2025-07-17T22:59:38.935Z,1752793178.935 [CommandExec](IMPORTANT): got command restart logs
2025-07-17T22:59:50.254Z,1752793190.254 [DataOverHttps](INFO): Sending 166 bytes from file Logs/20250717T222242/Express0035.lzma
2025-07-17T22:59:51.256Z,1752793191.256 [DataOverHttps](INFO): Moved sent file to Logs/20250717T222242/Express0035.lzma.bak
2025-07-17T22:59:51.256Z,1752793191.256 [DataOverHttps](INFO): SBD MOMSN=25543143
2025-07-17T23:00:07.773Z,1752793207.773 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250717T222242/Courier0037.lzma
2025-07-17T23:00:08.776Z,1752793208.776 [DataOverHttps](INFO): Moved sent file to Logs/20250717T222242/Courier0037.lzma.bak
2025-07-17T23:00:08.776Z,1752793208.776 [DataOverHttps](INFO): SBD MOMSN=25543146
2025-07-17T23:00:21.109Z,1752793221.109 [NAL9602](INFO): SBD MO Status=0, MOMSN=12899, MT Status=0, MTMSN=0
2025-07-17T23:00:21.109Z,1752793221.109 [NAL9602](INFO): No messages in MT queue
2025-07-17T23:00:25.105Z,1752793225.105 [DataOverHttps](INFO): Sending 107 bytes from file Logs/20250717T222242/Express0038.lzma
2025-07-17T23:00:26.108Z,1752793226.108 [DataOverHttps](INFO): Moved sent file to Logs/20250717T222242/Express0038.lzma.bak
2025-07-17T23:00:26.108Z,1752793226.108 [DataOverHttps](INFO): SBD MOMSN=25543148
2025-07-17T23:00:27.217Z,1752793227.217 [Default:CheckIn:Read_Iridium] Stopped
2025-07-17T23:00:27.222Z,1752793227.222 [Default:CheckIn:C.Wait] Running Loop=1
2025-07-17T23:00:27.222Z,1752793227.222 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-07-17T23:00:29.243Z,1752793229.243 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.00,   0.00,   0.00,
2025-07-17T23:00:51.789Z,1752793251.789 [NAL9602](INFO): Not Powering down - fast GPS
2025-07-17T23:01:10.521Z,1752793270.521 [DataOverHttps](IMPORTANT): SBD MTMSN=20250717T230109
2025-07-17T23:01:18.158Z,1752793278.158 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.NeedCommsTime 15 min;set transit.Latitude 36.77233 degree;set transit.Longitude -121.86467 degree;set transit.Speed 1.2 m/s;run
2025-07-17T23:01:18.233Z,1752793278.233 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-07-17T23:01:18.233Z,1752793278.233 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-07-17T23:01:18.233Z,1752793278.233 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-07-17T23:01:18.236Z,1752793278.236 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-07-17T23:01:18.977Z,1752793278.977 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-07-17T23:01:18.983Z,1752793278.983 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-07-17T23:01:18.987Z,1752793278.987 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-07-17T23:01:18.989Z,1752793278.989 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-07-17T23:01:19.024Z,1752793279.024 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-07-17T23:01:19.027Z,1752793279.027 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-07-17T23:01:19.046Z,1752793279.046 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-07-17T23:01:19.049Z,1752793279.049 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-07-17T23:01:19.060Z,1752793279.060 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-07-17T23:01:19.067Z,1752793279.067 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-07-17T23:01:19.075Z,1752793279.075 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-07-17T23:01:19.077Z,1752793279.077 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-07-17T23:01:19.084Z,1752793279.084 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-07-17T23:01:19.088Z,1752793279.088 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-07-17T23:01:19.089Z,1752793279.089 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-07-17T23:01:19.089Z,1752793279.089 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-07-17T23:01:19.098Z,1752793279.098 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-07-17T23:01:19.477Z,1752793279.477 [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>

2025-07-17T23:01:19.483Z,1752793279.483 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-07-17T23:01:19.486Z,1752793279.486 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-07-17T23:01:19.489Z,1752793279.489 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-07-17T23:01:19.492Z,1752793279.492 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-07-17T23:01:19.495Z,1752793279.495 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-07-17T23:01:19.498Z,1752793279.498 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-07-17T23:01:19.501Z,1752793279.501 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-07-17T23:01:19.504Z,1752793279.504 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-07-17T23:01:19.511Z,1752793279.511 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-07-17T23:01:19.573Z,1752793279.573 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-07-17T23:01:19.573Z,1752793279.573 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-07-17T23:01:19.579Z,1752793279.579 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-07-17T23:01:19.799Z,1752793279.799 [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>1.5</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>

2025-07-17T23:01:19.813Z,1752793279.813 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-07-17T23:01:19.824Z,1752793279.824 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-07-17T23:01:19.828Z,1752793279.828 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-07-17T23:01:19.844Z,1752793279.844 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-07-17T23:01:19.845Z,1752793279.845 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-07-17T23:01:19.867Z,1752793279.867 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-07-17T23:01:19.883Z,1752793279.883 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-07-17T23:01:19.922Z,1752793279.922 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-07-17T23:01:19.922Z,1752793279.922 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-07-17T23:01:19.924Z,1752793279.924 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-07-17T23:01:19.990Z,1752793279.990 [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>

2025-07-17T23:01:19.997Z,1752793279.997 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-07-17T23:01:20.004Z,1752793280.004 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-07-17T23:01:20.008Z,1752793280.008 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-07-17T23:01:20.008Z,1752793280.008 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-07-17T23:01:20.009Z,1752793280.009 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-07-17T23:01:20.330Z,1752793280.330 [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>

2025-07-17T23:01:20.335Z,1752793280.335 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-07-17T23:01:20.347Z,1752793280.347 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-07-17T23:01:20.354Z,1752793280.354 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-07-17T23:01:20.357Z,1752793280.357 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-07-17T23:01:20.361Z,1752793280.361 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-07-17T23:01:20.381Z,1752793280.381 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-07-17T23:01:20.387Z,1752793280.387 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-07-17T23:01:20.391Z,1752793280.391 [transit:MassHold.Pitch](DEBUG): Construct.
2025-07-17T23:01:20.419Z,1752793280.419 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-07-17T23:01:20.434Z,1752793280.434 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-07-17T23:01:20.437Z,1752793280.437 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-07-17T23:01:20.527Z,1752793280.527 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission transit {
  """
  Vehicle dives immediately with no comms/GPS and transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-07-17T23:01:20.527Z,1752793280.527 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-07-17T23:01:30.422Z,1752793290.422 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 15 minute
2025-07-17T23:01:30.423Z,1752793290.423 [CommandExec](IMPORTANT): got command set transit.Latitude 36.77233 degree
2025-07-17T23:01:30.424Z,1752793290.424 [CommandExec](IMPORTANT): got command set transit.Longitude -121.86467 degree
2025-07-17T23:01:30.425Z,1752793290.425 [CommandExec](IMPORTANT): got command set transit.Speed 1.2 meter_per_second
2025-07-17T23:01:30.425Z,1752793290.425 [CommandExec](IMPORTANT): got command run
2025-07-17T23:01:30.428Z,1752793290.428 [CommandExec](IMPORTANT): Running 
2025-07-17T23:01:30.593Z,1752793290.593 [Default] Stopped
2025-07-17T23:01:30.593Z,1752793290.593 [Default](DEBUG): Aggregate::uninitialize Default
2025-07-17T23:01:30.593Z,1752793290.593 [Default:B.GoToSurface] Stopped
2025-07-17T23:01:30.593Z,1752793290.593 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-17T23:01:30.593Z,1752793290.593 [Default:CheckIn] Stopped
2025-07-17T23:01:30.593Z,1752793290.593 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2025-07-17T23:01:30.593Z,1752793290.593 [Default:CheckIn:C.Wait] Stopped
2025-07-17T23:01:30.593Z,1752793290.593 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-07-17T23:01:30.593Z,1752793290.593 [MissionManager](IMPORTANT): Started mission transit
2025-07-17T23:01:30.594Z,1752793290.594 [transit] Running Loop=1
2025-07-17T23:01:30.594Z,1752793290.594 [transit](DEBUG): Aggregate::initialize transit
2025-07-17T23:01:30.594Z,1752793290.594 [transit:StandardEnvelopes] Running Loop=1
2025-07-17T23:01:30.594Z,1752793290.594 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-07-17T23:01:30.594Z,1752793290.594 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-07-17T23:01:30.594Z,1752793290.594 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-07-17T23:01:30.595Z,1752793290.595 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-07-17T23:01:30.595Z,1752793290.595 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-07-17T23:01:30.595Z,1752793290.595 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-07-17T23:01:30.595Z,1752793290.595 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-07-17T23:01:30.595Z,1752793290.595 [transit:BackseatDriver] Running Loop=1
2025-07-17T23:01:30.595Z,1752793290.595 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-07-17T23:01:30.595Z,1752793290.595 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-07-17T23:01:30.595Z,1752793290.595 [transit:PowerOnly] Running Loop=1
2025-07-17T23:01:30.596Z,1752793290.596 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-07-17T23:01:30.596Z,1752793290.596 [transit:PowerOnly:A] Running Loop=1
2025-07-17T23:01:30.596Z,1752793290.596 [transit:PowerOnly:B] Running Loop=1
2025-07-17T23:01:30.596Z,1752793290.596 [transit:PowerOnly:C] Running Loop=1
2025-07-17T23:01:30.596Z,1752793290.596 [transit:PowerOnly:D] Running Loop=1
2025-07-17T23:01:30.596Z,1752793290.596 [transit:PowerOnly:E.Wait] Running Loop=1
2025-07-17T23:01:30.596Z,1752793290.596 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-07-17T23:01:30.601Z,1752793290.601 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-07-17T23:01:30.602Z,1752793290.602 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-07-17T23:01:30.602Z,1752793290.602 [transit:MassHold.Pitch] Running Loop=1
2025-07-17T23:01:30.602Z,1752793290.602 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-07-17T23:01:30.602Z,1752793290.602 [transit:B] Running Loop=1
2025-07-17T23:01:30.603Z,1752793290.603 [transit:MassHold.Pitch] Running Loop=1
2025-07-17T23:01:30.603Z,1752793290.603 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-07-17T23:01:30.604Z,1752793290.604 [transit:PowerOnly] Running Loop=1
2025-07-17T23:01:30.604Z,1752793290.604 [transit:PowerOnly:D] Stopped
2025-07-17T23:01:30.604Z,1752793290.604 [transit:PowerOnly:C] Stopped
2025-07-17T23:01:30.604Z,1752793290.604 [transit:PowerOnly:B] Stopped
2025-07-17T23:01:30.604Z,1752793290.604 [transit:PowerOnly:A] Stopped
2025-07-17T23:01:30.604Z,1752793290.604 [transit:BackseatDriver] Running Loop=1
2025-07-17T23:01:30.605Z,1752793290.605 [transit:StandardEnvelopes] Running Loop=1
2025-07-17T23:01:30.605Z,1752793290.605 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-07-17T23:01:30.605Z,1752793290.605 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-07-17T23:01:30.606Z,1752793290.606 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-07-17T23:01:30.607Z,1752793290.607 [transit:B] Stopped
2025-07-17T23:01:30.607Z,1752793290.607 [transit:C] Running Loop=1
2025-07-17T23:01:30.993Z,1752793290.993 [transit:C] Stopped
2025-07-17T23:01:30.994Z,1752793290.994 [transit:E] Running Loop=1
2025-07-17T23:01:31.392Z,1752793291.392 [transit:E] Stopped
2025-07-17T23:01:31.392Z,1752793291.392 [transit:F] Running Loop=1
2025-07-17T23:01:31.823Z,1752793291.823 [transit:F] Stopped
2025-07-17T23:01:31.823Z,1752793291.823 [transit:G] Running Loop=1
2025-07-17T23:01:32.212Z,1752793292.212 [transit:G] Stopped
2025-07-17T23:01:32.212Z,1752793292.212 [transit:Transit] Running Loop=1
2025-07-17T23:01:32.212Z,1752793292.212 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-07-17T23:01:32.212Z,1752793292.212 [transit:Transit:A.Pitch] Running Loop=1
2025-07-17T23:01:32.212Z,1752793292.212 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-07-17T23:01:32.213Z,1752793292.213 [transit:Transit:B.SetSpeed] Running Loop=1
2025-07-17T23:01:32.213Z,1752793292.213 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-07-17T23:01:32.213Z,1752793292.213 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-07-17T23:01:32.213Z,1752793292.213 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-07-17T23:01:32.215Z,1752793292.215 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.772331,-121.864670
2025-07-17T23:01:32.603Z,1752793292.603 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.772331,-121.864670
2025-07-17T23:01:32.604Z,1752793292.604 [transit:Transit:B.SetSpeed] Running Loop=1
2025-07-17T23:01:32.604Z,1752793292.604 [transit:Transit:A.Pitch] Running Loop=1
2025-07-17T23:01:32.632Z,1752793292.632 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-07-17T23:01:32.633Z,1752793292.633 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-07-17T23:01:32.633Z,1752793292.633 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-07-17T23:02:52.674Z,1752793372.674 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:02:55.692Z,1752793375.692 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.248661
2025-07-17T23:03:27.870Z,1752793407.870 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:03:54.574Z,1752793434.574 [Radio_Surface](INFO): Powering down
2025-07-17T23:04:03.010Z,1752793443.010 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:04:04.014Z,1752793444.014 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-07-17T23:13:51.510Z,1752794031.510 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-07-17T23:13:51.510Z,1752794031.510 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-07-17T23:13:51.510Z,1752794031.510 [RDI_Pathfinder](ERROR): Communications Fault
2025-07-17T23:13:51.613Z,1752794031.613 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-07-17T23:13:51.954Z,1752794031.954 [RDI_Pathfinder](INFO): Powering down
2025-07-17T23:13:52.765Z,1752794032.765 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-07-17T23:13:52.765Z,1752794032.765 [RDI_Pathfinder] No Fault, FailCount= 1
2025-07-17T23:13:53.104Z,1752794033.104 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-07-17T23:14:22.197Z,1752794062.197 [transit:NeedComms] Running Loop=1
2025-07-17T23:14:22.197Z,1752794062.197 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-07-17T23:14:22.197Z,1752794062.197 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-07-17T23:14:22.197Z,1752794062.197 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-17T23:14:22.198Z,1752794062.198 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-07-17T23:14:22.198Z,1752794062.198 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-07-17T23:14:22.199Z,1752794062.199 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-07-17T23:14:22.199Z,1752794062.199 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-07-17T23:14:22.199Z,1752794062.199 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-17T23:14:22.200Z,1752794062.200 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-17T23:14:22.200Z,1752794062.200 [transit:NeedComms:A] Running Loop=1
2025-07-17T23:14:22.202Z,1752794062.202 [transit:NeedComms:A](INFO): last time_fix was:  1752793161.000000 second since 1970/01/01T00:00:00Z 
2025-07-17T23:14:22.202Z,1752794062.202 [transit:NeedComms:A] Stopped
2025-07-17T23:14:31.842Z,1752794071.842 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-07-17T23:14:31.938Z,1752794071.938 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-07-17T23:14:31.938Z,1752794071.938 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-07-17T23:14:31.938Z,1752794071.938 [ThrusterHE] Communications Fault, FailCount= 1
2025-07-17T23:14:31.938Z,1752794071.938 [ThrusterHE](ERROR): Communications Fault
2025-07-17T23:14:31.942Z,1752794071.942 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-07-17T23:14:32.115Z,1752794072.115 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-07-17T23:14:32.115Z,1752794072.115 [ThrusterHE](INFO): Powering down
2025-07-17T23:14:33.015Z,1752794073.015 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-07-17T23:14:33.135Z,1752794073.135 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-07-17T23:14:33.138Z,1752794073.138 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-07-17T23:14:33.139Z,1752794073.139 [ThrusterHE] No Fault, FailCount= 1
2025-07-17T23:14:57.878Z,1752794097.878 [transit:NeedComms:C] Running Loop=1
2025-07-17T23:14:58.250Z,1752794098.250 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-07-17T23:14:58.614Z,1752794098.614 [Radio_Surface](INFO): Powering up
2025-07-17T23:15:04.714Z,1752794104.714 [DataOverHttps](INFO): Radio surface powered ON.
2025-07-17T23:15:34.834Z,1752794134.834 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:16:09.990Z,1752794169.990 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:16:45.130Z,1752794205.130 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:17:20.274Z,1752794240.274 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:17:36.007Z,1752794256.007 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003453
2025-07-17T23:20:02.484Z,1752794402.484 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-17T23:20:08.953Z,1752794408.953 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232008.00,A,3647.62647,N,12149.32247,W,1.244,136.75,170725,,,A*7C
2025-07-17T23:20:08.955Z,1752794408.955 [NAL9602](INFO): GPS fix at 20250717T232008: (36.793774, -121.822041)
2025-07-17T23:20:09.005Z,1752794409.005 [UniversalFixResidualReporter](INFO): Fix residual: 10.3 %DT, over the last 949.0 m. Residual distance 97.5 m at bearing -48.7 degrees. Fix at (36.7938, -121.8220) with 850.8 m made good.
2025-07-17T23:20:09.025Z,1752794409.025 [transit:NeedComms:C] Stopped
2025-07-17T23:20:09.025Z,1752794409.025 [transit:NeedComms:D] Running Loop=1
2025-07-17T23:20:09.391Z,1752794409.391 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-07-17T23:20:16.382Z,1752794416.382 [DataOverHttps](INFO): Sending 323 bytes from file Logs/20250717T225938/Courier0003.lzma
2025-07-17T23:20:17.384Z,1752794417.384 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Courier0003.lzma.bak
2025-07-17T23:20:17.384Z,1752794417.384 [DataOverHttps](INFO): SBD MOMSN=25543191
2025-07-17T23:20:34.901Z,1752794434.901 [DataOverHttps](INFO): Sending 1037 bytes from file Logs/20250717T225938/Express0004.lzma
2025-07-17T23:20:35.900Z,1752794435.900 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Express0004.lzma.bak
2025-07-17T23:20:35.900Z,1752794435.900 [DataOverHttps](INFO): SBD MOMSN=25543195
2025-07-17T23:20:37.275Z,1752794437.275 [transit:NeedComms:D] Stopped
2025-07-17T23:20:37.275Z,1752794437.275 [transit:NeedComms:E] Running Loop=1
2025-07-17T23:20:37.649Z,1752794437.649 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-07-17T23:20:39.256Z,1752794439.256 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232038.00,A,3647.62303,N,12149.31818,W,0.933,143.76,170725,,,A*72
2025-07-17T23:20:39.259Z,1752794439.259 [NAL9602](INFO): GPS fix at 20250717T232038: (36.793717, -121.821970)
2025-07-17T23:20:39.290Z,1752794439.290 [transit:NeedComms:E] Stopped
2025-07-17T23:20:39.291Z,1752794439.291 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-07-17T23:20:39.291Z,1752794439.291 [transit:NeedComms] Stopped
2025-07-17T23:20:39.291Z,1752794439.291 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-07-17T23:20:39.291Z,1752794439.291 [transit:NeedComms:B.GoToSurface] Stopped
2025-07-17T23:20:39.291Z,1752794439.291 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-17T23:20:43.967Z,1752794443.967 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-07-17T23:20:43.967Z,1752794443.967 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-07-17T23:20:43.967Z,1752794443.967 [ThrusterHE] Communications Fault, FailCount= 2
2025-07-17T23:20:43.967Z,1752794443.967 [ThrusterHE](ERROR): Communications Fault
2025-07-17T23:20:43.971Z,1752794443.971 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-07-17T23:20:44.255Z,1752794444.255 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-07-17T23:20:44.255Z,1752794444.255 [ThrusterHE](INFO): Powering down
2025-07-17T23:20:45.139Z,1752794445.139 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-07-17T23:20:45.259Z,1752794445.259 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-07-17T23:20:45.263Z,1752794445.263 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-07-17T23:20:45.263Z,1752794445.263 [ThrusterHE] No Fault, FailCount= 2
2025-07-17T23:21:11.407Z,1752794471.407 [NAL9602](INFO): Not Powering down - fast GPS
2025-07-17T23:21:24.156Z,1752794484.156 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.20 m/s, pitch 20.00 deg, mass-position 18.81 mm (1 active estimators).
2025-07-17T23:22:17.742Z,1752794537.742 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:22:20.756Z,1752794540.756 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.249828
2025-07-17T23:22:24.650Z,1752794544.650 [Radio_Surface](INFO): Powering down
2025-07-17T23:22:52.891Z,1752794572.891 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:22:53.894Z,1752794573.894 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-07-17T23:23:16.936Z,1752794596.936 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,        +1.9 +10.33,       -3.61,   0.00, 40.00
2025-07-17T23:23:27.031Z,1752794607.031 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,   +4,   +83,A
2025-07-17T23:23:41.970Z,1752794621.970 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.00,   0.00,   0.00
2025-07-17T23:23:52.075Z,1752794632.075 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.00,   0.00,   0.00
2025-07-17T23:24:17.134Z,1752794657.134 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.00,   0.00,   0.00
2025-07-17T23:25:07.248Z,1752794707.248 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,-32768,-32768V2768,-32768,V
2025-07-17T23:25:22.180Z,1752794722.180 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,  +146, +1118,   :WE,  +146, +1118,    -5,A
2025-07-17T23:27:37.213Z,1752794857.213 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS3142511,35.0, +13.6,   0.0,1502.2,  0
2025-07-17T23:27:47.326Z,1752794867.326 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.00,   0.00,   0.00
2025-07-17T23:29:42.482Z,1752794982.482 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,        +0.  +75.26,       -5.00,   0.00,  6.00
2025-07-17T23:35:40.278Z,1752795340.278 [transit:NeedComms] Running Loop=1
2025-07-17T23:35:40.279Z,1752795340.279 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-07-17T23:35:40.279Z,1752795340.279 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-07-17T23:35:40.279Z,1752795340.279 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-17T23:35:40.279Z,1752795340.279 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-07-17T23:35:40.279Z,1752795340.279 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-07-17T23:35:40.280Z,1752795340.280 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-07-17T23:35:40.280Z,1752795340.280 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-07-17T23:35:40.280Z,1752795340.280 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-17T23:35:40.281Z,1752795340.281 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-17T23:35:40.281Z,1752795340.281 [transit:NeedComms:A] Running Loop=1
2025-07-17T23:35:40.303Z,1752795340.303 [transit:NeedComms:A](INFO): last time_fix was:  1752794438.000000 second since 1970/01/01T00:00:00Z 
2025-07-17T23:35:40.303Z,1752795340.303 [transit:NeedComms:A] Stopped
2025-07-17T23:35:42.824Z,1752795342.824 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-07-17T23:35:42.922Z,1752795342.922 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-07-17T23:35:42.922Z,1752795342.922 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-07-17T23:35:42.922Z,1752795342.922 [ThrusterHE] Communications Fault, FailCount= 1
2025-07-17T23:35:42.922Z,1752795342.922 [ThrusterHE](ERROR): Communications Fault
2025-07-17T23:35:42.926Z,1752795342.926 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-07-17T23:35:43.251Z,1752795343.251 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-07-17T23:35:43.251Z,1752795343.251 [ThrusterHE](INFO): Powering down
2025-07-17T23:35:43.931Z,1752795343.931 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-07-17T23:35:44.051Z,1752795344.051 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-07-17T23:35:44.054Z,1752795344.054 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-07-17T23:35:44.055Z,1752795344.055 [ThrusterHE] No Fault, FailCount= 1
2025-07-17T23:36:22.677Z,1752795382.677 [transit:NeedComms:C] Running Loop=1
2025-07-17T23:36:23.410Z,1752795383.410 [Radio_Surface](INFO): Powering up
2025-07-17T23:36:29.258Z,1752795389.258 [DataOverHttps](INFO): Radio surface powered ON.
2025-07-17T23:36:55.380Z,1752795415.380 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-07-17T23:36:55.462Z,1752795415.462 [NAL9602](ERROR): received: 
+CSQ:0

