </Setting>
            <Setting>
                <Estimation:BallastAndTrim.confidenceLevel />
                <Arg Name="EstConfidence" />
            </Setting>
        </Estimation:BallastAndTrim>
    </Aggregate>
</Aggregate>

2025-02-26T17:01:34.979Z,1740589294.979 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepth = 25.000000 m
2025-02-26T17:01:34.981Z,1740589294.981 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-02-26T17:01:34.983Z,1740589294.983 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-02-26T17:01:35.005Z,1740589295.005 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-02-26T17:01:35.007Z,1740589295.007 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-02-26T17:01:35.010Z,1740589295.010 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-02-26T17:01:35.012Z,1740589295.012 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-02-26T17:01:35.014Z,1740589295.014 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstTimeout = 45.000000 min
2025-02-26T17:01:35.016Z,1740589295.016 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MinEstTime = 10.000000 min
2025-02-26T17:01:35.019Z,1740589295.019 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-02-26T17:01:35.021Z,1740589295.021 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-02-26T17:01:35.023Z,1740589295.023 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.EstConfidence = 99.900002 %
2025-02-26T17:01:35.025Z,1740589295.025 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-02-26T17:01:35.027Z,1740589295.027 [MissionManager](INFO): DefineArg sink:RunSink:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-02-26T17:01:35.095Z,1740589295.095 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-02-26T17:01:35.100Z,1740589295.100 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T17:01:35.115Z,1740589295.115 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-02-26T17:01:35.131Z,1740589295.131 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-02-26T17:01:35.144Z,1740589295.144 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-02-26T17:01:35.147Z,1740589295.147 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-02-26T17:01:35.153Z,1740589295.153 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-02-26T17:01:35.156Z,1740589295.156 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-02-26T17:01:35.159Z,1740589295.159 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-02-26T17:01:35.165Z,1740589295.165 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-02-26T17:01:35.166Z,1740589295.166 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-02-26T17:01:35.170Z,1740589295.170 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-02-26T17:01:35.175Z,1740589295.175 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertDepthDeadband = reader:sink.DepthDeadband
2025-02-26T17:01:35.177Z,1740589295.177 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertApproachDepthTimeout = reader:sink.TargetDepthTimeout
2025-02-26T17:01:35.178Z,1740589295.178 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.InsertSettleTime = reader:sink.BTSettleTime
2025-02-26T17:01:35.180Z,1740589295.180 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstTimeout = reader:sink.EstimationTimeout
2025-02-26T17:01:35.181Z,1740589295.181 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MinEstTime = reader:sink.MinEstimationTime
2025-02-26T17:01:35.183Z,1740589295.183 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.MassEstErrorBound = reader:sink.MassEstimationErrorBound
2025-02-26T17:01:35.186Z,1740589295.186 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.BuoyEstErrorBound = reader:sink.BuoyEstimationErrorBound
2025-02-26T17:01:35.187Z,1740589295.187 [MissionManager](INFO): RedefineArg sink:RunSink:BallastAndTrim.EstConfidence = reader:sink.EstimationConfidence
2025-02-26T17:01:35.214Z,1740589295.214 [sink:FloatUp:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-02-26T17:01:35.223Z,1740589295.223 [sink:FloatUp:B.Wait](DEBUG): Construct Wait.
2025-02-26T17:01:35.383Z,1740589295.383 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission sink {
  arguments {
    SinkDuration = 2 hour
      """
      Overall B&T timeout, or time to sink before ascending if not running B&T.
      Mission timeout will be SinkDuration + WaitToFloat.
      """

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  output {
    MissionTimeout = SinkDuration
  }

  timeout duration=MissionTimeout

  assign in sequence MissionTimeout = SinkDuration + WaitToFloat

  insert Insert/Science.tl

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

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

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate startComms {
    run in sequence

    break if ( SkipComms )

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

  aggregate RunSink {
    run in sequence

    timeout duration=SinkDuration

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

    aggregate RunBallastAndTrim {
      run in sequence

      break if (
        isNaN ( Depth )
        or not DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

      call refId="BallastAndTrim"
    }

    aggregate JustSink {
      run in sequence

      break if (
        isNaN ( Depth )
        or DoBallastAndTrim
      )

      assign in sequence BallastAndTrim:InsertDepth = Depth

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

      call refId="BallastAndTrim"
    }
  }

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

    run in sequence

    break if ( Universal:depth < SurfaceThreshold )

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyDefault
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = WaitToFloat
    }
  }

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


2025-02-26T17:01:35.384Z,1740589295.384 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/sink.tl id=sink
2025-02-26T17:01:35.688Z,1740589295.688 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-26T17:02:00.360Z,1740589320.360 [CommandExec](IMPORTANT): got command set sink.SinkDuration .5 hour
2025-02-26T17:02:00.414Z,1740589320.414 [CommandExec](IMPORTANT): got command set sink.Depth 10 meter
2025-02-26T17:02:00.415Z,1740589320.415 [CommandExec](IMPORTANT): got command set sink.DepthDeadband 5 meter
2025-02-26T17:02:00.415Z,1740589320.415 [CommandExec](IMPORTANT): got command set sink.TargetDepthTimeout 120 minute
2025-02-26T17:02:00.416Z,1740589320.416 [CommandExec](IMPORTANT): got command set sink:BackseatDriver.EnableBackseat 1 bool
2025-02-26T17:02:00.417Z,1740589320.417 [CommandExec](IMPORTANT): got command run
2025-02-26T17:02:00.423Z,1740589320.423 [CommandExec](IMPORTANT): Running 
2025-02-26T17:02:00.431Z,1740589320.431 [Default] Stopped
2025-02-26T17:02:00.431Z,1740589320.431 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T17:02:00.431Z,1740589320.431 [Default:B.GoToSurface] Stopped
2025-02-26T17:02:00.431Z,1740589320.431 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T17:02:00.431Z,1740589320.431 [Default:CheckIn] Stopped
2025-02-26T17:02:00.432Z,1740589320.432 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-02-26T17:02:00.432Z,1740589320.432 [Default:CheckIn:C.Wait] Stopped
2025-02-26T17:02:00.432Z,1740589320.432 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T17:02:00.432Z,1740589320.432 [MissionManager](IMPORTANT): Started mission sink
2025-02-26T17:02:00.432Z,1740589320.432 [sink] Running Loop=1
2025-02-26T17:02:00.432Z,1740589320.432 [sink](DEBUG): Aggregate::initialize sink
2025-02-26T17:02:00.432Z,1740589320.432 [sink:Science] Running Loop=1
2025-02-26T17:02:00.432Z,1740589320.432 [sink:Science](DEBUG): Aggregate::initialize sink:Science
2025-02-26T17:02:00.432Z,1740589320.432 [sink:Science:A] Running Loop=1
2025-02-26T17:02:00.433Z,1740589320.433 [sink:Science:B] Running Loop=1
2025-02-26T17:02:00.433Z,1740589320.433 [sink:Science:C] Running Loop=1
2025-02-26T17:02:00.433Z,1740589320.433 [sink:Science:D] Running Loop=1
2025-02-26T17:02:00.434Z,1740589320.434 [sink:Science:E] Running Loop=1
2025-02-26T17:02:00.434Z,1740589320.434 [sink:Science:F] Running Loop=1
2025-02-26T17:02:00.434Z,1740589320.434 [sink:Science:Read_Oil] Running Loop=1
2025-02-26T17:02:00.434Z,1740589320.434 [sink:Science:PeakDetectChl] Running Loop=1
2025-02-26T17:02:00.434Z,1740589320.434 [sink:Science:PeakDetectChl](DEBUG): Aggregate::initialize sink:Science:PeakDetectChl
2025-02-26T17:02:00.434Z,1740589320.434 [sink:Science:PeakDetectChl:A] Running Loop=1
2025-02-26T17:02:00.434Z,1740589320.434 [sink:Science:EdgeDetectChl] Running Loop=1
2025-02-26T17:02:00.434Z,1740589320.434 [sink:Science:EdgeDetectChl](DEBUG): Aggregate::initialize sink:Science:EdgeDetectChl
2025-02-26T17:02:00.434Z,1740589320.434 [sink:Science:EdgeDetectChl:A] Running Loop=1
2025-02-26T17:02:00.434Z,1740589320.434 [sink:Science:HighestChlPeakReport] Running Loop=1
2025-02-26T17:02:00.435Z,1740589320.435 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestChlPeakReport
2025-02-26T17:02:00.435Z,1740589320.435 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T17:02:00.435Z,1740589320.435 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T17:02:00.435Z,1740589320.435 [sink:Science:PeakDetectNO3] Running Loop=1
2025-02-26T17:02:00.435Z,1740589320.435 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::initialize sink:Science:PeakDetectNO3
2025-02-26T17:02:00.435Z,1740589320.435 [sink:Science:PeakDetectNO3:A] Running Loop=1
2025-02-26T17:02:00.435Z,1740589320.435 [sink:Science:PeakDetectOil] Running Loop=1
2025-02-26T17:02:00.436Z,1740589320.436 [sink:Science:PeakDetectOil](DEBUG): Aggregate::initialize sink:Science:PeakDetectOil
2025-02-26T17:02:00.436Z,1740589320.436 [sink:Science:PeakDetectOil:A] Running Loop=1
2025-02-26T17:02:00.436Z,1740589320.436 [sink:Science:HighestOilPeakReport] Running Loop=1
2025-02-26T17:02:00.436Z,1740589320.436 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestOilPeakReport
2025-02-26T17:02:00.436Z,1740589320.436 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T17:02:00.436Z,1740589320.436 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T17:02:00.436Z,1740589320.436 [sink:Science:PeakDetectFDOM] Running Loop=1
2025-02-26T17:02:00.437Z,1740589320.437 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize sink:Science:PeakDetectFDOM
2025-02-26T17:02:00.437Z,1740589320.437 [sink:Science:PeakDetectFDOM:A] Running Loop=1
2025-02-26T17:02:00.437Z,1740589320.437 [sink:Science:PeakDetectSalinity] Running Loop=1
2025-02-26T17:02:00.437Z,1740589320.437 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize sink:Science:PeakDetectSalinity
2025-02-26T17:02:00.437Z,1740589320.437 [sink:Science:PeakDetectSalinity:A] Running Loop=1
2025-02-26T17:02:00.437Z,1740589320.437 [sink:Science:HighestSaltPeakReport] Running Loop=1
2025-02-26T17:02:00.437Z,1740589320.437 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize sink:Science:HighestSaltPeakReport
2025-02-26T17:02:00.438Z,1740589320.438 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-02-26T17:02:00.438Z,1740589320.438 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-02-26T17:02:00.438Z,1740589320.438 [sink:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T17:02:00.438Z,1740589320.438 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T17:02:00.438Z,1740589320.438 [sink:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T17:02:00.438Z,1740589320.438 [sink:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-02-26T17:02:00.438Z,1740589320.438 [sink:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize sink:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T17:02:00.439Z,1740589320.439 [sink:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-02-26T17:02:00.439Z,1740589320.439 [sink:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-02-26T17:02:00.439Z,1740589320.439 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T17:02:00.439Z,1740589320.439 [sink:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-02-26T17:02:00.439Z,1740589320.439 [sink:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-02-26T17:02:00.439Z,1740589320.439 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T17:02:00.439Z,1740589320.439 [sink:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-02-26T17:02:00.439Z,1740589320.439 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-02-26T17:02:00.439Z,1740589320.439 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T17:02:00.439Z,1740589320.439 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-02-26T17:02:00.440Z,1740589320.440 [sink:Science:ChlThreshTrigger] Running Loop=1
2025-02-26T17:02:00.440Z,1740589320.440 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize sink:Science:ChlThreshTrigger
2025-02-26T17:02:00.440Z,1740589320.440 [sink:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-02-26T17:02:00.440Z,1740589320.440 [sink:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-02-26T17:02:00.441Z,1740589320.441 [sink:Science:OceanCurrent] Running Loop=1
2025-02-26T17:02:00.441Z,1740589320.441 [sink:Science:OceanCurrent](DEBUG): Aggregate::initialize sink:Science:OceanCurrent
2025-02-26T17:02:00.441Z,1740589320.441 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T17:02:00.441Z,1740589320.441 [sink:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-02-26T17:02:00.441Z,1740589320.441 [sink:StandardEnvelopes] Running Loop=1
2025-02-26T17:02:00.441Z,1740589320.441 [sink:StandardEnvelopes](DEBUG): Aggregate::initialize sink:StandardEnvelopes