OK899, 0, 0, 0, 0

OK
2025-07-17T23:36:59.378Z,1752795419.378 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:37:34.530Z,1752795454.530 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:38:09.678Z,1752795489.678 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:38:44.819Z,1752795524.819 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:39:06.683Z,1752795546.683 [DataOverHttps](IMPORTANT): SBD MTMSN=20250717T233905
2025-07-17T23:39:06.686Z,1752795546.686 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003202
2025-07-17T23:39:14.374Z,1752795554.374 [DataOverHttps](INFO): Received command: set transit.NeedCommsTime 60 min;set transit.Speed 1.0 m/s
2025-07-17T23:39:15.376Z,1752795555.376 [DataOverHttps](IMPORTANT): SBD MTMSN=20250717T233914
2025-07-17T23:39:20.469Z,1752795560.469 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 60 minute
2025-07-17T23:39:20.472Z,1752795560.472 [CommandExec](IMPORTANT): got command set transit.Speed 1.0 meter_per_second
2025-07-17T23:39:24.185Z,1752795564.185 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.NeedCommsTime 60 min;set transit.Latitude 36.78343 degree;set transit.Longitude -121.8649 degree;set transit.Speed 1.2 m/s;run
2025-07-17T23:39:24.270Z,1752795564.270 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-07-17T23:39:24.270Z,1752795564.270 [MissionManager](INFO): Uninitializing Mission transit
2025-07-17T23:39:24.270Z,1752795564.270 [transit] Stopped
2025-07-17T23:39:24.270Z,1752795564.270 [transit](DEBUG): Aggregate::uninitialize transit
2025-07-17T23:39:24.270Z,1752795564.270 [transit:NeedComms] Stopped
2025-07-17T23:39:24.270Z,1752795564.270 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-07-17T23:39:24.270Z,1752795564.270 [transit:NeedComms:B.GoToSurface] Stopped
2025-07-17T23:39:24.271Z,1752795564.271 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-17T23:39:24.271Z,1752795564.271 [transit:NeedComms:C] Stopped
2025-07-17T23:39:24.271Z,1752795564.271 [transit:StandardEnvelopes] Stopped
2025-07-17T23:39:24.271Z,1752795564.271 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-07-17T23:39:24.271Z,1752795564.271 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-07-17T23:39:24.271Z,1752795564.271 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-07-17T23:39:24.271Z,1752795564.271 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-07-17T23:39:24.271Z,1752795564.271 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-07-17T23:39:24.271Z,1752795564.271 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-07-17T23:39:24.271Z,1752795564.271 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-07-17T23:39:24.271Z,1752795564.271 [transit:BackseatDriver] Stopped
2025-07-17T23:39:24.271Z,1752795564.271 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-07-17T23:39:24.271Z,1752795564.271 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-07-17T23:39:24.272Z,1752795564.272 [transit:PowerOnly] Stopped
2025-07-17T23:39:24.272Z,1752795564.272 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-07-17T23:39:24.272Z,1752795564.272 [transit:PowerOnly:E.Wait] Stopped
2025-07-17T23:39:24.272Z,1752795564.272 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-07-17T23:39:24.272Z,1752795564.272 [transit:BuoyancyHold.Buoyancy] Stopped
2025-07-17T23:39:24.272Z,1752795564.272 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-07-17T23:39:24.272Z,1752795564.272 [transit:MassHold.Pitch] Stopped
2025-07-17T23:39:24.272Z,1752795564.272 [transit:Transit] Stopped
2025-07-17T23:39:24.272Z,1752795564.272 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-07-17T23:39:24.272Z,1752795564.272 [transit:Transit:A.Pitch] Stopped
2025-07-17T23:39:24.272Z,1752795564.272 [transit:Transit:B.SetSpeed] Stopped
2025-07-17T23:39:24.272Z,1752795564.272 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-07-17T23:39:24.272Z,1752795564.272 [transit:Transit:Wpt1.Waypoint] Stopped
2025-07-17T23:39:24.272Z,1752795564.272 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-07-17T23:39:24.288Z,1752795564.288 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-07-17T23:39:24.288Z,1752795564.288 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-07-17T23:39:24.291Z,1752795564.291 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-07-17T23:39:25.135Z,1752795565.135 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-07-17T23:39:25.140Z,1752795565.140 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-07-17T23:39:25.142Z,1752795565.142 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-07-17T23:39:25.144Z,1752795565.144 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-07-17T23:39:25.147Z,1752795565.147 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-07-17T23:39:25.149Z,1752795565.149 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-07-17T23:39:25.151Z,1752795565.151 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-07-17T23:39:25.153Z,1752795565.153 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-07-17T23:39:25.192Z,1752795565.192 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-07-17T23:39:25.208Z,1752795565.208 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-07-17T23:39:25.214Z,1752795565.214 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-07-17T23:39:25.216Z,1752795565.216 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-07-17T23:39:25.234Z,1752795565.234 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-07-17T23:39:25.236Z,1752795565.236 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-07-17T23:39:25.237Z,1752795565.237 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-07-17T23:39:25.237Z,1752795565.237 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-07-17T23:39:25.276Z,1752795565.276 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-07-17T23:39:25.533Z,1752795565.533 [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>

2025-07-17T23:39:25.538Z,1752795565.538 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-07-17T23:39:25.540Z,1752795565.540 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-07-17T23:39:25.543Z,1752795565.543 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-07-17T23:39:25.545Z,1752795565.545 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-07-17T23:39:25.548Z,1752795565.548 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-07-17T23:39:25.550Z,1752795565.550 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1000.000000 s
2025-07-17T23:39:25.552Z,1752795565.552 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-07-17T23:39:25.554Z,1752795565.554 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-07-17T23:39:25.560Z,1752795565.560 [transit:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-07-17T23:39:25.577Z,1752795565.577 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-07-17T23:39:25.577Z,1752795565.577 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-07-17T23:39:25.578Z,1752795565.578 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-07-17T23:39:25.792Z,1752795565.792 [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>1.5</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>

2025-07-17T23:39:25.795Z,1752795565.795 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-07-17T23:39:25.797Z,1752795565.797 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-07-17T23:39:25.800Z,1752795565.800 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-07-17T23:39:25.802Z,1752795565.802 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-07-17T23:39:25.803Z,1752795565.803 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-07-17T23:39:25.835Z,1752795565.835 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-07-17T23:39:25.849Z,1752795565.849 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-07-17T23:39:25.875Z,1752795565.875 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-07-17T23:39:25.875Z,1752795565.875 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-07-17T23:39:25.877Z,1752795565.877 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-07-17T23:39:25.905Z,1752795565.905 [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>

2025-07-17T23:39:25.909Z,1752795565.909 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-07-17T23:39:25.931Z,1752795565.931 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-07-17T23:39:25.933Z,1752795565.933 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-07-17T23:39:25.934Z,1752795565.934 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-07-17T23:39:25.935Z,1752795565.935 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-07-17T23:39:26.047Z,1752795566.047 [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>

2025-07-17T23:39:26.051Z,1752795566.051 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-07-17T23:39:26.053Z,1752795566.053 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-07-17T23:39:26.100Z,1752795566.100 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-07-17T23:39:26.103Z,1752795566.103 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-07-17T23:39:26.105Z,1752795566.105 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-07-17T23:39:26.144Z,1752795566.144 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-07-17T23:39:26.147Z,1752795566.147 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-07-17T23:39:26.159Z,1752795566.159 [transit:MassHold.Pitch](DEBUG): Construct.
2025-07-17T23:39:26.165Z,1752795566.165 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-07-17T23:39:26.185Z,1752795566.185 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-07-17T23:39:26.192Z,1752795566.192 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-07-17T23:39:26.278Z,1752795566.278 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission transit {
  """
  Vehicle dives immediately with no comms/GPS and transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