2025-02-26T17:02:00.441Z,1740589320.441 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T17:02:00.441Z,1740589320.441 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-02-26T17:02:00.442Z,1740589320.442 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T17:02:00.442Z,1740589320.442 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-02-26T17:02:00.442Z,1740589320.442 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T17:02:00.442Z,1740589320.442 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-02-26T17:02:00.442Z,1740589320.442 [sink:BackseatDriver] Running Loop=1
2025-02-26T17:02:00.442Z,1740589320.442 [sink:BackseatDriver](DEBUG): Aggregate::initialize sink:BackseatDriver
2025-02-26T17:02:00.442Z,1740589320.442 [sink:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-02-26T17:02:00.442Z,1740589320.442 [sink:PowerOnly] Running Loop=1
2025-02-26T17:02:00.442Z,1740589320.442 [sink:PowerOnly](DEBUG): Aggregate::initialize sink:PowerOnly
2025-02-26T17:02:00.442Z,1740589320.442 [sink:PowerOnly:A] Running Loop=1
2025-02-26T17:02:00.443Z,1740589320.443 [sink:PowerOnly:B] Running Loop=1
2025-02-26T17:02:00.443Z,1740589320.443 [sink:PowerOnly:C] Running Loop=1
2025-02-26T17:02:00.443Z,1740589320.443 [sink:PowerOnly:D] Running Loop=1
2025-02-26T17:02:00.443Z,1740589320.443 [sink:PowerOnly:E.Wait] Running Loop=1
2025-02-26T17:02:00.443Z,1740589320.443 [sink:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-02-26T17:02:00.443Z,1740589320.443 [sink:A] Running Loop=1
2025-02-26T17:02:00.444Z,1740589320.444 [sink:PowerOnly] Running Loop=1
2025-02-26T17:02:00.444Z,1740589320.444 [sink:PowerOnly:D] Stopped
2025-02-26T17:02:00.444Z,1740589320.444 [sink:PowerOnly:C] Stopped
2025-02-26T17:02:00.444Z,1740589320.444 [sink:PowerOnly:B] Stopped
2025-02-26T17:02:00.444Z,1740589320.444 [sink:PowerOnly:A] Stopped
2025-02-26T17:02:00.444Z,1740589320.444 [sink:BackseatDriver] Running Loop=1
2025-02-26T17:02:00.444Z,1740589320.444 [sink:BackseatDriver:A.BackseatDriver](INFO): Initializing backseat
2025-02-26T17:02:00.460Z,1740589320.460 [sink:StandardEnvelopes] Running Loop=1
2025-02-26T17:02:00.460Z,1740589320.460 [sink:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-02-26T17:02:00.460Z,1740589320.460 [sink:StandardEnvelopes:C.OffshoreEnvelope](IMPORTANT): Offshore envelope ACTIVE
2025-02-26T17:02:00.477Z,1740589320.477 [BackseatComponent](INFO): Powering up
2025-02-26T17:02:00.478Z,1740589320.478 [BackseatComponent](INFO): Subscribing to LCM channels.
2025-02-26T17:02:00.496Z,1740589320.496 [sink:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-02-26T17:02:00.496Z,1740589320.496 [sink:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-02-26T17:02:00.496Z,1740589320.496 [sink:Science] Running Loop=1
2025-02-26T17:02:00.502Z,1740589320.502 [sink:Science:ChlThreshTrigger] Stopped
2025-02-26T17:02:00.502Z,1740589320.502 [sink:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize sink:Science:ChlThreshTrigger
2025-02-26T17:02:00.502Z,1740589320.502 [sink:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-02-26T17:02:00.502Z,1740589320.502 [sink:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-02-26T17:02:00.502Z,1740589320.502 [sink:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-02-26T17:02:00.503Z,1740589320.503 [sink:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDinoflagellates
2025-02-26T17:02:00.503Z,1740589320.503 [sink:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-02-26T17:02:00.503Z,1740589320.503 [sink:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-02-26T17:02:00.503Z,1740589320.503 [sink:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreDiatoms
2025-02-26T17:02:00.503Z,1740589320.503 [sink:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-02-26T17:02:00.503Z,1740589320.503 [sink:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-02-26T17:02:00.503Z,1740589320.503 [sink:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreHMavgROI
2025-02-26T17:02:00.503Z,1740589320.503 [sink:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-02-26T17:02:00.503Z,1740589320.503 [sink:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-02-26T17:02:00.503Z,1740589320.503 [sink:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectPlanktivoreLMavgROI
2025-02-26T17:02:00.503Z,1740589320.503 [sink:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T17:02:00.504Z,1740589320.504 [sink:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-02-26T17:02:00.504Z,1740589320.504 [sink:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectPlanktivoreLMavgROI
2025-02-26T17:02:00.504Z,1740589320.504 [sink:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-02-26T17:02:00.504Z,1740589320.504 [sink:Science:HighestSaltPeakReport] Stopped
2025-02-26T17:02:00.504Z,1740589320.504 [sink:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestSaltPeakReport
2025-02-26T17:02:00.504Z,1740589320.504 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T17:02:00.504Z,1740589320.504 [sink:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T17:02:00.504Z,1740589320.504 [sink:Science:PeakDetectSalinity] Stopped
2025-02-26T17:02:00.504Z,1740589320.504 [sink:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectSalinity
2025-02-26T17:02:00.504Z,1740589320.504 [sink:Science:PeakDetectSalinity:A] Stopped
2025-02-26T17:02:00.504Z,1740589320.504 [sink:Science:PeakDetectFDOM] Stopped
2025-02-26T17:02:00.504Z,1740589320.504 [sink:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectFDOM
2025-02-26T17:02:00.504Z,1740589320.504 [sink:Science:PeakDetectFDOM:A] Stopped
2025-02-26T17:02:00.505Z,1740589320.505 [sink:Science:HighestOilPeakReport] Stopped
2025-02-26T17:02:00.513Z,1740589320.513 [sink:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestOilPeakReport
2025-02-26T17:02:00.513Z,1740589320.513 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T17:02:00.513Z,1740589320.513 [sink:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T17:02:00.513Z,1740589320.513 [sink:Science:PeakDetectOil] Stopped
2025-02-26T17:02:00.513Z,1740589320.513 [sink:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectOil
2025-02-26T17:02:00.513Z,1740589320.513 [sink:Science:PeakDetectOil:A] Stopped
2025-02-26T17:02:00.513Z,1740589320.513 [sink:Science:PeakDetectNO3] Stopped
2025-02-26T17:02:00.513Z,1740589320.513 [sink:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectNO3
2025-02-26T17:02:00.514Z,1740589320.514 [sink:Science:PeakDetectNO3:A] Stopped
2025-02-26T17:02:00.514Z,1740589320.514 [sink:Science:HighestChlPeakReport] Stopped
2025-02-26T17:02:00.514Z,1740589320.514 [sink:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize sink:Science:HighestChlPeakReport
2025-02-26T17:02:00.514Z,1740589320.514 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-02-26T17:02:00.514Z,1740589320.514 [sink:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-02-26T17:02:00.514Z,1740589320.514 [sink:Science:EdgeDetectChl] Stopped
2025-02-26T17:02:00.514Z,1740589320.514 [sink:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize sink:Science:EdgeDetectChl
2025-02-26T17:02:00.514Z,1740589320.514 [sink:Science:EdgeDetectChl:A] Stopped
2025-02-26T17:02:00.514Z,1740589320.514 [sink:Science:PeakDetectChl] Stopped
2025-02-26T17:02:00.514Z,1740589320.514 [sink:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize sink:Science:PeakDetectChl
2025-02-26T17:02:00.514Z,1740589320.514 [sink:Science:PeakDetectChl:A] Stopped
2025-02-26T17:02:00.514Z,1740589320.514 [sink:Science:OceanCurrent:A.] Running Loop=1
2025-02-26T17:02:00.515Z,1740589320.515 [sink:Science:Read_Oil] Stopped
2025-02-26T17:02:00.515Z,1740589320.515 [sink:Science:F] Stopped
2025-02-26T17:02:00.515Z,1740589320.515 [sink:Science:E] Running Loop=1
2025-02-26T17:02:00.515Z,1740589320.515 [sink:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-02-26T17:02:00.515Z,1740589320.515 [sink:Science:D] Stopped
2025-02-26T17:02:00.515Z,1740589320.515 [sink:Science:C] Running Loop=1
2025-02-26T17:02:00.516Z,1740589320.516 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-02-26T17:02:00.516Z,1740589320.516 [sink:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-02-26T17:02:00.516Z,1740589320.516 [sink:Science:B] Running Loop=1
2025-02-26T17:02:00.517Z,1740589320.517 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-02-26T17:02:00.518Z,1740589320.518 [sink:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-02-26T17:02:00.518Z,1740589320.518 [sink:Science:A] Stopped
2025-02-26T17:02:00.518Z,1740589320.518 [sink:A] Stopped
2025-02-26T17:02:00.518Z,1740589320.518 [sink:D] Running Loop=1
2025-02-26T17:02:00.787Z,1740589320.787 [WetLabsBB2FL](INFO): Powering up
2025-02-26T17:02:00.867Z,1740589320.867 [sink:D] Stopped
2025-02-26T17:02:00.867Z,1740589320.867 [sink:F] Running Loop=1
2025-02-26T17:02:01.237Z,1740589321.237 [sink:F] Stopped
2025-02-26T17:02:01.237Z,1740589321.237 [sink:G] Running Loop=1
2025-02-26T17:02:01.645Z,1740589321.645 [sink:G] Stopped
2025-02-26T17:02:01.645Z,1740589321.645 [sink:H] Running Loop=1
2025-02-26T17:02:02.049Z,1740589322.049 [sink:H] Stopped
2025-02-26T17:02:02.049Z,1740589322.049 [sink:startComms] Running Loop=1
2025-02-26T17:02:02.049Z,1740589322.049 [sink:startComms](DEBUG): Aggregate::initialize sink:startComms
2025-02-26T17:02:02.050Z,1740589322.050 [sink:startComms:StartingMission] Running Loop=1
2025-02-26T17:02:02.050Z,1740589322.050 [sink:startComms:StartingMission](DEBUG): Aggregate::initialize sink:startComms:StartingMission
2025-02-26T17:02:02.059Z,1740589322.059 [sink:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2025-02-26T17:02:02.475Z,1740589322.475 [sink:NeedComms] Running Loop=1
2025-02-26T17:02:02.475Z,1740589322.475 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-02-26T17:02:02.475Z,1740589322.475 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-02-26T17:02:02.475Z,1740589322.475 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T17:02:02.475Z,1740589322.475 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-26T17:02:02.476Z,1740589322.476 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-26T17:02:02.476Z,1740589322.476 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-26T17:02:02.476Z,1740589322.476 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-26T17:02:02.477Z,1740589322.477 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T17:02:02.477Z,1740589322.477 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T17:02:02.477Z,1740589322.477 [sink:NeedComms:A] Running Loop=1
2025-02-26T17:02:02.479Z,1740589322.479 [sink:NeedComms:A](INFO): last time_fix was:  1740589198.000000 second since 1970/01/01T00:00:00Z 
2025-02-26T17:02:02.479Z,1740589322.479 [sink:NeedComms:A] Stopped
2025-02-26T17:02:02.868Z,1740589322.868 [sink:NeedComms:C] Running Loop=1
2025-02-26T17:02:03.286Z,1740589323.286 [sink:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T17:02:03.898Z,1740589323.898 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-02-26T17:02:04.867Z,1740589324.867 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,170204.00,A,3649.13108,N,12149.12089,W,0.603,346.81,260225,,,D*7B
2025-02-26T17:02:04.869Z,1740589324.869 [NAL9602](INFO): GPS fix at 20250226T170204: (36.818851, -121.818681)
2025-02-26T17:02:04.893Z,1740589324.893 [sink:NeedComms:C] Stopped
2025-02-26T17:02:04.893Z,1740589324.893 [sink:NeedComms:D] Running Loop=1
2025-02-26T17:02:05.345Z,1740589325.345 [sink:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-02-26T17:02:13.573Z,1740589333.573 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250226T074052/Courier0160.lzma
2025-02-26T17:02:14.575Z,1740589334.575 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Courier0160.lzma.bak
2025-02-26T17:02:14.576Z,1740589334.576 [DataOverHttps](INFO): SBD MOMSN=23979207
2025-02-26T17:02:22.707Z,1740589342.707 [NAL9602](INFO): SBD MO Status=2, MOMSN=13585, MT Status=2, MTMSN=0
2025-02-26T17:02:22.707Z,1740589342.707 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T17:02:35.339Z,1740589355.339 [DataOverHttps](INFO): Sending 362 bytes from file Logs/20250226T074052/Express0161.lzma
2025-02-26T17:02:36.347Z,1740589356.347 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0161.lzma.bak
2025-02-26T17:02:36.347Z,1740589356.347 [DataOverHttps](INFO): SBD MOMSN=23979210
2025-02-26T17:02:41.704Z,1740589361.704 [NAL9602](INFO): SBD MO Status=2, MOMSN=13585, MT Status=2, MTMSN=0
2025-02-26T17:02:41.704Z,1740589361.704 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T17:02:53.701Z,1740589373.701 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20250226T074052/Express0164.lzma
2025-02-26T17:02:54.703Z,1740589374.703 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0164.lzma.bak
2025-02-26T17:02:54.703Z,1740589374.703 [DataOverHttps](INFO): SBD MOMSN=23979224
2025-02-26T17:02:56.693Z,1740589376.693 [sink:NeedComms:D] Stopped
2025-02-26T17:02:56.694Z,1740589376.694 [sink:NeedComms:E] Running Loop=1
2025-02-26T17:02:57.085Z,1740589377.085 [sink:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-02-26T17:03:08.006Z,1740589388.006 [BackseatComponent](IMPORTANT): IBASE811F-02: Running bioacoustics backseat app. Logging to: 20250226T170307
2025-02-26T17:03:20.895Z,1740589400.895 [NAL9602](INFO): SBD MO Status=2, MOMSN=13585, MT Status=2, MTMSN=0
2025-02-26T17:03:20.895Z,1740589400.895 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T17:03:38.674Z,1740589418.674 [NAL9602](INFO): SBD MO Status=2, MOMSN=13585, MT Status=2, MTMSN=0
2025-02-26T17:03:38.675Z,1740589418.675 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T17:04:06.969Z,1740589446.969 [sink:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.height_above_sea_floor with code: 2119
2025-02-26T17:04:24.736Z,1740589464.736 [NAL9602](INFO): SBD MO Status=1, MOMSN=13585, MT Status=0, MTMSN=0
2025-02-26T17:04:24.736Z,1740589464.736 [NAL9602](INFO): No messages in MT queue
2025-02-26T17:04:25.947Z,1740589465.947 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,170425.00,A,3649.14442,N,12149.11490,W,0.758,45.57,260225,,,D*49
2025-02-26T17:04:25.949Z,1740589465.949 [NAL9602](INFO): GPS fix at 20250226T170425: (36.819074, -121.818582)
2025-02-26T17:04:25.973Z,1740589465.973 [sink:NeedComms:E] Stopped
2025-02-26T17:04:25.974Z,1740589465.974 [sink:NeedComms](INFO): Completed sink:NeedComms
2025-02-26T17:04:25.974Z,1740589465.974 [sink:NeedComms] Stopped
2025-02-26T17:04:25.975Z,1740589465.975 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-02-26T17:04:25.975Z,1740589465.975 [sink:NeedComms:B.GoToSurface] Stopped
2025-02-26T17:04:25.975Z,1740589465.975 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T17:04:26.387Z,1740589466.387 [sink:startComms:StartingMission](INFO): Completed sink:startComms:StartingMission
2025-02-26T17:04:26.387Z,1740589466.387 [sink:startComms:StartingMission] Stopped
2025-02-26T17:04:26.387Z,1740589466.387 [sink:startComms:StartingMission](DEBUG): Aggregate::uninitialize sink:startComms:StartingMission
2025-02-26T17:04:26.387Z,1740589466.387 [sink:startComms](INFO): Completed sink:startComms
2025-02-26T17:04:26.387Z,1740589466.387 [sink:startComms] Stopped
2025-02-26T17:04:26.387Z,1740589466.387 [sink:startComms](DEBUG): Aggregate::uninitialize sink:startComms
2025-02-26T17:04:26.387Z,1740589466.387 [sink:RunSink] Running Loop=1
2025-02-26T17:04:26.387Z,1740589466.387 [sink:RunSink](DEBUG): Aggregate::initialize sink:RunSink
2025-02-26T17:04:26.387Z,1740589466.387 [sink:RunSink:RunBallastAndTrim] Running Loop=1
2025-02-26T17:04:26.388Z,1740589466.388 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:RunBallastAndTrim