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

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

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

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

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

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

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

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

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

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

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

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

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

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

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

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

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

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

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


2025-07-17T23:39:26.279Z,1752795566.279 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-07-17T23:39:26.530Z,1752795566.530 [MissionManager](IMPORTANT): Started mission Default
2025-07-17T23:39:26.530Z,1752795566.530 [Default] Running Loop=1
2025-07-17T23:39:26.530Z,1752795566.530 [Default](DEBUG): Aggregate::initialize Default
2025-07-17T23:39:26.530Z,1752795566.530 [Default:B.GoToSurface] Running Loop=1
2025-07-17T23:39:26.530Z,1752795566.530 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-17T23:39:26.531Z,1752795566.531 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-07-17T23:39:26.531Z,1752795566.531 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-07-17T23:39:26.531Z,1752795566.531 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-07-17T23:39:26.532Z,1752795566.532 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-07-17T23:39:26.532Z,1752795566.532 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-17T23:39:26.532Z,1752795566.532 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-17T23:39:26.532Z,1752795566.532 [Default:A.Wait] Running Loop=1
2025-07-17T23:39:26.532Z,1752795566.532 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-07-17T23:39:36.133Z,1752795576.133 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 60 minute
2025-07-17T23:39:36.134Z,1752795576.134 [CommandExec](IMPORTANT): got command set transit.Latitude 36.78343 degree
2025-07-17T23:39:36.135Z,1752795576.135 [CommandExec](IMPORTANT): got command set transit.Longitude -121.8649 degree
2025-07-17T23:39:36.136Z,1752795576.136 [CommandExec](IMPORTANT): got command set transit.Speed 1.2 meter_per_second
2025-07-17T23:39:36.136Z,1752795576.136 [CommandExec](IMPORTANT): got command run
2025-07-17T23:39:36.138Z,1752795576.138 [CommandExec](IMPORTANT): Running 
2025-07-17T23:39:36.285Z,1752795576.285 [Default] Stopped
2025-07-17T23:39:36.285Z,1752795576.285 [Default](DEBUG): Aggregate::uninitialize Default
2025-07-17T23:39:36.285Z,1752795576.285 [Default:A.Wait] Stopped
2025-07-17T23:39:36.285Z,1752795576.285 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-07-17T23:39:36.285Z,1752795576.285 [Default:B.GoToSurface] Stopped
2025-07-17T23:39:36.285Z,1752795576.285 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-17T23:39:36.290Z,1752795576.290 [MissionManager](IMPORTANT): Started mission transit
2025-07-17T23:39:36.290Z,1752795576.290 [transit] Running Loop=1
2025-07-17T23:39:36.290Z,1752795576.290 [transit](DEBUG): Aggregate::initialize transit
2025-07-17T23:39:36.290Z,1752795576.290 [transit:StandardEnvelopes] Running Loop=1
2025-07-17T23:39:36.290Z,1752795576.290 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-07-17T23:39:36.291Z,1752795576.291 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-07-17T23:39:36.291Z,1752795576.291 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-07-17T23:39:36.291Z,1752795576.291 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-07-17T23:39:36.291Z,1752795576.291 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-07-17T23:39:36.291Z,1752795576.291 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-07-17T23:39:36.291Z,1752795576.291 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-07-17T23:39:36.291Z,1752795576.291 [transit:BackseatDriver] Running Loop=1
2025-07-17T23:39:36.291Z,1752795576.291 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-07-17T23:39:36.291Z,1752795576.291 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-07-17T23:39:36.292Z,1752795576.292 [transit:PowerOnly] Running Loop=1
2025-07-17T23:39:36.292Z,1752795576.292 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-07-17T23:39:36.292Z,1752795576.292 [transit:PowerOnly:A] Running Loop=1
2025-07-17T23:39:36.292Z,1752795576.292 [transit:PowerOnly:B] Running Loop=1
2025-07-17T23:39:36.292Z,1752795576.292 [transit:PowerOnly:C] Running Loop=1
2025-07-17T23:39:36.292Z,1752795576.292 [transit:PowerOnly:D] Running Loop=1
2025-07-17T23:39:36.292Z,1752795576.292 [transit:PowerOnly:E.Wait] Running Loop=1
2025-07-17T23:39:36.292Z,1752795576.292 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-07-17T23:39:36.292Z,1752795576.292 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-07-17T23:39:36.292Z,1752795576.292 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-07-17T23:39:36.292Z,1752795576.292 [transit:MassHold.Pitch] Running Loop=1
2025-07-17T23:39:36.292Z,1752795576.292 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-07-17T23:39:36.293Z,1752795576.293 [transit:B] Running Loop=1
2025-07-17T23:39:36.293Z,1752795576.293 [transit:MassHold.Pitch] Running Loop=1
2025-07-17T23:39:36.298Z,1752795576.298 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-07-17T23:39:36.298Z,1752795576.298 [transit:PowerOnly] Running Loop=1
2025-07-17T23:39:36.298Z,1752795576.298 [transit:PowerOnly:D] Stopped
2025-07-17T23:39:36.298Z,1752795576.298 [transit:PowerOnly:C] Stopped
2025-07-17T23:39:36.299Z,1752795576.299 [transit:PowerOnly:B] Stopped
2025-07-17T23:39:36.299Z,1752795576.299 [transit:PowerOnly:A] Stopped
2025-07-17T23:39:36.299Z,1752795576.299 [transit:BackseatDriver] Running Loop=1
2025-07-17T23:39:36.299Z,1752795576.299 [transit:StandardEnvelopes] Running Loop=1
2025-07-17T23:39:36.299Z,1752795576.299 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-07-17T23:39:36.299Z,1752795576.299 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-07-17T23:39:36.300Z,1752795576.300 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-07-17T23:39:36.300Z,1752795576.300 [transit:B] Stopped
2025-07-17T23:39:36.300Z,1752795576.300 [transit:C] Running Loop=1
2025-07-17T23:39:36.614Z,1752795576.614 [transit:C] Stopped
2025-07-17T23:39:36.615Z,1752795576.615 [transit:E] Running Loop=1
2025-07-17T23:39:36.996Z,1752795576.996 [transit:E] Stopped
2025-07-17T23:39:36.997Z,1752795576.997 [transit:F] Running Loop=1
2025-07-17T23:39:37.396Z,1752795577.396 [transit:F] Stopped
2025-07-17T23:39:37.396Z,1752795577.396 [transit:G] Running Loop=1
2025-07-17T23:39:37.801Z,1752795577.801 [transit:G] Stopped
2025-07-17T23:39:37.801Z,1752795577.801 [transit:Transit] Running Loop=1
2025-07-17T23:39:37.801Z,1752795577.801 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-07-17T23:39:37.801Z,1752795577.801 [transit:Transit:A.Pitch] Running Loop=1
2025-07-17T23:39:37.801Z,1752795577.801 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-07-17T23:39:37.801Z,1752795577.801 [transit:Transit:B.SetSpeed] Running Loop=1
2025-07-17T23:39:37.801Z,1752795577.801 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-07-17T23:39:37.802Z,1752795577.802 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-07-17T23:39:37.802Z,1752795577.802 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-07-17T23:39:37.803Z,1752795577.803 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.783428,-121.864899
2025-07-17T23:39:38.275Z,1752795578.275 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.783428,-121.864899
2025-07-17T23:39:38.276Z,1752795578.276 [transit:Transit:B.SetSpeed] Running Loop=1
2025-07-17T23:39:38.276Z,1752795578.276 [transit:Transit:A.Pitch] Running Loop=1
2025-07-17T23:40:57.743Z,1752795657.743 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:41:00.754Z,1752795660.754 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.277691
2025-07-17T23:41:09.510Z,1752795669.510 [Radio_Surface](INFO): Powering down
2025-07-17T23:41:27.231Z,1752795687.231 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-17T23:41:32.890Z,1752795692.890 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-17T23:41:33.894Z,1752795693.894 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-07-17T23:41:57.943Z,1752795717.943 [NAL9602](INFO): Not Powering down - fast GPS
2025-07-17T23:46:08.533Z,1752795968.533 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,1056.76,1512.09, 975.4    -4, -1157,   -41,   +23,A
2025-07-17T23:49:48.355Z,1752796188.355 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS3363626,35.0, +13.6,   0.0,1502.2,  0
2025-07-17T23:50:08.589Z,1752796208.589 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00012303365626,35.0, +13.6,   0.0,1502.2RA,  0.00, 974.77,1527.67,   0.00, 991.03
2025-07-17T23:51:28.608Z,1752796288.608 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-07-17T23:51:28.608Z,1752796288.608 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-07-17T23:51:28.608Z,1752796288.608 [RDI_Pathfinder](ERROR): Communications Fault
2025-07-17T23:51:28.794Z,1752796288.794 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-07-17T23:51:29.042Z,1752796289.042 [RDI_Pathfinder](INFO): Powering down
2025-07-17T23:51:30.018Z,1752796290.018 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-07-17T23:51:30.018Z,1752796290.018 [RDI_Pathfinder] No Fault, FailCount= 1
2025-07-17T23:51:30.177Z,1752796290.177 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-07-17T23:58:23.133Z,1752796703.133 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-07-18T00:00:33.811Z,1752796833.811 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      -76.87,    00
2025-07-18T00:07:24.244Z,1752797244.244 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -25, +1285,   +BE,   -25, +1285,   +10,A
2025-07-18T00:07:54.174Z,1752797274.174 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD89.20,     +1089.48,       +21.82, 117.70,  0.00
2025-07-18T00:15:18.452Z,1752797718.452 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-07-18T00:17:49.658Z,1752797869.658 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-07-18T00:20:39.376Z,1752798039.376 [transit:NeedComms] Running Loop=1
2025-07-18T00:20:39.376Z,1752798039.376 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-07-18T00:20:39.376Z,1752798039.376 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-07-18T00:20:39.376Z,1752798039.376 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-18T00:20:39.377Z,1752798039.377 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-07-18T00:20:39.377Z,1752798039.377 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-07-18T00:20:39.377Z,1752798039.377 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-07-18T00:20:39.378Z,1752798039.378 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-07-18T00:20:39.378Z,1752798039.378 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-18T00:20:39.379Z,1752798039.379 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-18T00:20:39.379Z,1752798039.379 [transit:NeedComms:A] Running Loop=1
2025-07-18T00:20:39.381Z,1752798039.381 [transit:NeedComms:A](INFO): last time_fix was:  1752794438.000000 second since 1970/01/01T00:00:00Z 
2025-07-18T00:20:39.381Z,1752798039.381 [transit:NeedComms:A] Stopped
2025-07-18T00:20:47.118Z,1752798047.118 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-07-18T00:20:47.214Z,1752798047.214 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-07-18T00:20:47.214Z,1752798047.214 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-07-18T00:20:47.214Z,1752798047.214 [ThrusterHE] Communications Fault, FailCount= 1
2025-07-18T00:20:47.214Z,1752798047.214 [ThrusterHE](ERROR): Communications Fault
2025-07-18T00:20:47.218Z,1752798047.218 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-07-18T00:20:47.531Z,1752798047.531 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-07-18T00:20:47.531Z,1752798047.531 [ThrusterHE](INFO): Powering down
2025-07-18T00:20:48.462Z,1752798048.462 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-07-18T00:20:48.583Z,1752798048.583 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-07-18T00:20:48.586Z,1752798048.586 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-07-18T00:20:48.587Z,1752798048.587 [ThrusterHE] No Fault, FailCount= 1
2025-07-18T00:21:19.390Z,1752798079.390 [transit:NeedComms:C] Running Loop=1
2025-07-18T00:21:19.812Z,1752798079.812 [transit:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-07-18T00:21:19.878Z,1752798079.878 [Radio_Surface](INFO): Powering up
2025-07-18T00:21:20.976Z,1752798080.976 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-07-18T00:21:20.976Z,1752798080.976 [NAL9602] Data Fault, FailCount= 1
2025-07-18T00:21:20.976Z,1752798080.976 [NAL9602](ERROR): Data Fault
2025-07-18T00:21:21.086Z,1752798081.086 [CBIT](ERROR): Data Fault in component: NAL9602
2025-07-18T00:21:21.379Z,1752798081.379 [NAL9602](INFO): Powering down
2025-07-18T00:21:22.270Z,1752798082.270 [CBIT](INFO): Clearing failed state for component NAL9602
2025-07-18T00:21:22.270Z,1752798082.270 [NAL9602] No Fault, FailCount= 1
2025-07-18T00:21:25.694Z,1752798085.694 [DataOverHttps](INFO): Radio surface powered ON.
2025-07-18T00:21:51.681Z,1752798111.681 [NAL9602](INFO): Powering up NAL9602
2025-07-18T00:21:55.814Z,1752798115.814 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T00:22:02.601Z,1752798122.601 [NAL9602](INFO): NAL9602 initialized
2025-07-18T00:22:30.958Z,1752798150.958 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T00:23:06.114Z,1752798186.114 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T00:23:41.262Z,1752798221.262 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T00:24:03.166Z,1752798243.166 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002963
2025-07-18T00:24:55.923Z,1752798295.923 [BPC1](ERROR): Battery stick #5 (s/n: 00C2) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-07-18T00:24:55.924Z,1752798295.924 [BPC1](ERROR): Battery stick #8 (s/n: 027C) reported TERMINATE_CHARGE_ALARM. Status code: 0x40C0.
2025-07-18T00:24:55.925Z,1752798295.925 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-07-18T00:24:55.925Z,1752798295.925 [BPC1](ERROR): Battery stick #18 (s/n: 0186) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-07-18T00:24:55.926Z,1752798295.926 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_CHARGE_ALARM. Status code: 0x40C0.
2025-07-18T00:24:55.927Z,1752798295.927 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-07-18T00:24:55.928Z,1752798295.928 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-07-18T00:24:55.929Z,1752798295.929 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-07-18T00:24:55.929Z,1752798295.929 [BPC1](INFO): Calculating totals. Valid battery stick count: 31. Valid reserve battery stick count: 2.
2025-07-18T00:24:55.932Z,1752798295.932 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-07-18T00:27:05.619Z,1752798425.619 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-18T00:27:14.919Z,1752798434.919 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002714.00,A,3646.98330,N,12151.72986,W,0.680,108.71,180725,,,A*76
2025-07-18T00:27:14.921Z,1752798434.921 [NAL9602](INFO): GPS fix at 20250718T002714: (36.783055, -121.862164)
2025-07-18T00:27:14.954Z,1752798434.954 [UniversalFixResidualReporter](INFO): Fix residual: 2.2 %DT, over the last 4166.1 m. Residual distance 90.9 m at bearing -95.7 degrees. Fix at (36.7831, -121.8622) with 3770.6 m made good.
2025-07-18T00:27:14.958Z,1752798434.958 [transit:NeedComms:C] Stopped
2025-07-18T00:27:14.959Z,1752798434.959 [transit:NeedComms:D] Running Loop=1
2025-07-18T00:27:15.351Z,1752798435.351 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-07-18T00:27:22.630Z,1752798442.630 [DataOverHttps](INFO): Sending 211 bytes from file Logs/20250717T225938/Courier0006.lzma
2025-07-18T00:27:23.632Z,1752798443.632 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Courier0006.lzma.bak
2025-07-18T00:27:23.632Z,1752798443.632 [DataOverHttps](INFO): SBD MOMSN=25543312
2025-07-18T00:27:40.413Z,1752798460.413 [DataOverHttps](INFO): Sending 1128 bytes from file Logs/20250717T225938/Express0008.lzma
2025-07-18T00:27:41.412Z,1752798461.412 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Express0008.lzma.bak
2025-07-18T00:27:41.412Z,1752798461.412 [DataOverHttps](INFO): SBD MOMSN=25543315
2025-07-18T00:27:47.635Z,1752798467.635 [NAL9602](INFO): Not Powering down - fast GPS
2025-07-18T00:28:00.933Z,1752798480.933 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20250717T225938/Express0009.lzma
2025-07-18T00:28:01.936Z,1752798481.936 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Express0009.lzma.bak
2025-07-18T00:28:01.936Z,1752798481.936 [DataOverHttps](INFO): SBD MOMSN=25543346
2025-07-18T00:28:02.997Z,1752798482.997 [transit:NeedComms:D] Stopped
2025-07-18T00:28:02.998Z,1752798482.998 [transit:NeedComms:E] Running Loop=1
2025-07-18T00:28:03.405Z,1752798483.405 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-07-18T00:28:05.008Z,1752798485.008 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,002804.00,A,3646.97981,N,12151.72178,W,0.194,141.45,180725,,,A*76
2025-07-18T00:28:05.015Z,1752798485.015 [NAL9602](INFO): GPS fix at 20250718T002804: (36.782997, -121.862030)
2025-07-18T00:28:05.069Z,1752798485.069 [transit:NeedComms:E] Stopped
2025-07-18T00:28:05.074Z,1752798485.074 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-07-18T00:28:05.074Z,1752798485.074 [transit:NeedComms] Stopped
2025-07-18T00:28:05.074Z,1752798485.074 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-07-18T00:28:05.074Z,1752798485.074 [transit:NeedComms:B.GoToSurface] Stopped
2025-07-18T00:28:05.074Z,1752798485.074 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-18T00:28:18.802Z,1752798498.802 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-07-18T00:28:18.802Z,1752798498.802 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-07-18T00:28:18.802Z,1752798498.802 [RDI_Pathfinder](ERROR): Communications Fault
2025-07-18T00:28:18.882Z,1752798498.882 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-07-18T00:28:19.242Z,1752798499.242 [RDI_Pathfinder](INFO): Powering down
2025-07-18T00:28:20.142Z,1752798500.142 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-07-18T00:28:20.142Z,1752798500.142 [RDI_Pathfinder] No Fault, FailCount= 1
2025-07-18T00:28:20.401Z,1752798500.401 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-07-18T00:28:35.815Z,1752798515.815 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-07-18T00:28:35.890Z,1752798515.890 [NAL9602](ERROR): received: 
+CSQ:0