2025-02-26T17:04:26.388Z,1740589466.388 [sink:RunSink:RunBallastAndTrim:A] Running Loop=1
2025-02-26T17:04:26.779Z,1740589466.779 [sink:RunSink:RunBallastAndTrim] Stopped
2025-02-26T17:04:26.780Z,1740589466.780 [sink:RunSink:RunBallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:RunBallastAndTrim
2025-02-26T17:04:26.780Z,1740589466.780 [sink:RunSink:RunBallastAndTrim:A] Stopped
2025-02-26T17:04:26.780Z,1740589466.780 [sink:RunSink:JustSink] Running Loop=1
2025-02-26T17:04:26.780Z,1740589466.780 [sink:RunSink:JustSink](DEBUG): Aggregate::initialize sink:RunSink:JustSink
2025-02-26T17:04:26.780Z,1740589466.780 [sink:RunSink:JustSink:A] Running Loop=1
2025-02-26T17:04:27.196Z,1740589467.196 [sink:RunSink:JustSink:A] Stopped
2025-02-26T17:04:27.196Z,1740589467.196 [sink:RunSink:JustSink:B] Running Loop=1
2025-02-26T17:04:27.573Z,1740589467.573 [sink:RunSink:JustSink:B] Stopped
2025-02-26T17:04:27.573Z,1740589467.573 [sink:RunSink:JustSink:C] Running Loop=1
2025-02-26T17:04:27.574Z,1740589467.574 [sink:RunSink:JustSink:C](DEBUG): Aggregate::initialize sink:RunSink:JustSink:C
2025-02-26T17:04:27.991Z,1740589467.991 [sink:RunSink:BallastAndTrim] Running Loop=1
2025-02-26T17:04:27.991Z,1740589467.991 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim
2025-02-26T17:04:27.991Z,1740589467.991 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-02-26T17:04:27.991Z,1740589467.991 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-02-26T17:04:27.991Z,1740589467.991 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-02-26T17:04:27.992Z,1740589467.992 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-02-26T17:04:27.992Z,1740589467.992 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-02-26T17:04:27.992Z,1740589467.992 [sink:RunSink:BallastAndTrim:F] Running Loop=1
2025-02-26T17:04:27.994Z,1740589467.994 [sink:RunSink:BallastAndTrim:F](INFO): Going to target depth. Speed set to  0.000000 m/s 
2025-02-26T17:04:27.994Z,1740589467.994 [sink:RunSink:BallastAndTrim:F] Stopped
2025-02-26T17:04:27.994Z,1740589467.994 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-02-26T17:04:27.994Z,1740589467.994 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-02-26T17:04:27.994Z,1740589467.994 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-02-26T17:04:27.995Z,1740589467.995 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-02-26T17:04:27.995Z,1740589467.995 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-02-26T17:04:27.995Z,1740589467.995 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-02-26T17:04:27.995Z,1740589467.995 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-02-26T17:04:27.995Z,1740589467.995 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-02-26T17:04:27.995Z,1740589467.995 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T17:04:27.995Z,1740589467.995 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-02-26T17:04:27.995Z,1740589467.995 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-02-26T17:04:27.995Z,1740589467.995 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-02-26T17:04:27.995Z,1740589467.995 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-26T17:04:27.996Z,1740589467.996 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-02-26T17:04:27.996Z,1740589467.996 [sink:RunSink:BallastAndTrim:E] Running Loop=1
2025-02-26T17:04:27.996Z,1740589467.996 [sink:RunSink:BallastAndTrim:D] Running Loop=1
2025-02-26T17:04:27.996Z,1740589467.996 [sink:RunSink:BallastAndTrim:C] Running Loop=1
2025-02-26T17:04:27.996Z,1740589467.996 [sink:RunSink:BallastAndTrim:B] Running Loop=1
2025-02-26T17:04:27.997Z,1740589467.997 [sink:RunSink:BallastAndTrim:A] Running Loop=1
2025-02-26T17:04:28.389Z,1740589468.389 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-02-26T17:04:28.389Z,1740589468.389 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-02-26T17:04:28.389Z,1740589468.389 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-02-26T17:04:28.389Z,1740589468.389 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-02-26T17:04:28.390Z,1740589468.390 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-02-26T17:04:28.390Z,1740589468.390 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-02-26T17:04:28.390Z,1740589468.390 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-02-26T17:04:28.390Z,1740589468.390 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-02-26T17:04:28.390Z,1740589468.390 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T17:04:28.390Z,1740589468.390 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-02-26T17:04:28.390Z,1740589468.390 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-02-26T17:04:28.807Z,1740589468.807 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-02-26T17:04:28.807Z,1740589468.807 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-02-26T17:04:28.807Z,1740589468.807 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T17:04:28.807Z,1740589468.807 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-26T17:04:28.807Z,1740589468.807 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-02-26T17:04:28.807Z,1740589468.807 [sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-02-26T17:04:28.807Z,1740589468.807 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-02-26T17:04:28.808Z,1740589468.808 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-26T17:04:28.808Z,1740589468.808 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-02-26T17:04:28.808Z,1740589468.808 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-02-26T17:04:28.808Z,1740589468.808 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-02-26T17:04:29.200Z,1740589469.200 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-02-26T17:04:29.201Z,1740589469.201 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  10.000000 m 
2025-02-26T17:04:29.201Z,1740589469.201 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-02-26T17:04:29.201Z,1740589469.201 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-02-26T17:04:29.201Z,1740589469.201 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-02-26T17:04:58.380Z,1740589498.380 [NAL9602](INFO): Not Powering down - fast GPS
2025-02-26T17:05:17.753Z,1740589517.753 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-02-26T17:05:17.754Z,1740589517.754 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-26T17:05:17.754Z,1740589517.754 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-02-26T17:05:17.754Z,1740589517.754 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-02-26T17:05:17.754Z,1740589517.754 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-02-26T17:05:17.754Z,1740589517.754 [sink:RunSink:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-02-26T17:05:17.755Z,1740589517.755 [sink:RunSink:BallastAndTrim:GoToTargetDepth](INFO): Completed sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-02-26T17:05:17.755Z,1740589517.755 [sink:RunSink:BallastAndTrim:GoToTargetDepth] Stopped
2025-02-26T17:05:17.755Z,1740589517.755 [sink:RunSink:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:GoToTargetDepth
2025-02-26T17:05:17.755Z,1740589517.755 [sink:RunSink:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-02-26T17:05:17.755Z,1740589517.755 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-02-26T17:05:17.755Z,1740589517.755 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-02-26T17:05:17.755Z,1740589517.755 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-02-26T17:05:17.755Z,1740589517.755 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-02-26T17:05:17.755Z,1740589517.755 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-02-26T17:05:17.755Z,1740589517.755 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-02-26T17:05:17.756Z,1740589517.756 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-02-26T17:05:18.163Z,1740589518.163 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  10.216872 m 