OK899, 0, 0, 0, 0

OK
2025-07-18T00:29:08.267Z,1752798548.267 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T00:29:11.278Z,1752798551.278 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251354
2025-07-18T00:29:38.082Z,1752798578.082 [Radio_Surface](INFO): Powering down
2025-07-18T00:29:43.410Z,1752798583.410 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T00:29:44.414Z,1752798584.414 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-07-18T00:33:07.169Z,1752798787.169 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-18T00:33:24.186Z,1752798804.186 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Reached waypoint: 36.783428,-121.864899
2025-07-18T00:33:24.190Z,1752798804.190 [transit:Transit:Wpt1.Waypoint] Stopped
2025-07-18T00:33:24.190Z,1752798804.190 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-07-18T00:33:24.190Z,1752798804.190 [transit:Transit:PhoneHome] Running Loop=1
2025-07-18T00:33:24.190Z,1752798804.190 [transit:Transit:PhoneHome](DEBUG): Aggregate::initialize transit:Transit:PhoneHome
2025-07-18T00:33:24.554Z,1752798804.554 [transit:NeedComms] Running Loop=1
2025-07-18T00:33:24.554Z,1752798804.554 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-07-18T00:33:24.554Z,1752798804.554 [transit:NeedComms:B.GoToSurface] Running Loop=1
2025-07-18T00:33:24.554Z,1752798804.554 [transit:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-18T00:33:24.554Z,1752798804.554 [transit:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-07-18T00:33:24.555Z,1752798804.555 [transit:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-07-18T00:33:24.555Z,1752798804.555 [transit:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-07-18T00:33:24.555Z,1752798804.555 [transit:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-07-18T00:33:24.556Z,1752798804.556 [transit:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-18T00:33:24.556Z,1752798804.556 [transit:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-18T00:33:24.556Z,1752798804.556 [transit:NeedComms:A] Running Loop=1
2025-07-18T00:33:24.558Z,1752798804.558 [transit:NeedComms:A](INFO): last time_fix was:  1752798484.000000 second since 1970/01/01T00:00:00Z 
2025-07-18T00:33:24.558Z,1752798804.558 [transit:NeedComms:A] Stopped
2025-07-18T00:33:31.106Z,1752798811.106 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-07-18T00:33:31.202Z,1752798811.202 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-07-18T00:33:31.202Z,1752798811.202 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-07-18T00:33:31.202Z,1752798811.202 [ThrusterHE] Communications Fault, FailCount= 1
2025-07-18T00:33:31.202Z,1752798811.202 [ThrusterHE](ERROR): Communications Fault
2025-07-18T00:33:31.206Z,1752798811.206 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-07-18T00:33:31.335Z,1752798811.335 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-07-18T00:33:31.335Z,1752798811.335 [ThrusterHE](INFO): Powering down
2025-07-18T00:33:32.119Z,1752798812.119 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-07-18T00:33:32.239Z,1752798812.239 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-07-18T00:33:32.243Z,1752798812.243 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-07-18T00:33:32.243Z,1752798812.243 [ThrusterHE] No Fault, FailCount= 1
2025-07-18T00:33:37.688Z,1752798817.688 [NAL9602](INFO): Not Powering down - fast GPS
2025-07-18T00:34:01.000Z,1752798842.000 [transit:NeedComms:C] Running Loop=1
2025-07-18T00:34:02.706Z,1752798842.706 [Radio_Surface](INFO): Powering up
2025-07-18T00:34:08.539Z,1752798848.539 [DataOverHttps](INFO): Radio surface powered ON.
2025-07-18T00:34:34.660Z,1752798874.660 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-07-18T00:34:34.738Z,1752798874.738 [NAL9602](ERROR): received: 
+CSQ:0

OK899, 0, 0, 0, 0

OK
2025-07-18T00:34:38.658Z,1752798878.658 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T00:35:13.806Z,1752798913.806 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T00:35:48.946Z,1752798948.946 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T00:36:24.086Z,1752798984.086 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T00:36:46.759Z,1752799006.759 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003330
2025-07-18T00:38:24.091Z,1752799104.091 [DataOverHttps](IMPORTANT): SBD MTMSN=20250718T003823
2025-07-18T00:38:31.861Z,1752799111.861 [DataOverHttps](INFO): Received command: schedule resume
2025-07-18T00:38:31.958Z,1752799111.958 [CommandExec](IMPORTANT): got command schedule resume
2025-07-18T00:39:06.148Z,1752799146.148 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-18T00:39:08.727Z,1752799148.727 [DataOverHttps](IMPORTANT): SBD MTMSN=20250718T003907
2025-07-18T00:39:11.818Z,1752799151.818 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003911.00,A,3646.96651,N,12151.88946,W,0.622,139.74,180725,,,A*76
2025-07-18T00:39:11.820Z,1752799151.820 [NAL9602](INFO): GPS fix at 20250718T003911: (36.782775, -121.864824)
2025-07-18T00:39:11.888Z,1752799151.888 [transit:NeedComms:C] Stopped
2025-07-18T00:39:11.889Z,1752799151.889 [transit:NeedComms:D] Running Loop=1
2025-07-18T00:39:16.139Z,1752799156.139 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250717T225938/Courier0014.lzma
2025-07-18T00:39:16.142Z,1752799156.142 [DataOverHttps](INFO): Received command: run Maintenance/ballast_and_trim.tl
2025-07-18T00:39:16.174Z,1752799156.174 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/ballast_and_trim.tl
2025-07-18T00:39:16.174Z,1752799156.174 [MissionManager](INFO): Uninitializing Mission transit
2025-07-18T00:39:16.174Z,1752799156.174 [transit] Stopped
2025-07-18T00:39:16.174Z,1752799156.174 [transit](DEBUG): Aggregate::uninitialize transit
2025-07-18T00:39:16.174Z,1752799156.174 [transit:NeedComms] Stopped
2025-07-18T00:39:16.174Z,1752799156.174 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-07-18T00:39:16.174Z,1752799156.174 [transit:NeedComms:B.GoToSurface] Stopped
2025-07-18T00:39:16.175Z,1752799156.175 [transit:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-18T00:39:16.175Z,1752799156.175 [transit:NeedComms:D] Stopped
2025-07-18T00:39:16.175Z,1752799156.175 [transit:StandardEnvelopes] Stopped
2025-07-18T00:39:16.175Z,1752799156.175 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-07-18T00:39:16.175Z,1752799156.175 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-07-18T00:39:16.175Z,1752799156.175 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-07-18T00:39:16.175Z,1752799156.175 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-07-18T00:39:16.175Z,1752799156.175 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-07-18T00:39:16.175Z,1752799156.175 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-07-18T00:39:16.175Z,1752799156.175 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-07-18T00:39:16.175Z,1752799156.175 [transit:BackseatDriver] Stopped
2025-07-18T00:39:16.175Z,1752799156.175 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-07-18T00:39:16.175Z,1752799156.175 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-07-18T00:39:16.176Z,1752799156.176 [transit:PowerOnly] Stopped
2025-07-18T00:39:16.176Z,1752799156.176 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-07-18T00:39:16.176Z,1752799156.176 [transit:PowerOnly:E.Wait] Stopped
2025-07-18T00:39:16.176Z,1752799156.176 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-07-18T00:39:16.176Z,1752799156.176 [transit:BuoyancyHold.Buoyancy] Stopped
2025-07-18T00:39:16.176Z,1752799156.176 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-07-18T00:39:16.176Z,1752799156.176 [transit:MassHold.Pitch] Stopped
2025-07-18T00:39:16.176Z,1752799156.176 [transit:Transit] Stopped
2025-07-18T00:39:16.176Z,1752799156.176 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-07-18T00:39:16.176Z,1752799156.176 [transit:Transit:A.Pitch] Stopped
2025-07-18T00:39:16.176Z,1752799156.176 [transit:Transit:B.SetSpeed] Stopped
2025-07-18T00:39:16.176Z,1752799156.176 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-07-18T00:39:16.176Z,1752799156.176 [transit:Transit:PhoneHome] Stopped
2025-07-18T00:39:16.176Z,1752799156.176 [transit:Transit:PhoneHome](DEBUG): Aggregate::uninitialize transit:Transit:PhoneHome
2025-07-18T00:39:16.233Z,1752799156.233 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/ballast_and_trim.tl
2025-07-18T00:39:16.233Z,1752799156.233 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/ballast_and_trim.tl
2025-07-18T00:39:16.246Z,1752799156.246 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/ballast_and_trim.tl
2025-07-18T00:39:16.796Z,1752799156.796 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Courier0014.lzma.bak
2025-07-18T00:39:16.796Z,1752799156.796 [DataOverHttps](INFO): SBD MOMSN=25543369
2025-07-18T00:39:23.484Z,1752799163.484 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/ballast_and_trim.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="ballast_and_trim">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>90</Value>
    </DefineArg>
    <DefineArg Name="SkipComms">
        <False />
    </DefineArg>
    <DefineArg Name="Depth1">
        <Units:meter />
        <Value>35</Value>
    </DefineArg>
    <DefineArg Name="Depth2">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.1</Value>
    </DefineArg>
    <DefineArg Name="ApproachSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.4</Value>
    </DefineArg>
    <DefineArg Name="ApproachPitchLimit">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachSettleTimePreDive">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="SettleTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="EstimationTimeout">
        <Units:minute />
        <Value>45</Value>
    </DefineArg>
    <DefineArg Name="MinEstimationTime">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="MassEstimationErrorBound">
        <Units:millimeter />
        <Value>0.5</Value>
    </DefineArg>
    <DefineArg Name="BuoyEstimationErrorBound">
        <Units:cubic_centimeter />
        <Value>25</Value>
    </DefineArg>
    <DefineArg Name="EstimationConfidence">
        <Units:percent />
        <Value>98.0</Value>
    </DefineArg>
    <DefineArg Name="massDeadband">
        <Units:millimeter />
        <Value>0.25</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>52</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="CheckDepths">
        <Units:bool />
        <Value>1</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="MissionTimeout" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="CheckTargetDepths">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="CheckDepths" />
            </Not>
        </Break>
        <Aggregate Id="CheckDepth1">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth1" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth1 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Aggregate Id="CheckDepth2">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="Depth2" />
                    <Gt>
                        <Arg Name="MaxDepth" />
                    </Gt>
                </Not>
            </Break>
            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth2 exceeds the mission&apos;s MaxDepth setting (review mission parameters).</Syslog>
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>stop</String>
                </Setting>
            </Guidance:Execute>
        </Aggregate>
        <Assign>
            <Sequence />
            <Arg Name="CheckDepths" />
            <Units:bool />
            <Value>0</Value>
        </Assign>
    </Aggregate>
    <Aggregate Id="StartingMission">
        <Sequence />
        <Break>
            <Arg Name="SkipComms" />
        </Break>
        <Syslog Severity="Info">Checking for additional instructions before submerging.</Syslog>
        <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    </Aggregate>
    <Aggregate Id="RunBallastAndTrim">
        <Sequence />
        <Insert Filename="Insert/BallastAndTrim.tl">
            <RedefineArg Name="InsertDepthDeadband">
                <Arg Name="DepthDeadband" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSpeed">
                <Arg Name="ApproachSpeed" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthRate">
                <Arg Name="ApproachDepthRate" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachPitchLimit">
                <Arg Name="ApproachPitchLimit" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachSettleTimePreDive">
                <Arg Name="ApproachSettleTimePreDive" />
            </RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout">
                <Arg Name="ApproachDepthTimeout" />
            </RedefineArg>
            <RedefineArg Name="InsertSettleTime">
                <Arg Name="SettleTime" />
            </RedefineArg>
            <RedefineArg Name="EstTimeout">
                <Arg Name="EstimationTimeout" />
            </RedefineArg>
            <RedefineArg Name="MinEstTime">
                <Arg Name="MinEstimationTime" />
            </RedefineArg>
            <RedefineArg Name="MassEstErrorBound">
                <Arg Name="MassEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound">
                <Arg Name="BuoyEstimationErrorBound" />
            </RedefineArg>
            <RedefineArg Name="EstConfidence">
                <Arg Name="EstimationConfidence" />
            </RedefineArg>
            <RedefineArg Name="InsertMassDeadband">
                <Arg Name="massDeadband" />
            </RedefineArg>
        </Insert>
        <Aggregate Id="RunDepth1">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth1" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth1" />
            </Assign>
            <Call RefId="BallastAndTrim" PriorityHere="false" />
        </Aggregate>
        <Aggregate Id="RunDepth2">
            <Sequence />
            <Break>
                <IsNaN>
                    <Arg Name="Depth2" />
                </IsNaN>
            </Break>
            <Assign>
                <Sequence />
                <Arg Name="BallastAndTrim:InsertDepth" />
                <Arg Name="Depth2" />
            </Assign>
            <Call RefId="BallastAndTrim" PriorityHere="false" />
        </Aggregate>
    </Aggregate>
    <Call RefId="NeedComms" Id="EndingMission" PriorityHere="false" />
</Mission>

2025-07-18T00:39:23.500Z,1752799163.500 [MissionManager](INFO): DefineArg ballast_and_trim.MissionTimeout = 90.000000 min
2025-07-18T00:39:23.527Z,1752799163.527 [MissionManager](INFO): DefineArg ballast_and_trim.SkipComms = 0 bool
2025-07-18T00:39:23.535Z,1752799163.535 [MissionManager](INFO): DefineArg ballast_and_trim.Depth1 = 35.000000 m
2025-07-18T00:39:23.542Z,1752799163.542 [MissionManager](INFO): DefineArg ballast_and_trim.Depth2 = nan m
2025-07-18T00:39:23.545Z,1752799163.545 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 0.100000 m
2025-07-18T00:39:23.553Z,1752799163.553 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSpeed = 1.000000 m/s
2025-07-18T00:39:23.585Z,1752799163.585 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthTimeout = 20.000000 min
2025-07-18T00:39:23.597Z,1752799163.597 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthRate = 0.400000 m/s
2025-07-18T00:39:23.628Z,1752799163.628 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachPitchLimit = 20.000000 arcdeg
2025-07-18T00:39:23.644Z,1752799163.644 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSettleTimePreDive = 0.000000 min
2025-07-18T00:39:23.651Z,1752799163.651 [MissionManager](INFO): DefineArg ballast_and_trim.SettleTime = 10.000000 min
2025-07-18T00:39:23.674Z,1752799163.674 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationTimeout = 45.000000 min
2025-07-18T00:39:23.677Z,1752799163.677 [MissionManager](INFO): DefineArg ballast_and_trim.MinEstimationTime = 10.000000 min
2025-07-18T00:39:23.707Z,1752799163.707 [MissionManager](INFO): DefineArg ballast_and_trim.MassEstimationErrorBound = 0.500000 mm
2025-07-18T00:39:23.725Z,1752799163.725 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyEstimationErrorBound = 25.000000 cc
2025-07-18T00:39:23.754Z,1752799163.754 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationConfidence = 98.000000 %
2025-07-18T00:39:23.768Z,1752799163.768 [MissionManager](INFO): DefineArg ballast_and_trim.massDeadband = 0.250000 mm
2025-07-18T00:39:23.787Z,1752799163.787 [MissionManager](INFO): DefineArg ballast_and_trim.MinAltitude = 5.000000 m
2025-07-18T00:39:23.790Z,1752799163.790 [MissionManager](INFO): DefineArg ballast_and_trim.MaxDepth = 52.000000 m
2025-07-18T00:39:23.793Z,1752799163.793 [MissionManager](INFO): DefineArg ballast_and_trim.MinOffshore = 2.000000 km
2025-07-18T00:39:23.804Z,1752799163.804 [MissionManager](INFO): DefineArg ballast_and_trim.CheckDepths = 1.000000 bool
2025-07-18T00:39:23.805Z,1752799163.805 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-07-18T00:39:23.805Z,1752799163.805 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-07-18T00:39:23.832Z,1752799163.832 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-07-18T00:39:29.652Z,1752799169.652 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <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="EnabledRBRTridente">
        <Science:RBRTridente.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="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</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>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <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="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <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="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <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="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <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="EnabledRBRTridente" />
            </Or>
            <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.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </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.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </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="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <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="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_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.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </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="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</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.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </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="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</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.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </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>