2025-02-26T17:05:18.163Z,1740589518.163 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-02-26T17:05:18.163Z,1740589518.163 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-02-26T17:05:18.163Z,1740589518.163 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-02-26T17:05:18.164Z,1740589518.164 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-02-26T17:05:18.164Z,1740589518.164 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-02-26T17:05:28.477Z,1740589528.477 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T17:05:52.769Z,1740589552.769 [Radio_Surface](INFO): Powering down
2025-02-26T17:05:59.605Z,1740589559.605 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T17:06:00.610Z,1740589560.610 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T17:06:36.843Z,1740589596.843 [Radio_Surface](INFO): Powering up
2025-02-26T17:06:42.790Z,1740589602.790 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T17:07:12.913Z,1740589632.913 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T17:07:37.010Z,1740589657.010 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.739227
2025-02-26T17:08:02.125Z,1740589682.125 [Radio_Surface](INFO): Powering down
2025-02-26T17:08:09.096Z,1740589689.096 [sink:BackseatDriver:A.BackseatDriver](INFO): Created data writer for _.simrad_data_logging_rate with code: 2120
2025-02-26T17:08:14.157Z,1740589694.157 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T17:08:15.161Z,1740589695.161 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-02-26T17:11:35.825Z,1740589895.825 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-26T17:19:11.099Z,1740590351.099 [CTD_Seabird](ERROR): Failed to parse device response: 4.50,12.4391,3.847650
2025-02-26T17:21:36.208Z,1740590496.208 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-26T17:31:36.560Z,1740591096.560 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-02-26T17:34:26.663Z,1740591266.663 [sink:RunSink](INFO): Timed out from 2025-02-26T17:04:26.4Z
2025-02-26T17:34:26.663Z,1740591266.663 [sink:RunSink] Stopped
2025-02-26T17:34:26.663Z,1740591266.663 [sink:RunSink](DEBUG): Aggregate::uninitialize sink:RunSink
2025-02-26T17:34:26.663Z,1740591266.663 [sink:RunSink:BallastAndTrim] Stopped
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:BallastAndTrim](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:BallastAndTrim:A] Stopped
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:BallastAndTrim:B] Stopped
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:BallastAndTrim:C] Stopped
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:BallastAndTrim:D] Stopped
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:BallastAndTrim:E] Stopped
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:JustSink] Stopped
2025-02-26T17:34:26.664Z,1740591266.664 [sink:RunSink:JustSink](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink
2025-02-26T17:34:26.665Z,1740591266.665 [sink:RunSink:JustSink:C] Stopped
2025-02-26T17:34:26.665Z,1740591266.665 [sink:RunSink:JustSink:C](DEBUG): Aggregate::uninitialize sink:RunSink:JustSink:C
2025-02-26T17:34:26.665Z,1740591266.665 [sink:FloatUp] Running Loop=1
2025-02-26T17:34:26.665Z,1740591266.665 [sink:FloatUp](DEBUG): Aggregate::initialize sink:FloatUp
2025-02-26T17:34:26.665Z,1740591266.665 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-02-26T17:34:26.666Z,1740591266.666 [sink:FloatUp:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-02-26T17:34:26.666Z,1740591266.666 [sink:FloatUp:B.Wait] Running Loop=1
2025-02-26T17:34:26.666Z,1740591266.666 [sink:FloatUp:B.Wait](DEBUG): Initialize Wait Component.
2025-02-26T17:34:27.061Z,1740591267.061 [sink:FloatUp:A.Buoyancy] Running Loop=1
2025-02-26T17:36:54.121Z,1740591414.121 [sink:FloatUp] Stopped
2025-02-26T17:36:54.121Z,1740591414.121 [sink:FloatUp](DEBUG): Aggregate::uninitialize sink:FloatUp
2025-02-26T17:36:54.121Z,1740591414.121 [sink:FloatUp:A.Buoyancy] Stopped
2025-02-26T17:36:54.121Z,1740591414.121 [sink:FloatUp:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-02-26T17:36:54.121Z,1740591414.121 [sink:FloatUp:B.Wait] Stopped
2025-02-26T17:36:54.121Z,1740591414.121 [sink:FloatUp:B.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T17:36:54.122Z,1740591414.122 [sink:EndingMission] Running Loop=1
2025-02-26T17:36:54.122Z,1740591414.122 [sink:EndingMission](DEBUG): Aggregate::initialize sink:EndingMission
2025-02-26T17:36:54.534Z,1740591414.534 [sink:NeedComms] Running Loop=1
2025-02-26T17:36:54.534Z,1740591414.534 [sink:NeedComms](DEBUG): Aggregate::initialize sink:NeedComms
2025-02-26T17:36:54.534Z,1740591414.534 [sink:NeedComms:B.GoToSurface] Running Loop=1
2025-02-26T17:36:54.534Z,1740591414.534 [sink:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T17:36:54.534Z,1740591414.534 [sink:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-02-26T17:36:54.535Z,1740591414.535 [sink:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-02-26T17:36:54.535Z,1740591414.535 [sink:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-02-26T17:36:54.535Z,1740591414.535 [sink:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-02-26T17:36:54.536Z,1740591414.536 [sink:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T17:36:54.536Z,1740591414.536 [sink:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T17:36:54.536Z,1740591414.536 [sink:NeedComms:A] Running Loop=1
2025-02-26T17:36:54.542Z,1740591414.542 [sink:NeedComms:A](INFO): last time_fix was:  1740589465.000000 second since 1970/01/01T00:00:00Z 
2025-02-26T17:36:54.542Z,1740591414.542 [sink:NeedComms:A] Stopped
2025-02-26T17:37:03.007Z,1740591423.007 [sink:NeedComms:C] Running Loop=1
2025-02-26T17:37:03.550Z,1740591423.550 [Radio_Surface](INFO): Powering up
2025-02-26T17:37:09.258Z,1740591429.258 [DataOverHttps](INFO): Radio surface powered ON.
2025-02-26T17:37:34.586Z,1740591454.586 [NAL9602](INFO): SBD MO Status=1, MOMSN=13586, MT Status=0, MTMSN=0
2025-02-26T17:37:34.587Z,1740591454.587 [NAL9602](INFO): No messages in MT queue
2025-02-26T17:37:35.807Z,1740591455.807 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,173735.00,A,3649.16756,N,12149.27190,W,0.330,97.32,260225,,,A*4F
2025-02-26T17:37:35.818Z,1740591455.818 [NAL9602](INFO): GPS fix at 20250226T173735: (36.819459, -121.821198)
2025-02-26T17:37:35.834Z,1740591455.834 [sink:NeedComms:C] Stopped
2025-02-26T17:37:35.834Z,1740591455.834 [sink:NeedComms:D] Running Loop=1
2025-02-26T17:37:39.394Z,1740591459.394 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T17:37:58.435Z,1740591478.435 [NAL9602](INFO): SBD MO Status=2, MOMSN=13587, MT Status=2, MTMSN=0
2025-02-26T17:37:58.435Z,1740591478.435 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T17:38:02.882Z,1740591482.882 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T17:38:10.522Z,1740591490.522 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T17:38:17.738Z,1740591497.738 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T17:38:23.803Z,1740591503.803 [NAL9602](INFO): SBD MO Status=2, MOMSN=13587, MT Status=2, MTMSN=0
2025-02-26T17:38:23.803Z,1740591503.803 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T17:38:30.159Z,1740591510.159 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T17:38:41.649Z,1740591521.649 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T17:38:42.681Z,1740591522.681 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T17:38:49.925Z,1740591529.925 [NAL9602](INFO): SBD MO Status=2, MOMSN=13587, MT Status=2, MTMSN=0