2025-07-18T00:39:29.759Z,1752799169.759 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool
2025-07-18T00:39:29.761Z,1752799169.761 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectChlActive = 0 bool
2025-07-18T00:39:29.765Z,1752799169.765 [MissionManager](INFO): DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min
2025-07-18T00:39:29.768Z,1752799169.768 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool
2025-07-18T00:39:29.770Z,1752799169.770 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool
2025-07-18T00:39:29.773Z,1752799169.773 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool
2025-07-18T00:39:29.796Z,1752799169.796 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PatchTracking = 0 bool
2025-07-18T00:39:29.800Z,1752799169.800 [MissionManager](INFO): DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count
2025-07-18T00:39:29.823Z,1752799169.823 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count
2025-07-18T00:39:29.827Z,1752799169.827 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %
2025-07-18T00:39:29.840Z,1752799169.840 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool
2025-07-18T00:39:29.851Z,1752799169.851 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool
2025-07-18T00:39:29.858Z,1752799169.858 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool
2025-07-18T00:39:29.861Z,1752799169.861 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool
2025-07-18T00:39:29.868Z,1752799169.868 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-07-18T00:39:29.886Z,1752799169.886 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-07-18T00:39:29.897Z,1752799169.897 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-07-18T00:39:29.932Z,1752799169.932 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-07-18T00:39:29.964Z,1752799169.964 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-07-18T00:39:29.975Z,1752799169.975 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-07-18T00:39:29.980Z,1752799169.980 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-07-18T00:39:29.986Z,1752799169.986 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-07-18T00:39:29.989Z,1752799169.989 [MissionManager](INFO): DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-07-18T00:39:30.002Z,1752799170.002 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0 bool
2025-07-18T00:39:30.005Z,1752799170.005 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledNeilBrown = 0 bool
2025-07-18T00:39:30.017Z,1752799170.017 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledRBRTridente = 0 bool
2025-07-18T00:39:30.025Z,1752799170.025 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledSeabird = 1 bool
2025-07-18T00:39:30.042Z,1752799170.042 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1 bool
2025-07-18T00:39:30.054Z,1752799170.054 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-07-18T00:39:30.094Z,1752799170.094 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 0 bool
2025-07-18T00:39:30.097Z,1752799170.097 [MissionManager](INFO): DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count
2025-07-18T00:39:30.113Z,1752799170.113 [MissionManager](INFO): DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count
2025-07-18T00:39:30.117Z,1752799170.117 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ShallowBound = nan m
2025-07-18T00:39:30.129Z,1752799170.129 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DeepBound = nan m
2025-07-18T00:39:30.141Z,1752799170.141 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-07-18T00:39:30.152Z,1752799170.152 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionVerticalAscent = nan %
2025-07-18T00:39:30.172Z,1752799170.172 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionVerticalDescent = nan %
2025-07-18T00:39:30.187Z,1752799170.187 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlPeakThresh = 0.000000 ug/l
2025-07-18T00:39:30.199Z,1752799170.199 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumberOfLayers = 1.000000 count
2025-07-18T00:39:30.201Z,1752799170.201 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlThreshTriggerActive = 0 bool
2025-07-18T00:39:30.213Z,1752799170.213 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlLowerThresh = nan ug/l
2025-07-18T00:39:30.224Z,1752799170.224 [MissionManager](INFO): DefineArg ballast_and_trim:Science.ChlUpperThresh = nan ug/l
2025-07-18T00:39:30.235Z,1752799170.235 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesThresh = 5.000000 count
2025-07-18T00:39:30.246Z,1752799170.246 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-07-18T00:39:30.254Z,1752799170.254 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-07-18T00:39:30.257Z,1752799170.257 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-07-18T00:39:30.267Z,1752799170.267 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-07-18T00:39:30.271Z,1752799170.271 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.GoDown = 1 bool
2025-07-18T00:39:30.278Z,1752799170.278 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChl = nan ug/l
2025-07-18T00:39:30.281Z,1752799170.281 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlDepth = nan m
2025-07-18T00:39:30.299Z,1752799170.299 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlTemperature = nan degC
2025-07-18T00:39:30.307Z,1752799170.307 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg
2025-07-18T00:39:30.315Z,1752799170.315 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg
2025-07-18T00:39:30.319Z,1752799170.319 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChl = nan ug/l
2025-07-18T00:39:30.330Z,1752799170.330 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlDepth = nan m
2025-07-18T00:39:30.343Z,1752799170.343 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlTemperature = nan degC
2025-07-18T00:39:30.351Z,1752799170.351 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLatitude = nan arcdeg
2025-07-18T00:39:30.368Z,1752799170.368 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgeChlLongitude = nan arcdeg
2025-07-18T00:39:30.372Z,1752799170.372 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3 = nan umol/l
2025-07-18T00:39:30.384Z,1752799170.384 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Depth = nan m
2025-07-18T00:39:30.388Z,1752799170.388 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg
2025-07-18T00:39:30.408Z,1752799170.408 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg
2025-07-18T00:39:30.411Z,1752799170.411 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOil = nan kg/m3
2025-07-18T00:39:30.431Z,1752799170.431 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilDepth = nan m
2025-07-18T00:39:30.438Z,1752799170.438 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg
2025-07-18T00:39:30.443Z,1752799170.443 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg
2025-07-18T00:39:30.450Z,1752799170.450 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOM = nan ppb
2025-07-18T00:39:30.458Z,1752799170.458 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMDepth = nan m
2025-07-18T00:39:30.461Z,1752799170.461 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC
2025-07-18T00:39:30.501Z,1752799170.501 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg
2025-07-18T00:39:30.520Z,1752799170.520 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg
2025-07-18T00:39:30.528Z,1752799170.528 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSalt = nan psu
2025-07-18T00:39:30.543Z,1752799170.543 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltDepth = nan m
2025-07-18T00:39:30.551Z,1752799170.551 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltTemperature = nan degC
2025-07-18T00:39:30.562Z,1752799170.562 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg
2025-07-18T00:39:30.570Z,1752799170.570 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg
2025-07-18T00:39:30.573Z,1752799170.573 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-07-18T00:39:30.584Z,1752799170.584 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-07-18T00:39:30.588Z,1752799170.588 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-07-18T00:39:30.600Z,1752799170.600 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-07-18T00:39:30.608Z,1752799170.608 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-07-18T00:39:30.619Z,1752799170.619 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-07-18T00:39:30.627Z,1752799170.627 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-07-18T00:39:30.634Z,1752799170.634 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-07-18T00:39:30.637Z,1752799170.637 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-07-18T00:39:30.645Z,1752799170.645 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-07-18T00:39:30.653Z,1752799170.653 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-07-18T00:39:30.667Z,1752799170.667 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-07-18T00:39:30.671Z,1752799170.671 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-07-18T00:39:30.683Z,1752799170.683 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-07-18T00:39:30.690Z,1752799170.690 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-07-18T00:39:30.693Z,1752799170.693 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-07-18T00:39:30.733Z,1752799170.733 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-07-18T00:39:30.741Z,1752799170.741 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-07-18T00:39:30.749Z,1752799170.749 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-07-18T00:39:30.757Z,1752799170.757 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-07-18T00:39:30.785Z,1752799170.785 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-07-18T00:39:30.801Z,1752799170.801 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-07-18T00:39:30.812Z,1752799170.812 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-07-18T00:39:30.824Z,1752799170.824 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-07-18T00:39:30.832Z,1752799170.832 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-07-18T00:39:30.837Z,1752799170.837 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-07-18T00:39:30.859Z,1752799170.859 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-07-18T00:39:30.867Z,1752799170.867 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-07-18T00:39:30.898Z,1752799170.898 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-07-18T00:39:30.915Z,1752799170.915 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-07-18T00:39:30.931Z,1752799170.931 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-07-18T00:39:30.950Z,1752799170.950 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-07-18T00:39:30.959Z,1752799170.959 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-07-18T00:39:30.971Z,1752799170.971 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-07-18T00:39:30.979Z,1752799170.979 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-07-18T00:39:30.990Z,1752799170.990 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-07-18T00:39:30.993Z,1752799170.993 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-07-18T00:39:31.005Z,1752799171.005 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-07-18T00:39:31.013Z,1752799171.013 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-07-18T00:39:31.016Z,1752799171.016 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-07-18T00:39:31.032Z,1752799171.032 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChl = nan ug/l
2025-07-18T00:39:31.035Z,1752799171.035 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDepth = nan m
2025-07-18T00:39:31.047Z,1752799171.047 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg
2025-07-18T00:39:31.054Z,1752799171.054 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg
2025-07-18T00:39:31.062Z,1752799171.062 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m
2025-07-18T00:39:31.065Z,1752799171.065 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSalt = nan psu
2025-07-18T00:39:31.073Z,1752799171.073 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDepth = nan m
2025-07-18T00:39:31.077Z,1752799171.077 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg
2025-07-18T00:39:31.089Z,1752799171.089 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg
2025-07-18T00:39:31.096Z,1752799171.096 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m
2025-07-18T00:39:31.100Z,1752799171.100 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOil = nan psu
2025-07-18T00:39:31.120Z,1752799171.120 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDepth = nan m
2025-07-18T00:39:31.127Z,1752799171.127 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg
2025-07-18T00:39:31.132Z,1752799171.132 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg
2025-07-18T00:39:31.136Z,1752799171.136 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m
2025-07-18T00:39:31.139Z,1752799171.139 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.TriggeredOnChl = 0 bool
2025-07-18T00:39:31.151Z,1752799171.151 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.ChlTriggering = nan ug/l
2025-07-18T00:39:31.297Z,1752799171.297 [ballast_and_trim:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T00:39:31.391Z,1752799171.391 [ballast_and_trim:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-07-18T00:39:31.458Z,1752799171.458 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-07-18T00:39:31.491Z,1752799171.491 [ballast_and_trim:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T00:39:31.541Z,1752799171.541 [ballast_and_trim:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T00:39:31.582Z,1752799171.582 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-07-18T00:39:31.615Z,1752799171.615 [ballast_and_trim:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T00:39:31.653Z,1752799171.653 [ballast_and_trim:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T00:39:31.712Z,1752799171.712 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-07-18T00:39:31.767Z,1752799171.767 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T00:39:31.812Z,1752799171.812 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-07-18T00:39:31.869Z,1752799171.869 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T00:39:31.961Z,1752799171.961 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-07-18T00:39:32.040Z,1752799172.040 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T00:39:32.072Z,1752799172.072 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-07-18T00:39:32.193Z,1752799172.193 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T00:39:32.243Z,1752799172.243 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-07-18T00:39:32.315Z,1752799172.315 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-07-18T00:39:32.331Z,1752799172.331 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-07-18T00:39:32.331Z,1752799172.331 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-07-18T00:39:32.332Z,1752799172.332 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-07-18T00:39:32.884Z,1752799172.884 [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>

2025-07-18T00:39:32.930Z,1752799172.930 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.DiveInterval = 1.000000 h
2025-07-18T00:39:32.933Z,1752799172.933 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.WaitForPitchUp = 10.000000 min
2025-07-18T00:39:32.941Z,1752799172.941 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-07-18T00:39:32.967Z,1752799172.967 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceDepthRate = nan m/s
2025-07-18T00:39:32.979Z,1752799172.979 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-07-18T00:39:32.992Z,1752799172.992 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacingTimeout = 1000.000000 s
2025-07-18T00:39:33.007Z,1752799173.007 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.GPSTimeout = 7.000000 min
2025-07-18T00:39:33.013Z,1752799173.013 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.CommsTimeout = 30.000000 min
2025-07-18T00:39:33.065Z,1752799173.065 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-07-18T00:39:33.135Z,1752799173.135 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-07-18T00:39:33.135Z,1752799173.135 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-07-18T00:39:33.136Z,1752799173.136 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-07-18T00:39:33.449Z,1752799173.449 [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>1.5</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>

2025-07-18T00:39:33.462Z,1752799173.462 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinAltitude = 5.000000 m
2025-07-18T00:39:33.465Z,1752799173.465 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-07-18T00:39:33.472Z,1752799173.472 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepth = 200.000000 m
2025-07-18T00:39:33.477Z,1752799173.477 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-07-18T00:39:33.486Z,1752799173.486 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-07-18T00:39:33.502Z,1752799173.502 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-07-18T00:39:33.521Z,1752799173.521 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-07-18T00:39:33.547Z,1752799173.547 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-07-18T00:39:33.547Z,1752799173.547 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-07-18T00:39:33.548Z,1752799173.548 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-07-18T00:39:33.601Z,1752799173.601 [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>

2025-07-18T00:39:33.609Z,1752799173.609 [MissionManager](INFO): DefineArg ballast_and_trim:BackseatDriver.EnableBackseat = 0 bool
2025-07-18T00:39:33.616Z,1752799173.616 [ballast_and_trim:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-07-18T00:39:33.630Z,1752799173.630 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-07-18T00:39:33.630Z,1752799173.630 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-07-18T00:39:33.631Z,1752799173.631 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-07-18T00:39:33.919Z,1752799173.919 [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>

2025-07-18T00:39:33.951Z,1752799173.951 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleAll = 0 bool
2025-07-18T00:39:33.960Z,1752799173.960 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad1 = 0 bool
2025-07-18T00:39:33.963Z,1752799173.963 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad2 = 0 bool
2025-07-18T00:39:33.974Z,1752799173.974 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.SampleLoad3 = 0 bool
2025-07-18T00:39:33.983Z,1752799173.983 [MissionManager](INFO): DefineArg ballast_and_trim:PowerOnly.EnabledPowerOnly = 0 bool
2025-07-18T00:39:34.005Z,1752799174.005 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-07-18T00:39:34.019Z,1752799174.019 [ballast_and_trim:CheckTargetDepths:CheckDepth1:B.Execute](DEBUG): Construct Execute.
2025-07-18T00:39:34.028Z,1752799174.028 [ballast_and_trim:CheckTargetDepths:CheckDepth2:B.Execute](DEBUG): Construct Execute.
2025-07-18T00:39:34.045Z,1752799174.045 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BallastAndTrim.tl
2025-07-18T00:39:34.045Z,1752799174.045 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BallastAndTrim.tl
2025-07-18T00:39:34.047Z,1752799174.047 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BallastAndTrim.tl
2025-07-18T00:39:35.132Z,1752799175.132 [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>

2025-07-18T00:39:35.148Z,1752799175.148 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m
2025-07-18T00:39:35.152Z,1752799175.152 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2025-07-18T00:39:35.164Z,1752799175.164 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2025-07-18T00:39:35.167Z,1752799175.167 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2025-07-18T00:39:35.181Z,1752799175.181 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2025-07-18T00:39:35.193Z,1752799175.193 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2025-07-18T00:39:35.201Z,1752799175.201 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min
2025-07-18T00:39:35.220Z,1752799175.220 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min
2025-07-18T00:39:35.224Z,1752799175.224 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min
2025-07-18T00:39:35.236Z,1752799175.236 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2025-07-18T00:39:35.243Z,1752799175.243 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2025-07-18T00:39:35.251Z,1752799175.251 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900002 %
2025-07-18T00:39:35.258Z,1752799175.258 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2025-07-18T00:39:35.262Z,1752799175.262 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2025-07-18T00:39:35.296Z,1752799175.296 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2025-07-18T00:39:35.350Z,1752799175.350 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-07-18T00:39:35.361Z,1752799175.361 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2025-07-18T00:39:35.391Z,1752799175.391 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2025-07-18T00:39:35.400Z,1752799175.400 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2025-07-18T00:39:35.407Z,1752799175.407 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2025-07-18T00:39:35.424Z,1752799175.424 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-07-18T00:39:35.432Z,1752799175.432 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2025-07-18T00:39:35.436Z,1752799175.436 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2025-07-18T00:39:35.460Z,1752799175.460 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2025-07-18T00:39:35.466Z,1752799175.466 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](DEBUG): Construct Execute.
2025-07-18T00:39:35.481Z,1752799175.481 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](DEBUG): Construct BallastAndTrim.
2025-07-18T00:39:35.532Z,1752799175.532 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband
2025-07-18T00:39:35.535Z,1752799175.535 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = reader:ballast_and_trim.ApproachSpeed
2025-07-18T00:39:35.537Z,1752799175.537 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = reader:ballast_and_trim.ApproachDepthRate
2025-07-18T00:39:35.547Z,1752799175.547 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = reader:ballast_and_trim.ApproachPitchLimit
2025-07-18T00:39:35.549Z,1752799175.549 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = reader:ballast_and_trim.ApproachSettleTimePreDive
2025-07-18T00:39:35.556Z,1752799175.556 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.ApproachDepthTimeout
2025-07-18T00:39:35.560Z,1752799175.560 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime
2025-07-18T00:39:35.570Z,1752799175.570 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout
2025-07-18T00:39:35.572Z,1752799175.572 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime
2025-07-18T00:39:35.574Z,1752799175.574 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound
2025-07-18T00:39:35.576Z,1752799175.576 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound
2025-07-18T00:39:35.586Z,1752799175.586 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence
2025-07-18T00:39:35.588Z,1752799175.588 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = reader:ballast_and_trim.massDeadband
2025-07-18T00:39:35.839Z,1752799175.839 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission ballast_and_trim {
  arguments {
    MissionTimeout = 90 minute
      """
      Maximum duration of mission
      """

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

    Depth1 = 35 meter

    Depth2 = NaN meter

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

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

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

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

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

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

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

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

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

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

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

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

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

    MinAltitude = 5 meter

    MaxDepth = 52 meter

    MinOffshore = 2 kilometer

    CheckDepths = 1 bool
  }

  timeout duration=MissionTimeout

  insert Insert/Science.tl

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

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  aggregate CheckTargetDepths {
    run in sequence

    break if ( not ( CheckDepths ) )

    aggregate CheckDepth1 {
      run in sequence

      break if ( not ( Depth1 > MaxDepth ) )