2025-02-26T17:38:49.925Z,1740591529.925 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-02-26T17:38:55.590Z,1740591535.590 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T17:39:10.581Z,1740591550.581 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T17:39:12.299Z,1740591552.299 [NAL9602](INFO): SBD MO Status=1, MOMSN=13587, MT Status=0, MTMSN=0
2025-02-26T17:39:12.354Z,1740591552.354 [NAL9602](INFO): Sent 73 bytes from file Logs/20250226T074052/Courier0166.lzma
2025-02-26T17:39:12.354Z,1740591552.354 [NAL9602](INFO): Packets left to send: 0
2025-02-26T17:39:12.804Z,1740591552.804 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-02-26T17:39:21.655Z,1740591561.655 [DataOverHttps](IMPORTANT): SBD MTMSN=20250226T173920
2025-02-26T17:39:21.661Z,1740591561.661 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005198
2025-02-26T17:39:23.284Z,1740591563.284 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-02-26T17:39:24.071Z,1740591564.071 [NAL9602](INFO): SBD MO Status=1, MOMSN=13588, MT Status=0, MTMSN=0
2025-02-26T17:39:24.121Z,1740591564.121 [NAL9602](INFO): Sent 332 bytes from file Logs/20250226T074052/Express0167.lzma
2025-02-26T17:39:24.121Z,1740591564.121 [NAL9602](INFO): Packets left to send: 1
2025-02-26T17:39:30.310Z,1740591570.310 [DataOverHttps](INFO): Sending 418 bytes from file Logs/20250226T074052/Express0167.lzma
2025-02-26T17:39:30.313Z,1740591570.313 [DataOverHttps](INFO): Received command: configset elevatorservo.loadatstartup 1 bool persist; restart app
2025-02-26T17:39:30.797Z,1740591570.797 [CommandExec](IMPORTANT): got command configSet ElevatorServo.loadAtStartup 1 bool persist
2025-02-26T17:39:30.798Z,1740591570.798 [CommandExec](IMPORTANT): configSet ElevatorServo.loadAtStartup requires a restart to take effect.
2025-02-26T17:39:31.204Z,1740591571.204 [CommandExec](IMPORTANT): got command restart application
2025-02-26T17:39:31.633Z,1740591571.633 [DataOverHttps](INFO): Moved sent file to Logs/20250226T074052/Express0167.lzma.bak
2025-02-26T17:39:31.633Z,1740591571.633 [DataOverHttps](INFO): SBD MOMSN=23979234
2025-02-26T17:39:32.210Z,1740591572.210 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2025-02-26T17:39:32.211Z,1740591572.211 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-26T17:39:32.211Z,1740591572.211 [CommandExec](INFO): Uninitializing the command executive.
2025-02-26T17:39:32.211Z,1740591572.211 [CommandExec](INFO): Uninitializing the command scheduler.
2025-02-26T17:39:32.212Z,1740591572.212 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:32.300Z,1740591572.300 [MissionManager](INFO): MissionManager is completed.
2025-02-26T17:39:32.300Z,1740591572.300 [MissionManager](INFO): Uninitializing Mission sink
2025-02-26T17:39:32.300Z,1740591572.300 [sink] Stopped
2025-02-26T17:39:32.309Z,1740591572.309 [sink](DEBUG): Aggregate::uninitialize sink
2025-02-26T17:39:32.309Z,1740591572.309 [sink:Science] Stopped
2025-02-26T17:39:32.309Z,1740591572.309 [sink:Science](DEBUG): Aggregate::uninitialize sink:Science
2025-02-26T17:39:32.309Z,1740591572.309 [sink:Science:B] Stopped
2025-02-26T17:39:32.309Z,1740591572.309 [sink:Science:C] Stopped
2025-02-26T17:39:32.309Z,1740591572.309 [sink:Science:E] Stopped
2025-02-26T17:39:32.309Z,1740591572.309 [sink:Science:OceanCurrent] Stopped
2025-02-26T17:39:32.309Z,1740591572.309 [sink:Science:OceanCurrent](DEBUG): Aggregate::uninitialize sink:Science:OceanCurrent
2025-02-26T17:39:32.309Z,1740591572.309 [sink:Science:OceanCurrent:A.] Stopped
2025-02-26T17:39:32.310Z,1740591572.310 [sink:NeedComms] Stopped
2025-02-26T17:39:32.310Z,1740591572.310 [sink:NeedComms](DEBUG): Aggregate::uninitialize sink:NeedComms
2025-02-26T17:39:32.310Z,1740591572.310 [sink:NeedComms:B.GoToSurface] Stopped
2025-02-26T17:39:32.310Z,1740591572.310 [sink:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T17:39:32.310Z,1740591572.310 [sink:NeedComms:D] Stopped
2025-02-26T17:39:32.310Z,1740591572.310 [sink:StandardEnvelopes] Stopped
2025-02-26T17:39:32.310Z,1740591572.310 [sink:StandardEnvelopes](DEBUG): Aggregate::uninitialize sink:StandardEnvelopes
2025-02-26T17:39:32.310Z,1740591572.310 [sink:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-02-26T17:39:32.310Z,1740591572.310 [sink:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-02-26T17:39:32.310Z,1740591572.310 [sink:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-02-26T17:39:32.310Z,1740591572.310 [sink:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-02-26T17:39:32.310Z,1740591572.310 [sink:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-02-26T17:39:32.310Z,1740591572.310 [sink:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-02-26T17:39:32.311Z,1740591572.311 [sink:BackseatDriver] Stopped
2025-02-26T17:39:32.311Z,1740591572.311 [sink:BackseatDriver](DEBUG): Aggregate::uninitialize sink:BackseatDriver
2025-02-26T17:39:32.311Z,1740591572.311 [sink:BackseatDriver:A.BackseatDriver] Stopped
2025-02-26T17:39:32.311Z,1740591572.311 [sink:PowerOnly] Stopped
2025-02-26T17:39:32.311Z,1740591572.311 [sink:PowerOnly](DEBUG): Aggregate::uninitialize sink:PowerOnly
2025-02-26T17:39:32.311Z,1740591572.311 [sink:PowerOnly:E.Wait] Stopped
2025-02-26T17:39:32.311Z,1740591572.311 [sink:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T17:39:32.311Z,1740591572.311 [sink:EndingMission] Stopped
2025-02-26T17:39:32.311Z,1740591572.311 [sink:EndingMission](DEBUG): Aggregate::uninitialize sink:EndingMission
2025-02-26T17:39:32.353Z,1740591572.353 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-02-26T17:39:32.353Z,1740591572.353 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-02-26T17:39:32.353Z,1740591572.353 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:32.354Z,1740591572.354 [NavChartDb](INFO): Join timeout helper Thread ID is 7620
2025-02-26T17:39:32.449Z,1740591572.449 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-26T17:39:32.450Z,1740591572.450 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:32.453Z,1740591572.453 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-02-26T17:39:32.453Z,1740591572.453 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:32.453Z,1740591572.453 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 7621
2025-02-26T17:39:32.813Z,1740591572.813 [MissionManager](IMPORTANT): Started mission Default
2025-02-26T17:39:32.813Z,1740591572.813 [Default] Running Loop=1
2025-02-26T17:39:32.813Z,1740591572.813 [Default](DEBUG): Aggregate::initialize Default
2025-02-26T17:39:32.813Z,1740591572.813 [Default:B.GoToSurface] Running Loop=1
2025-02-26T17:39:32.813Z,1740591572.813 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-02-26T17:39:32.814Z,1740591572.814 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-02-26T17:39:32.814Z,1740591572.814 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-02-26T17:39:32.814Z,1740591572.814 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-02-26T17:39:32.814Z,1740591572.814 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-02-26T17:39:32.815Z,1740591572.815 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-02-26T17:39:32.815Z,1740591572.815 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-02-26T17:39:32.816Z,1740591572.816 [Default:A.Wait] Running Loop=1
2025-02-26T17:39:32.816Z,1740591572.816 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-02-26T17:39:32.897Z,1740591572.897 [WetLabsBB2FL](INFO): Powering down
2025-02-26T17:39:32.898Z,1740591572.898 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-26T17:39:32.898Z,1740591572.898 [WetLabsBB2FL](INFO): Powering down
2025-02-26T17:39:32.899Z,1740591572.899 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:32.905Z,1740591572.905 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-02-26T17:39:32.905Z,1740591572.905 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:32.905Z,1740591572.905 [CTD_Seabird](INFO): Join timeout helper Thread ID is 7622