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

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    aggregate CheckDepth2 {
      run in sequence

      break if ( not ( Depth2 > MaxDepth ) )

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

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    assign in sequence CheckDepths = 0 bool
  }

  aggregate StartingMission {
    run in sequence

    break if ( SkipComms )

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

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

  aggregate RunBallastAndTrim {
    run in sequence

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

    aggregate RunDepth1 {
      run in sequence

      break if ( isNaN ( Depth1 ) )

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

    aggregate RunDepth2 {
      run in sequence

      break if ( isNaN ( Depth2 ) )

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

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


2025-07-18T00:39:35.848Z,1752799175.848 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/ballast_and_trim.tl
2025-07-18T00:39:36.200Z,1752799176.200 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2025-07-18T00:39:36.201Z,1752799176.201 [ballast_and_trim] Running Loop=1
2025-07-18T00:39:36.201Z,1752799176.201 [ballast_and_trim](DEBUG): Aggregate::initialize ballast_and_trim
2025-07-18T00:39:36.201Z,1752799176.201 [ballast_and_trim:Science] Running Loop=1
2025-07-18T00:39:36.201Z,1752799176.201 [ballast_and_trim:Science](DEBUG): Aggregate::initialize ballast_and_trim:Science
2025-07-18T00:39:36.201Z,1752799176.201 [ballast_and_trim:Science:A] Running Loop=1
2025-07-18T00:39:36.201Z,1752799176.201 [ballast_and_trim:Science:B] Running Loop=1
2025-07-18T00:39:36.201Z,1752799176.201 [ballast_and_trim:Science:C] Running Loop=1
2025-07-18T00:39:36.201Z,1752799176.201 [ballast_and_trim:Science:D] Running Loop=1
2025-07-18T00:39:36.201Z,1752799176.201 [ballast_and_trim:Science:E] Running Loop=1
2025-07-18T00:39:36.201Z,1752799176.201 [ballast_and_trim:Science:F] Running Loop=1
2025-07-18T00:39:36.201Z,1752799176.201 [ballast_and_trim:Science:Read_Oil] Running Loop=1
2025-07-18T00:39:36.206Z,1752799176.206 [ballast_and_trim:Science:PeakDetectChl] Running Loop=1
2025-07-18T00:39:36.206Z,1752799176.206 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectChl
2025-07-18T00:39:36.206Z,1752799176.206 [ballast_and_trim:Science:PeakDetectChl:A] Running Loop=1
2025-07-18T00:39:36.206Z,1752799176.206 [ballast_and_trim:Science:EdgeDetectChl] Running Loop=1
2025-07-18T00:39:36.206Z,1752799176.206 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectChl
2025-07-18T00:39:36.206Z,1752799176.206 [ballast_and_trim:Science:EdgeDetectChl:A] Running Loop=1
2025-07-18T00:39:36.206Z,1752799176.206 [ballast_and_trim:Science:HighestChlPeakReport] Running Loop=1
2025-07-18T00:39:36.207Z,1752799176.207 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestChlPeakReport
2025-07-18T00:39:36.207Z,1752799176.207 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-07-18T00:39:36.207Z,1752799176.207 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-07-18T00:39:36.208Z,1752799176.208 [ballast_and_trim:Science:PeakDetectNO3] Running Loop=1
2025-07-18T00:39:36.208Z,1752799176.208 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectNO3
2025-07-18T00:39:36.208Z,1752799176.208 [ballast_and_trim:Science:PeakDetectNO3:A] Running Loop=1
2025-07-18T00:39:36.208Z,1752799176.208 [ballast_and_trim:Science:PeakDetectOil] Running Loop=1
2025-07-18T00:39:36.208Z,1752799176.208 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectOil
2025-07-18T00:39:36.208Z,1752799176.208 [ballast_and_trim:Science:PeakDetectOil:A] Running Loop=1
2025-07-18T00:39:36.208Z,1752799176.208 [ballast_and_trim:Science:HighestOilPeakReport] Running Loop=1
2025-07-18T00:39:36.208Z,1752799176.208 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestOilPeakReport
2025-07-18T00:39:36.209Z,1752799176.209 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-07-18T00:39:36.209Z,1752799176.209 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-07-18T00:39:36.209Z,1752799176.209 [ballast_and_trim:Science:PeakDetectFDOM] Running Loop=1
2025-07-18T00:39:36.209Z,1752799176.209 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectFDOM
2025-07-18T00:39:36.209Z,1752799176.209 [ballast_and_trim:Science:PeakDetectFDOM:A] Running Loop=1
2025-07-18T00:39:36.209Z,1752799176.209 [ballast_and_trim:Science:PeakDetectSalinity] Running Loop=1
2025-07-18T00:39:36.214Z,1752799176.214 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectSalinity
2025-07-18T00:39:36.214Z,1752799176.214 [ballast_and_trim:Science:PeakDetectSalinity:A] Running Loop=1
2025-07-18T00:39:36.214Z,1752799176.214 [ballast_and_trim:Science:HighestSaltPeakReport] Running Loop=1
2025-07-18T00:39:36.230Z,1752799176.230 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestSaltPeakReport
2025-07-18T00:39:36.230Z,1752799176.230 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-07-18T00:39:36.230Z,1752799176.230 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-07-18T00:39:36.231Z,1752799176.231 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-07-18T00:39:36.231Z,1752799176.231 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-07-18T00:39:36.231Z,1752799176.231 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-07-18T00:39:36.231Z,1752799176.231 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-07-18T00:39:36.231Z,1752799176.231 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-07-18T00:39:36.231Z,1752799176.231 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-07-18T00:39:36.231Z,1752799176.231 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-07-18T00:39:36.231Z,1752799176.231 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-07-18T00:39:36.232Z,1752799176.232 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-07-18T00:39:36.232Z,1752799176.232 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-07-18T00:39:36.232Z,1752799176.232 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI
2025-07-18T00:39:36.232Z,1752799176.232 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-07-18T00:39:36.232Z,1752799176.232 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-07-18T00:39:36.232Z,1752799176.232 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-07-18T00:39:36.232Z,1752799176.232 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-07-18T00:39:36.232Z,1752799176.232 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-07-18T00:39:36.232Z,1752799176.232 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms
2025-07-18T00:39:36.232Z,1752799176.232 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-07-18T00:39:36.232Z,1752799176.232 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-07-18T00:39:36.233Z,1752799176.233 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-07-18T00:39:36.233Z,1752799176.233 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-07-18T00:39:36.233Z,1752799176.233 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-07-18T00:39:36.233Z,1752799176.233 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates
2025-07-18T00:39:36.233Z,1752799176.233 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-07-18T00:39:36.233Z,1752799176.233 [ballast_and_trim:Science:ChlThreshTrigger] Running Loop=1
2025-07-18T00:39:36.233Z,1752799176.233 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize ballast_and_trim:Science:ChlThreshTrigger
2025-07-18T00:39:36.233Z,1752799176.233 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-07-18T00:39:36.233Z,1752799176.233 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-07-18T00:39:36.242Z,1752799176.242 [ballast_and_trim:Science:OceanCurrent] Running Loop=1
2025-07-18T00:39:36.243Z,1752799176.243 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::initialize ballast_and_trim:Science:OceanCurrent
2025-07-18T00:39:36.243Z,1752799176.243 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-07-18T00:39:36.243Z,1752799176.243 [ballast_and_trim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-07-18T00:39:36.243Z,1752799176.243 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-07-18T00:39:36.243Z,1752799176.243 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::initialize ballast_and_trim:StandardEnvelopes
2025-07-18T00:39:36.243Z,1752799176.243 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-07-18T00:39:36.243Z,1752799176.243 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-07-18T00:39:36.243Z,1752799176.243 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-07-18T00:39:36.243Z,1752799176.243 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-07-18T00:39:36.244Z,1752799176.244 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-07-18T00:39:36.244Z,1752799176.244 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-07-18T00:39:36.244Z,1752799176.244 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-07-18T00:39:36.244Z,1752799176.244 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::initialize ballast_and_trim:BackseatDriver
2025-07-18T00:39:36.245Z,1752799176.245 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-07-18T00:39:36.245Z,1752799176.245 [ballast_and_trim:PowerOnly] Running Loop=1
2025-07-18T00:39:36.245Z,1752799176.245 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::initialize ballast_and_trim:PowerOnly
2025-07-18T00:39:36.245Z,1752799176.245 [ballast_and_trim:PowerOnly:A] Running Loop=1
2025-07-18T00:39:36.245Z,1752799176.245 [ballast_and_trim:PowerOnly:B] Running Loop=1
2025-07-18T00:39:36.245Z,1752799176.245 [ballast_and_trim:PowerOnly:C] Running Loop=1
2025-07-18T00:39:36.245Z,1752799176.245 [ballast_and_trim:PowerOnly:D] Running Loop=1
2025-07-18T00:39:36.245Z,1752799176.245 [ballast_and_trim:PowerOnly:E.Wait] Running Loop=1
2025-07-18T00:39:36.245Z,1752799176.245 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-07-18T00:39:36.245Z,1752799176.245 [ballast_and_trim:C] Running Loop=1
2025-07-18T00:39:36.254Z,1752799176.254 [ballast_and_trim:PowerOnly] Running Loop=1
2025-07-18T00:39:36.255Z,1752799176.255 [ballast_and_trim:PowerOnly:D] Stopped
2025-07-18T00:39:36.255Z,1752799176.255 [ballast_and_trim:PowerOnly:C] Stopped
2025-07-18T00:39:36.255Z,1752799176.255 [ballast_and_trim:PowerOnly:B] Stopped
2025-07-18T00:39:36.255Z,1752799176.255 [ballast_and_trim:PowerOnly:A] Stopped
2025-07-18T00:39:36.255Z,1752799176.255 [ballast_and_trim:BackseatDriver] Running Loop=1
2025-07-18T00:39:36.255Z,1752799176.255 [ballast_and_trim:StandardEnvelopes] Running Loop=1
2025-07-18T00:39:36.255Z,1752799176.255 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-07-18T00:39:36.256Z,1752799176.256 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-07-18T00:39:36.256Z,1752799176.256 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-07-18T00:39:36.256Z,1752799176.256 [ballast_and_trim:C] Stopped
2025-07-18T00:39:36.257Z,1752799176.257 [ballast_and_trim:E] Running Loop=1
2025-07-18T00:39:36.257Z,1752799176.257 [ballast_and_trim:Science] Running Loop=1
2025-07-18T00:39:36.266Z,1752799176.266 [ballast_and_trim:Science:ChlThreshTrigger] Stopped
2025-07-18T00:39:36.267Z,1752799176.267 [ballast_and_trim:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:ChlThreshTrigger
2025-07-18T00:39:36.267Z,1752799176.267 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-07-18T00:39:36.267Z,1752799176.267 [ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-07-18T00:39:36.267Z,1752799176.267 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-07-18T00:39:36.267Z,1752799176.267 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates
2025-07-18T00:39:36.267Z,1752799176.267 [ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-07-18T00:39:36.267Z,1752799176.267 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-07-18T00:39:36.267Z,1752799176.267 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates
2025-07-18T00:39:36.267Z,1752799176.267 [ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-07-18T00:39:36.267Z,1752799176.267 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-07-18T00:39:36.267Z,1752799176.267 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms
2025-07-18T00:39:36.267Z,1752799176.267 [ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-07-18T00:39:36.267Z,1752799176.267 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-07-18T00:39:36.268Z,1752799176.268 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms
2025-07-18T00:39:36.268Z,1752799176.268 [ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-07-18T00:39:36.268Z,1752799176.268 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-07-18T00:39:36.268Z,1752799176.268 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI
2025-07-18T00:39:36.268Z,1752799176.268 [ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-07-18T00:39:36.268Z,1752799176.268 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-07-18T00:39:36.268Z,1752799176.268 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI
2025-07-18T00:39:36.268Z,1752799176.268 [ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-07-18T00:39:36.268Z,1752799176.268 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-07-18T00:39:36.268Z,1752799176.268 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI
2025-07-18T00:39:36.268Z,1752799176.268 [ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-07-18T00:39:36.268Z,1752799176.268 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-07-18T00:39:36.268Z,1752799176.268 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI
2025-07-18T00:39:36.269Z,1752799176.269 [ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-07-18T00:39:36.269Z,1752799176.269 [ballast_and_trim:Science:HighestSaltPeakReport] Stopped
2025-07-18T00:39:36.269Z,1752799176.269 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestSaltPeakReport
2025-07-18T00:39:36.269Z,1752799176.269 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-07-18T00:39:36.269Z,1752799176.269 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-07-18T00:39:36.269Z,1752799176.269 [ballast_and_trim:Science:PeakDetectSalinity] Stopped
2025-07-18T00:39:36.269Z,1752799176.269 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectSalinity
2025-07-18T00:39:36.269Z,1752799176.269 [ballast_and_trim:Science:PeakDetectSalinity:A] Stopped
2025-07-18T00:39:36.269Z,1752799176.269 [ballast_and_trim:Science:PeakDetectFDOM] Stopped
2025-07-18T00:39:36.269Z,1752799176.269 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectFDOM
2025-07-18T00:39:36.269Z,1752799176.269 [ballast_and_trim:Science:PeakDetectFDOM:A] Stopped
2025-07-18T00:39:36.269Z,1752799176.269 [ballast_and_trim:Science:HighestOilPeakReport] Stopped
2025-07-18T00:39:36.269Z,1752799176.269 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestOilPeakReport
2025-07-18T00:39:36.275Z,1752799176.275 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-07-18T00:39:36.275Z,1752799176.275 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-07-18T00:39:36.275Z,1752799176.275 [ballast_and_trim:Science:PeakDetectOil] Stopped
2025-07-18T00:39:36.275Z,1752799176.275 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectOil
2025-07-18T00:39:36.275Z,1752799176.275 [ballast_and_trim:Science:PeakDetectOil:A] Stopped
2025-07-18T00:39:36.276Z,1752799176.276 [ballast_and_trim:Science:PeakDetectNO3] Stopped
2025-07-18T00:39:36.276Z,1752799176.276 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectNO3
2025-07-18T00:39:36.276Z,1752799176.276 [ballast_and_trim:Science:PeakDetectNO3:A] Stopped
2025-07-18T00:39:36.276Z,1752799176.276 [ballast_and_trim:Science:HighestChlPeakReport] Stopped
2025-07-18T00:39:36.276Z,1752799176.276 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestChlPeakReport
2025-07-18T00:39:36.276Z,1752799176.276 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-07-18T00:39:36.276Z,1752799176.276 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-07-18T00:39:36.276Z,1752799176.276 [ballast_and_trim:Science:EdgeDetectChl] Stopped
2025-07-18T00:39:36.276Z,1752799176.276 [ballast_and_trim:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:EdgeDetectChl
2025-07-18T00:39:36.276Z,1752799176.276 [ballast_and_trim:Science:EdgeDetectChl:A] Stopped
2025-07-18T00:39:36.276Z,1752799176.276 [ballast_and_trim:Science:PeakDetectChl] Stopped
2025-07-18T00:39:36.276Z,1752799176.276 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectChl
2025-07-18T00:39:36.276Z,1752799176.276 [ballast_and_trim:Science:PeakDetectChl:A] Stopped
2025-07-18T00:39:36.277Z,1752799176.277 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2025-07-18T00:39:36.283Z,1752799176.283 [ballast_and_trim:Science:Read_Oil] Stopped
2025-07-18T00:39:36.283Z,1752799176.283 [ballast_and_trim:Science:F] Stopped
2025-07-18T00:39:36.283Z,1752799176.283 [ballast_and_trim:Science:E] Running Loop=1
2025-07-18T00:39:36.284Z,1752799176.284 [ballast_and_trim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-07-18T00:39:36.284Z,1752799176.284 [ballast_and_trim:Science:D] Stopped
2025-07-18T00:39:36.284Z,1752799176.284 [ballast_and_trim:Science:C] Running Loop=1
2025-07-18T00:39:36.291Z,1752799176.291 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-07-18T00:39:36.291Z,1752799176.291 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-07-18T00:39:36.291Z,1752799176.291 [ballast_and_trim:Science:B] Running Loop=1
2025-07-18T00:39:36.292Z,1752799176.292 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-07-18T00:39:36.293Z,1752799176.293 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-07-18T00:39:36.293Z,1752799176.293 [ballast_and_trim:Science:A] Stopped
2025-07-18T00:39:36.577Z,1752799176.577 [ballast_and_trim:E] Stopped
2025-07-18T00:39:36.577Z,1752799176.577 [ballast_and_trim:F] Running Loop=1
2025-07-18T00:39:36.974Z,1752799176.974 [ballast_and_trim:F] Stopped
2025-07-18T00:39:36.974Z,1752799176.974 [ballast_and_trim:G] Running Loop=1
2025-07-18T00:39:37.207Z,1752799177.207 [WetLabsBB2FL](INFO): Powering up
2025-07-18T00:39:37.367Z,1752799177.367 [ballast_and_trim:G] Stopped
2025-07-18T00:39:37.367Z,1752799177.367 [ballast_and_trim:CheckTargetDepths] Running Loop=1
2025-07-18T00:39:37.367Z,1752799177.367 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths
2025-07-18T00:39:37.367Z,1752799177.367 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Running Loop=1
2025-07-18T00:39:37.367Z,1752799177.367 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-07-18T00:39:37.367Z,1752799177.367 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Running Loop=1
2025-07-18T00:39:37.771Z,1752799177.771 [ballast_and_trim:CheckTargetDepths:CheckDepth1] Stopped
2025-07-18T00:39:37.771Z,1752799177.771 [ballast_and_trim:CheckTargetDepths:CheckDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth1
2025-07-18T00:39:37.771Z,1752799177.771 [ballast_and_trim:CheckTargetDepths:CheckDepth1:A] Stopped
2025-07-18T00:39:37.771Z,1752799177.771 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Running Loop=1
2025-07-18T00:39:37.771Z,1752799177.771 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::initialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-07-18T00:39:37.771Z,1752799177.771 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Running Loop=1
2025-07-18T00:39:38.191Z,1752799178.191 [ballast_and_trim:CheckTargetDepths:CheckDepth2] Stopped
2025-07-18T00:39:38.191Z,1752799178.191 [ballast_and_trim:CheckTargetDepths:CheckDepth2](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths:CheckDepth2
2025-07-18T00:39:38.192Z,1752799178.192 [ballast_and_trim:CheckTargetDepths:CheckDepth2:A] Stopped
2025-07-18T00:39:38.192Z,1752799178.192 [ballast_and_trim:CheckTargetDepths:C] Running Loop=1
2025-07-18T00:39:38.588Z,1752799178.588 [ballast_and_trim:CheckTargetDepths:C] Stopped
2025-07-18T00:39:38.589Z,1752799178.589 [ballast_and_trim:CheckTargetDepths](INFO): Completed ballast_and_trim:CheckTargetDepths
2025-07-18T00:39:38.589Z,1752799178.589 [ballast_and_trim:CheckTargetDepths] Stopped
2025-07-18T00:39:38.589Z,1752799178.589 [ballast_and_trim:CheckTargetDepths](DEBUG): Aggregate::uninitialize ballast_and_trim:CheckTargetDepths
2025-07-18T00:39:38.589Z,1752799178.589 [ballast_and_trim:StartingMission] Running Loop=1
2025-07-18T00:39:38.589Z,1752799178.589 [ballast_and_trim:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission
2025-07-18T00:39:38.589Z,1752799178.589 [ballast_and_trim:StartingMission:A] Running Loop=1
2025-07-18T00:39:38.983Z,1752799178.983 [ballast_and_trim:StartingMission:A](INFO): Checking for additional instructions before submerging.
2025-07-18T00:39:38.983Z,1752799178.983 [ballast_and_trim:StartingMission:A] Stopped
2025-07-18T00:39:38.983Z,1752799178.983 [ballast_and_trim:StartingMission:StartingMission] Running Loop=1
2025-07-18T00:39:38.983Z,1752799178.983 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::initialize ballast_and_trim:StartingMission:StartingMission
2025-07-18T00:39:39.388Z,1752799179.388 [ballast_and_trim:NeedComms] Running Loop=1
2025-07-18T00:39:39.388Z,1752799179.388 [ballast_and_trim:NeedComms](DEBUG): Aggregate::initialize ballast_and_trim:NeedComms
2025-07-18T00:39:39.388Z,1752799179.388 [ballast_and_trim:NeedComms:B.GoToSurface] Running Loop=1
2025-07-18T00:39:39.388Z,1752799179.388 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-18T00:39:39.388Z,1752799179.388 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-07-18T00:39:39.389Z,1752799179.389 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-07-18T00:39:39.389Z,1752799179.389 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-07-18T00:39:39.389Z,1752799179.389 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-07-18T00:39:39.390Z,1752799179.390 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-18T00:39:39.390Z,1752799179.390 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-18T00:39:39.391Z,1752799179.391 [ballast_and_trim:NeedComms:A] Running Loop=1
2025-07-18T00:39:39.392Z,1752799179.392 [ballast_and_trim:NeedComms:A](INFO): last time_fix was:  1752799151.000000 second since 1970/01/01T00:00:00Z 
2025-07-18T00:39:39.392Z,1752799179.392 [ballast_and_trim:NeedComms:A] Stopped
2025-07-18T00:39:39.796Z,1752799179.796 [ballast_and_trim:NeedComms:C] Running Loop=1
2025-07-18T00:39:40.059Z,1752799180.059 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-07-18T00:39:40.232Z,1752799180.232 [ballast_and_trim:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-07-18T00:39:41.804Z,1752799181.804 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003941.00,A,3646.96421,N,12151.88672,W,0.078,158.01,180725,,,A*72
2025-07-18T00:39:41.807Z,1752799181.807 [NAL9602](INFO): GPS fix at 20250718T003941: (36.782737, -121.864779)
2025-07-18T00:39:41.848Z,1752799181.848 [ballast_and_trim:NeedComms:C] Stopped
2025-07-18T00:39:41.849Z,1752799181.849 [ballast_and_trim:NeedComms:D] Running Loop=1
2025-07-18T00:39:42.274Z,1752799182.274 [ballast_and_trim:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-07-18T00:39:49.981Z,1752799189.981 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250717T225938/Courier0018.lzma
2025-07-18T00:39:50.984Z,1752799190.984 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Courier0018.lzma.bak
2025-07-18T00:39:50.984Z,1752799190.984 [DataOverHttps](INFO): SBD MOMSN=25543373
2025-07-18T00:40:07.869Z,1752799207.869 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250717T225938/Courier0021.lzma
2025-07-18T00:40:08.872Z,1752799208.872 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Courier0021.lzma.bak
2025-07-18T00:40:08.872Z,1752799208.872 [DataOverHttps](INFO): SBD MOMSN=25543375
2025-07-18T00:40:10.157Z,1752799210.157 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00012304265798,350,   0.0,1506.8,  0
2025-07-18T00:40:14.589Z,1752799214.589 [NAL9602](INFO): Not Powering down - fast GPS
2025-07-18T00:40:26.351Z,1752799226.351 [DataOverHttps](INFO): Sending 499 bytes from file Logs/20250717T225938/Express0016.lzma
2025-07-18T00:40:27.352Z,1752799227.352 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Express0016.lzma.bak
2025-07-18T00:40:27.352Z,1752799227.352 [DataOverHttps](INFO): SBD MOMSN=25543378
2025-07-18T00:40:44.373Z,1752799244.373 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250717T225938/Express0019.lzma
2025-07-18T00:40:45.376Z,1752799245.376 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Express0019.lzma.bak
2025-07-18T00:40:45.376Z,1752799245.376 [DataOverHttps](INFO): SBD MOMSN=25543392
2025-07-18T00:41:02.430Z,1752799262.430 [DataOverHttps](INFO): Sending 184 bytes from file Logs/20250717T225938/Express0022.lzma
2025-07-18T00:41:03.428Z,1752799263.428 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Express0022.lzma.bak
2025-07-18T00:41:03.428Z,1752799263.428 [DataOverHttps](INFO): SBD MOMSN=25543394
2025-07-18T00:41:04.708Z,1752799264.708 [ballast_and_trim:NeedComms:D] Stopped
2025-07-18T00:41:04.709Z,1752799264.709 [ballast_and_trim:NeedComms:E] Running Loop=1
2025-07-18T00:41:05.101Z,1752799265.101 [ballast_and_trim:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-07-18T00:41:06.701Z,1752799266.701 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004105.00,A,3646.95769,N,12151.87704,W,0.525,145.31,180725,,,A*7C
2025-07-18T00:41:06.703Z,1752799266.703 [NAL9602](INFO): GPS fix at 20250718T004105: (36.782628, -121.864617)
2025-07-18T00:41:06.753Z,1752799266.753 [ballast_and_trim:NeedComms:E] Stopped
2025-07-18T00:41:06.762Z,1752799266.762 [ballast_and_trim:NeedComms](INFO): Completed ballast_and_trim:NeedComms
2025-07-18T00:41:06.762Z,1752799266.762 [ballast_and_trim:NeedComms] Stopped
2025-07-18T00:41:06.762Z,1752799266.762 [ballast_and_trim:NeedComms](DEBUG): Aggregate::uninitialize ballast_and_trim:NeedComms
2025-07-18T00:41:06.762Z,1752799266.762 [ballast_and_trim:NeedComms:B.GoToSurface] Stopped
2025-07-18T00:41:06.762Z,1752799266.762 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-18T00:41:07.136Z,1752799267.136 [ballast_and_trim:StartingMission:StartingMission](INFO): Completed ballast_and_trim:StartingMission:StartingMission
2025-07-18T00:41:07.136Z,1752799267.136 [ballast_and_trim:StartingMission:StartingMission] Stopped
2025-07-18T00:41:07.136Z,1752799267.136 [ballast_and_trim:StartingMission:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission:StartingMission
2025-07-18T00:41:07.136Z,1752799267.136 [ballast_and_trim:StartingMission](INFO): Completed ballast_and_trim:StartingMission
2025-07-18T00:41:07.136Z,1752799267.136 [ballast_and_trim:StartingMission] Stopped
2025-07-18T00:41:07.136Z,1752799267.136 [ballast_and_trim:StartingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:StartingMission
2025-07-18T00:41:07.136Z,1752799267.136 [ballast_and_trim:RunBallastAndTrim] Running Loop=1
2025-07-18T00:41:07.136Z,1752799267.136 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim
2025-07-18T00:41:07.137Z,1752799267.137 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Running Loop=1
2025-07-18T00:41:07.137Z,1752799267.137 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-07-18T00:41:07.137Z,1752799267.137 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Running Loop=1
2025-07-18T00:41:07.582Z,1752799267.582 [ballast_and_trim:RunBallastAndTrim:RunDepth1:A] Stopped
2025-07-18T00:41:07.582Z,1752799267.582 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Running Loop=1
2025-07-18T00:41:07.582Z,1752799267.582 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-07-18T00:41:08.063Z,1752799268.063 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Running Loop=1
2025-07-18T00:41:08.064Z,1752799268.064 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-07-18T00:41:08.064Z,1752799268.064 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-07-18T00:41:08.064Z,1752799268.064 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-07-18T00:41:08.064Z,1752799268.064 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-07-18T00:41:08.064Z,1752799268.064 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-07-18T00:41:08.064Z,1752799268.064 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-07-18T00:41:08.064Z,1752799268.064 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Running Loop=1
2025-07-18T00:41:08.075Z,1752799268.075 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F](INFO): Going to target depth. Speed set to  1.000000 m/s 
2025-07-18T00:41:08.075Z,1752799268.075 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Stopped
2025-07-18T00:41:08.076Z,1752799268.076 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Running Loop=1
2025-07-18T00:41:08.076Z,1752799268.076 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-07-18T00:41:08.076Z,1752799268.076 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-07-18T00:41:08.076Z,1752799268.076 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-07-18T00:41:08.076Z,1752799268.076 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-07-18T00:41:08.076Z,1752799268.076 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-07-18T00:41:08.076Z,1752799268.076 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2025-07-18T00:41:08.076Z,1752799268.076 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-07-18T00:41:08.076Z,1752799268.076 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-07-18T00:41:08.076Z,1752799268.076 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-07-18T00:41:08.076Z,1752799268.076 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2025-07-18T00:41:08.077Z,1752799268.077 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2025-07-18T00:41:08.077Z,1752799268.077 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-07-18T00:41:08.077Z,1752799268.077 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2025-07-18T00:41:08.077Z,1752799268.077 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2025-07-18T00:41:08.077Z,1752799268.077 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2025-07-18T00:41:08.077Z,1752799268.077 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2025-07-18T00:41:08.086Z,1752799268.086 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2025-07-18T00:41:08.086Z,1752799268.086 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2025-07-18T00:41:08.360Z,1752799268.360 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A](INFO): Waiting for  0.000000 min while pumping down to neutral.
2025-07-18T00:41:08.360Z,1752799268.360 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2025-07-18T00:41:08.361Z,1752799268.361 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Running Loop=1
2025-07-18T00:41:08.361Z,1752799268.361 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Initialize Wait Component.
2025-07-18T00:41:08.361Z,1752799268.361 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2025-07-18T00:41:08.361Z,1752799268.361 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2025-07-18T00:41:08.361Z,1752799268.361 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2025-07-18T00:41:08.361Z,1752799268.361 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2025-07-18T00:41:08.378Z,1752799268.378 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2025-07-18T00:41:08.756Z,1752799268.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](INFO): Done Waiting.
2025-07-18T00:41:08.756Z,1752799268.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait] Stopped
2025-07-18T00:41:08.756Z,1752799268.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Uninitialize Wait Component.
2025-07-18T00:41:08.756Z,1752799268.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-07-18T00:41:08.756Z,1752799268.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2025-07-18T00:41:08.756Z,1752799268.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2025-07-18T00:41:08.756Z,1752799268.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2025-07-18T00:41:08.756Z,1752799268.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-07-18T00:41:08.756Z,1752799268.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-07-18T00:41:08.756Z,1752799268.756 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2025-07-18T00:41:08.757Z,1752799268.757 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2025-07-18T00:41:09.164Z,1752799269.164 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2025-07-18T00:41:09.165Z,1752799269.165 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to  35.000000 m 
2025-07-18T00:41:09.165Z,1752799269.165 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2025-07-18T00:41:09.165Z,1752799269.165 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2025-07-18T00:41:09.165Z,1752799269.165 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2025-07-18T00:41:37.116Z,1752799297.116 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-07-18T00:41:37.190Z,1752799297.190 [NAL9602](ERROR): received: 
+CSQ:0