2025-02-26T17:39:33.150Z,1740591573.150 [CTD_Seabird](INFO): Powering down
2025-02-26T17:39:33.277Z,1740591573.277 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-26T17:39:33.277Z,1740591573.277 [CTD_Seabird](INFO): Powering down
2025-02-26T17:39:33.289Z,1740591573.289 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:33.306Z,1740591573.306 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-02-26T17:39:33.306Z,1740591573.306 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:33.306Z,1740591573.306 [Radio_Surface](INFO): Join timeout helper Thread ID is 7623
2025-02-26T17:39:33.398Z,1740591573.398 [BackseatComponent](INFO): Sent LCM shutdown request.
2025-02-26T17:39:33.398Z,1740591573.398 [BackseatComponent](INFO): Shutdown requested. Waiting (18.00 sec to power down.).
2025-02-26T17:39:33.469Z,1740591573.469 [Radio_Surface](INFO): Powering down
2025-02-26T17:39:33.470Z,1740591573.470 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-26T17:39:33.471Z,1740591573.471 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:33.485Z,1740591573.485 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-02-26T17:39:33.485Z,1740591573.485 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:33.485Z,1740591573.485 [Onboard](INFO): Join timeout helper Thread ID is 7624
2025-02-26T17:39:37.209Z,1740591577.209 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-26T17:39:37.209Z,1740591577.209 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:37.222Z,1740591577.222 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-02-26T17:39:37.222Z,1740591577.222 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:37.223Z,1740591577.223 [DataOverHttps](INFO): Join timeout helper Thread ID is 7625
2025-02-26T17:39:38.227Z,1740591578.227 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-26T17:39:38.231Z,1740591578.231 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:38.246Z,1740591578.246 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-02-26T17:39:38.246Z,1740591578.246 [DAT ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:38.246Z,1740591578.246 [DAT](INFO): Join timeout helper Thread ID is 7626
2025-02-26T17:39:38.393Z,1740591578.393 [DAT](INFO): Powering down
2025-02-26T17:39:38.470Z,1740591578.470 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-26T17:39:38.470Z,1740591578.470 [DAT](INFO): Powering down
2025-02-26T17:39:38.471Z,1740591578.471 [DAT ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:38.482Z,1740591578.482 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-02-26T17:39:38.482Z,1740591578.482 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:38.482Z,1740591578.482 [BackseatComponent](INFO): Join timeout helper Thread ID is 7627
2025-02-26T17:39:38.509Z,1740591578.509 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-26T17:39:38.510Z,1740591578.510 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:38.522Z,1740591578.522 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-02-26T17:39:38.522Z,1740591578.522 [logger ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:38.522Z,1740591578.522 [logger](INFO): Join timeout helper Thread ID is 7628
2025-02-26T17:39:38.558Z,1740591578.558 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-26T17:39:38.561Z,1740591578.561 [logger ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:38.571Z,1740591578.571 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-02-26T17:39:38.571Z,1740591578.571 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:38.572Z,1740591578.572 [CommandLine](INFO): Join timeout helper Thread ID is 7629
2025-02-26T17:39:38.590Z,1740591578.590 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-26T17:39:38.590Z,1740591578.590 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:38.610Z,1740591578.610 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-02-26T17:39:38.610Z,1740591578.610 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:38.610Z,1740591578.610 [CommandExec](INFO): Join timeout helper Thread ID is 7630
2025-02-26T17:39:38.611Z,1740591578.611 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-02-26T17:39:38.611Z,1740591578.611 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:38.612Z,1740591578.612 [controlThread](INFO): Join timeout helper Thread ID is 7631
2025-02-26T17:39:38.731Z,1740591578.731 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-02-26T17:39:38.731Z,1740591578.731 [controlThread](DEBUG): Uninitializing ControlThread
2025-02-26T17:39:38.731Z,1740591578.731 [AHRS_M2](INFO): Powering down
2025-02-26T17:39:38.802Z,1740591578.802 [NAL9602](INFO): Powering down
2025-02-26T17:39:38.803Z,1740591578.803 [Sonardyne_Nano](INFO): Powering down
2025-02-26T17:39:38.922Z,1740591578.922 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-02-26T17:39:38.923Z,1740591578.923 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-02-26T17:39:38.923Z,1740591578.923 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-02-26T17:39:38.924Z,1740591578.924 [MissionManager](INFO): Uninitializing Mission Default
2025-02-26T17:39:38.924Z,1740591578.924 [Default] Stopped
2025-02-26T17:39:38.924Z,1740591578.924 [Default](DEBUG): Aggregate::uninitialize Default
2025-02-26T17:39:38.924Z,1740591578.924 [Default:A.Wait] Stopped
2025-02-26T17:39:38.924Z,1740591578.924 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-02-26T17:39:38.924Z,1740591578.924 [Default:B.GoToSurface] Stopped
2025-02-26T17:39:38.924Z,1740591578.924 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-02-26T17:39:38.927Z,1740591578.927 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-02-26T17:39:38.927Z,1740591578.927 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-02-26T17:39:38.927Z,1740591578.927 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-02-26T17:39:38.928Z,1740591578.928 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-02-26T17:39:38.928Z,1740591578.928 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-02-26T17:39:38.928Z,1740591578.928 [BuoyancyServo](INFO): Powering down
2025-02-26T17:39:38.941Z,1740591578.941 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-02-26T17:39:38.941Z,1740591578.941 [MassServo](INFO): Powering down
2025-02-26T17:39:38.942Z,1740591578.942 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-02-26T17:39:38.942Z,1740591578.942 [RudderServo](INFO): Powering down
2025-02-26T17:39:38.943Z,1740591578.943 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-02-26T17:39:38.943Z,1740591578.943 [ThrusterHE](INFO): Powering down
2025-02-26T17:39:38.944Z,1740591578.944 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-02-26T17:39:38.944Z,1740591578.944 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-02-26T17:39:38.944Z,1740591578.944 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-02-26T17:39:38.944Z,1740591578.944 [CBIT](DEBUG): Powering off loads.
2025-02-26T17:39:38.957Z,1740591578.957 [CBIT](DEBUG): Disabling WDT.
2025-02-26T17:39:38.969Z,1740591578.969 [CBIT](DEBUG): Opening all GF detection circuits.
2025-02-26T17:39:38.970Z,1740591578.970 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:39.012Z,1740591579.012 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:39.014Z,1740591579.014 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:39.020Z,1740591579.020 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:39.027Z,1740591579.027 [DAT ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:39.069Z,1740591579.069 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:39.396Z,1740591579.396 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:39.402Z,1740591579.402 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:39.421Z,1740591579.421 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-02-26T17:39:39.498Z,1740591579.498 [logger ThreadHandler](INFO): Thread cancelled.