OK899, 0, 0, 0, 0

OK
2025-07-18T00:41:56.181Z,1752799316.181 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -80.7+282.37,        +1.25,  93.52,  0.00
2025-07-18T00:42:01.151Z,1752799321.151 [DataOverHttps](IMPORTANT): SBD MTMSN=20250718T004200
2025-07-18T00:42:09.940Z,1752799329.940 [DataOverHttps](INFO): Received command: sched "run Maintenance/calibrate_sparton_compass.tl"
2025-07-18T00:42:10.032Z,1752799330.032 [CommandExec](IMPORTANT): got command schedule "run Maintenance/calibrate_sparton_compass.tl"
2025-07-18T00:42:10.034Z,1752799330.034 [CommandExec](IMPORTANT): Scheduled #1: "run Maintenance/calibrate_sparton_compass.tl", AFTER MISSION
2025-07-18T00:42:56.070Z,1752799376.070 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-07-18T00:42:56.070Z,1752799376.070 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-07-18T00:42:56.070Z,1752799376.070 [RDI_Pathfinder](ERROR): Communications Fault
2025-07-18T00:42:56.194Z,1752799376.194 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-07-18T00:42:56.506Z,1752799376.506 [RDI_Pathfinder](INFO): Powering down
2025-07-18T00:42:57.473Z,1752799377.473 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-07-18T00:42:57.473Z,1752799377.473 [RDI_Pathfinder] No Fault, FailCount= 1
2025-07-18T00:42:57.636Z,1752799377.636 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-07-18T00:43:11.183Z,1752799391.183 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.249378
2025-07-18T00:43:41.766Z,1752799421.766 [Radio_Surface](INFO): Powering down
2025-07-18T00:43:43.310Z,1752799423.310 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T00:43:44.315Z,1752799424.315 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-07-18T00:45:25.511Z,1752799525.511 [CTD_Seabird](ERROR): Failed to parse device response: 6,3.90025,4808.75
2025-07-18T00:46:09.184Z,1752799569.184 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-18T00:46:39.835Z,1752799599.835 [NAL9602](INFO): Not Powering down - fast GPS
2025-07-18T00:46:44.697Z,1752799604.697 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2025-07-18T00:46:44.698Z,1752799604.698 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-07-18T00:46:44.698Z,1752799604.698 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2025-07-18T00:46:44.698Z,1752799604.698 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2025-07-18T00:46:44.698Z,1752799604.698 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2025-07-18T00:46:44.698Z,1752799604.698 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2025-07-18T00:46:44.700Z,1752799604.700 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-07-18T00:46:44.700Z,1752799604.700 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Stopped
2025-07-18T00:46:44.700Z,1752799604.700 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2025-07-18T00:46:44.700Z,1752799604.700 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Stopped
2025-07-18T00:46:44.700Z,1752799604.700 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2025-07-18T00:46:44.700Z,1752799604.700 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2025-07-18T00:46:44.700Z,1752799604.700 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2025-07-18T00:46:44.700Z,1752799604.700 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2025-07-18T00:46:44.700Z,1752799604.700 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-07-18T00:46:44.700Z,1752799604.700 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2025-07-18T00:46:44.701Z,1752799604.701 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Running Loop=1
2025-07-18T00:46:44.701Z,1752799604.701 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-07-18T00:46:44.701Z,1752799604.701 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-07-18T00:46:44.701Z,1752799604.701 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2025-07-18T00:46:44.701Z,1752799604.701 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-07-18T00:46:44.701Z,1752799604.701 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Initialize.
2025-07-18T00:46:44.701Z,1752799604.701 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Running Loop=1
2025-07-18T00:46:45.105Z,1752799605.105 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C](INFO): Waiting for the vehicle to settle. Depth =  35.064480 m 
2025-07-18T00:46:45.105Z,1752799605.105 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C] Stopped
2025-07-18T00:46:45.106Z,1752799605.106 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Running Loop=1
2025-07-18T00:46:45.106Z,1752799605.106 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Initialize Wait Component.
2025-07-18T00:46:45.106Z,1752799605.106 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Running Loop=1
2025-07-18T00:46:45.106Z,1752799605.106 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Running Loop=1
2025-07-18T00:47:01.291Z,1752799621.291 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00012304334921,3.9,   0.0,1499.9,  0
2025-07-18T00:47:11.405Z,1752799631.405 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS4335921,35.0, +12.7,   0.0,1499.5,  0
2025-07-18T00:48:21.314Z,1752799701.314 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD17.76,   86,        +4.90,  61.01,  0.00
2025-07-18T00:48:31.407Z,1752799711.407 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -19.26,      +177.81,        +5.20
2025-07-18T00:53:23.503Z,1752800003.503 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS  +222.80,        +9.84,  20.00,  0.00
2025-07-18T00:56:45.552Z,1752800205.552 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](INFO): Done Waiting.
2025-07-18T00:56:45.552Z,1752800205.552 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait] Stopped
2025-07-18T00:56:45.552Z,1752800205.552 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Uninitialize Wait Component.
2025-07-18T00:56:45.552Z,1752800205.552 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute] Running Loop=1
2025-07-18T00:56:45.928Z,1752800205.928 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute](INFO): Executing command gfscan
2025-07-18T00:56:45.928Z,1752800205.928 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute] Stopped
2025-07-18T00:56:45.928Z,1752800205.928 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F] Running Loop=1
2025-07-18T00:56:46.019Z,1752800206.019 [CommandExec](IMPORTANT): got command gfscan
2025-07-18T00:56:46.075Z,1752800206.075 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-07-18T00:56:46.312Z,1752800206.312 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-07-18T00:56:46.313Z,1752800206.313 [CTD_Seabird](INFO): some bad data, not updating bins
2025-07-18T00:56:46.367Z,1752800206.367 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F](INFO): Running ballast and trim. Depth =  34.315620 m 
2025-07-18T00:56:46.367Z,1752800206.367 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F] Stopped
2025-07-18T00:56:46.368Z,1752800206.368 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.] Running Loop=1
2025-07-18T00:56:46.368Z,1752800206.368 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](INFO): Initializing BallastAndTrim.
2025-07-18T00:56:47.316Z,1752800207.316 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-07-18T00:56:47.317Z,1752800207.317 [CTD_Seabird](INFO): some bad data, not updating bins
2025-07-18T00:56:48.320Z,1752800208.320 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-07-18T00:56:48.321Z,1752800208.321 [CTD_Seabird](INFO): some bad data, not updating bins
2025-07-18T00:56:49.323Z,1752800209.323 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-07-18T00:56:49.325Z,1752800209.325 [CTD_Seabird](INFO): some bad data, not updating bins
2025-07-18T00:56:50.328Z,1752800210.328 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2025-07-18T00:56:50.329Z,1752800210.329 [CTD_Seabird](INFO): some bad data, not updating bins
2025-07-18T00:56:50.442Z,1752800210.442 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.004859
CHAN A1 (24V): -0.001280
CHAN A2 (12V): 0.000328
CHAN A3 (5V): 0.000526
CHAN B0 (3.3V): 0.000737
CHAN B1 (3.15aV): 0.000289
CHAN B2 (3.15bV): 0.000734
CHAN B3 (GND): 0.000943
OPEN: 0.005612
Full Scale: +/- 1 mA
2025-07-18T01:06:38.803Z,1752800798.803 [CTD_Seabird](ERROR): Failed to parse device response: 35.26,11.5396,3.954.42
2025-07-18T01:06:47.153Z,1752800807.153 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): BallastAndTrim completed. Estimation time: 10.01 minutes.
2025-07-18T01:06:47.154Z,1752800807.154 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Estimated buoyancyNeutral: 159.857109 +/- 6.659109 cc (conf. level 98.00%, sigma: 35.848015 cc).
2025-07-18T01:06:47.155Z,1752800807.155 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Estimated massDefault: 18.418426 +/- 0.132067 mm (conf. level 98.00%, sigma: 0.710957 mm).
2025-07-18T01:06:47.156Z,1752800807.156 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Changing persisted config values to: 159.857109 cc buoyancy neutral and 18.418426 mm mass default
2025-07-18T01:06:47.159Z,1752800807.159 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-07-18T01:06:47.160Z,1752800807.160 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2025-07-18T01:06:47.161Z,1752800807.161 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.buoyancyNeutral=159.857109 cubic_centimeter;

2025-07-18T01:06:47.162Z,1752800807.162 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](IMPORTANT): VerticalControl.massDefault=18.418426 millimeter;

2025-07-18T01:06:47.163Z,1752800807.163 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.] Stopped
2025-07-18T01:06:47.163Z,1752800807.163 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G.](INFO): Uninitializing BallastAndTrim.
2025-07-18T01:06:47.164Z,1752800807.164 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-07-18T01:06:47.164Z,1752800807.164 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth] Stopped
2025-07-18T01:06:47.164Z,1752800807.164 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth
2025-07-18T01:06:47.164Z,1752800807.164 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed] Stopped
2025-07-18T01:06:47.164Z,1752800807.164 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2025-07-18T01:06:47.164Z,1752800807.164 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch] Stopped
2025-07-18T01:06:47.165Z,1752800807.165 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](INFO): Completed ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-07-18T01:06:47.165Z,1752800807.165 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Stopped
2025-07-18T01:06:47.166Z,1752800807.166 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2025-07-18T01:06:47.166Z,1752800807.166 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Stopped
2025-07-18T01:06:47.166Z,1752800807.166 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Stopped
2025-07-18T01:06:47.166Z,1752800807.166 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Stopped
2025-07-18T01:06:47.166Z,1752800807.166 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Stopped
2025-07-18T01:06:47.166Z,1752800807.166 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Stopped
2025-07-18T01:06:47.560Z,1752800807.560 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](INFO): Completed ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-07-18T01:06:47.560Z,1752800807.560 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B] Stopped
2025-07-18T01:06:47.560Z,1752800807.560 [ballast_and_trim:RunBallastAndTrim:RunDepth1:B](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1:B
2025-07-18T01:06:47.560Z,1752800807.560 [ballast_and_trim:RunBallastAndTrim:RunDepth1](INFO): Completed ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-07-18T01:06:47.560Z,1752800807.560 [ballast_and_trim:RunBallastAndTrim:RunDepth1] Stopped
2025-07-18T01:06:47.561Z,1752800807.561 [ballast_and_trim:RunBallastAndTrim:RunDepth1](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth1
2025-07-18T01:06:47.561Z,1752800807.561 [ballast_and_trim:RunBallastAndTrim:RunDepth2] Running Loop=1
2025-07-18T01:06:47.561Z,1752800807.561 [ballast_and_trim:RunBallastAndTrim:RunDepth2](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:RunDepth2
2025-07-18T01:06:47.561Z,1752800807.561 [ballast_and_trim:RunBallastAndTrim:RunDepth2:A] Running Loop=1
2025-07-18T01:06:47.934Z,1752800807.934 [ballast_and_trim:RunBallastAndTrim:RunDepth2] Stopped
2025-07-18T01:06:47.934Z,1752800807.934 [ballast_and_trim:RunBallastAndTrim:RunDepth2](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:RunDepth2
2025-07-18T01:06:47.934Z,1752800807.934 [ballast_and_trim:RunBallastAndTrim:RunDepth2:A] Stopped
2025-07-18T01:06:47.934Z,1752800807.934 [ballast_and_trim:RunBallastAndTrim](INFO): Completed ballast_and_trim:RunBallastAndTrim
2025-07-18T01:06:47.934Z,1752800807.934 [ballast_and_trim:RunBallastAndTrim] Stopped
2025-07-18T01:06:47.934Z,1752800807.934 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim
2025-07-18T01:06:47.935Z,1752800807.935 [ballast_and_trim:EndingMission] Running Loop=1
2025-07-18T01:06:47.935Z,1752800807.935 [ballast_and_trim:EndingMission](DEBUG): Aggregate::initialize ballast_and_trim:EndingMission
2025-07-18T01:06:48.364Z,1752800808.364 [ballast_and_trim:NeedComms] Running Loop=1
2025-07-18T01:06:48.364Z,1752800808.364 [ballast_and_trim:NeedComms](DEBUG): Aggregate::initialize ballast_and_trim:NeedComms
2025-07-18T01:06:48.364Z,1752800808.364 [ballast_and_trim:NeedComms:B.GoToSurface] Running Loop=1
2025-07-18T01:06:48.364Z,1752800808.364 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-18T01:06:48.365Z,1752800808.365 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-07-18T01:06:48.365Z,1752800808.365 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-07-18T01:06:48.365Z,1752800808.365 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-07-18T01:06:48.366Z,1752800808.366 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-07-18T01:06:48.366Z,1752800808.366 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-18T01:06:48.367Z,1752800808.367 [ballast_and_trim:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-18T01:06:48.367Z,1752800808.367 [ballast_and_trim:NeedComms:A] Running Loop=1
2025-07-18T01:06:48.368Z,1752800808.368 [ballast_and_trim:NeedComms:A](INFO): last time_fix was:  1752799265.000000 second since 1970/01/01T00:00:00Z 
2025-07-18T01:06:48.369Z,1752800808.369 [ballast_and_trim:NeedComms:A] Stopped
2025-07-18T01:07:22.326Z,1752800842.326 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00012304541024,35.0, +11.6,   0.0,1495.5RA,  0.00,1079.27, 957.85, 673.28,   0.00
2025-07-18T01:07:42.222Z,1752800862.222 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,1093.51,1034.14, 718.28
2025-07-18T01:08:02.391Z,1752800882.391 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -122.03,      +338.24,+000
2025-07-18T01:08:52.549Z,1752800932.549 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,1204.25,1463.42,1139.45
2025-07-18T01:09:02.330Z,1752800942.330 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00012304555034,35.0, +11.,1496.6,  0
2025-07-18T01:09:02.343Z,1752800942.343 [ballast_and_trim:NeedComms:C] Running Loop=1
2025-07-18T01:09:03.090Z,1752800943.090 [Radio_Surface](INFO): Powering up
2025-07-18T01:09:08.638Z,1752800948.638 [DataOverHttps](INFO): Radio surface powered ON.
2025-07-18T01:09:35.027Z,1752800975.027 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-07-18T01:09:35.110Z,1752800975.110 [NAL9602](ERROR): received: 
+CSQ:0

OK899, 0, 0, 0, 0

OK
2025-07-18T01:09:38.795Z,1752800978.795 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T01:10:13.934Z,1752801013.934 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T01:10:49.082Z,1752801049.082 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T01:11:24.223Z,1752801084.223 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T01:11:45.311Z,1752801105.311 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003502
2025-07-18T01:14:06.537Z,1752801246.537 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-18T01:14:07.745Z,1752801247.745 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,011407.00,A,3647.03219,N,12151.98349,W,0.253,114.04,180725,,,A*74
2025-07-18T01:14:07.747Z,1752801247.747 [NAL9602](INFO): GPS fix at 20250718T011407: (36.783870, -121.866392)
2025-07-18T01:14:07.760Z,1752801247.760 [UniversalFixResidualReporter](INFO): Fix residual: 7.3 %DT, over the last 604.7 m. Residual distance 43.9 m at bearing 50.7 degrees. Fix at (36.7839, -121.8664) with 209.8 m made good.
2025-07-18T01:14:07.763Z,1752801247.763 [ballast_and_trim:NeedComms:C] Stopped
2025-07-18T01:14:07.763Z,1752801247.763 [ballast_and_trim:NeedComms:D] Running Loop=1
2025-07-18T01:14:16.353Z,1752801256.353 [DataOverHttps](INFO): Sending 82 bytes from file Logs/20250717T225938/Courier0027.lzma
2025-07-18T01:14:17.356Z,1752801257.356 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Courier0027.lzma.bak
2025-07-18T01:14:17.356Z,1752801257.356 [DataOverHttps](INFO): SBD MOMSN=25543439
2025-07-18T01:14:34.531Z,1752801274.531 [DataOverHttps](INFO): Sending 1551 bytes from file Logs/20250717T225938/Express0028.lzma
2025-07-18T01:14:35.528Z,1752801275.528 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Express0028.lzma.bak
2025-07-18T01:14:35.528Z,1752801275.528 [DataOverHttps](INFO): SBD MOMSN=25543442
2025-07-18T01:14:40.463Z,1752801280.463 [NAL9602](INFO): Not Powering down - fast GPS
2025-07-18T01:14:52.525Z,1752801292.525 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250717T225938/Express0031.lzma
2025-07-18T01:14:53.529Z,1752801293.529 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Express0031.lzma.bak
2025-07-18T01:14:53.529Z,1752801293.529 [DataOverHttps](INFO): SBD MOMSN=25543463
2025-07-18T01:14:54.620Z,1752801294.620 [ballast_and_trim:NeedComms:D] Stopped
2025-07-18T01:14:54.620Z,1752801294.620 [ballast_and_trim:NeedComms:E] Running Loop=1
2025-07-18T01:14:56.629Z,1752801296.629 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,011455.00,A,3647.02945,N,12151.97849,W,0.641,110.44,180725,,,A*73
2025-07-18T01:14:56.648Z,1752801296.648 [NAL9602](INFO): GPS fix at 20250718T011455: (36.783824, -121.866308)
2025-07-18T01:14:56.677Z,1752801296.677 [ballast_and_trim:NeedComms:E] Stopped
2025-07-18T01:14:56.686Z,1752801296.686 [ballast_and_trim:NeedComms](INFO): Completed ballast_and_trim:NeedComms
2025-07-18T01:14:56.686Z,1752801296.686 [ballast_and_trim:NeedComms] Stopped
2025-07-18T01:14:56.686Z,1752801296.686 [ballast_and_trim:NeedComms](DEBUG): Aggregate::uninitialize ballast_and_trim:NeedComms
2025-07-18T01:14:56.686Z,1752801296.686 [ballast_and_trim:NeedComms:B.GoToSurface] Stopped
2025-07-18T01:14:56.686Z,1752801296.686 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-18T01:14:57.112Z,1752801297.112 [ballast_and_trim:EndingMission](INFO): Completed ballast_and_trim:EndingMission
2025-07-18T01:14:57.112Z,1752801297.112 [ballast_and_trim:EndingMission] Stopped
2025-07-18T01:14:57.112Z,1752801297.112 [ballast_and_trim:EndingMission](DEBUG): Aggregate::uninitialize ballast_and_trim:EndingMission
2025-07-18T01:14:57.128Z,1752801297.128 [ballast_and_trim](INFO): Completed ballast_and_trim
2025-07-18T01:14:57.128Z,1752801297.128 [MissionManager](INFO): ballast_and_trim is completed.
2025-07-18T01:14:57.128Z,1752801297.128 [MissionManager](INFO): Uninitializing Mission ballast_and_trim
2025-07-18T01:14:57.128Z,1752801297.128 [ballast_and_trim] Stopped
2025-07-18T01:14:57.129Z,1752801297.129 [ballast_and_trim](DEBUG): Aggregate::uninitialize ballast_and_trim
2025-07-18T01:14:57.129Z,1752801297.129 [ballast_and_trim:Science] Stopped
2025-07-18T01:14:57.129Z,1752801297.129 [ballast_and_trim:Science](DEBUG): Aggregate::uninitialize ballast_and_trim:Science
2025-07-18T01:14:57.129Z,1752801297.129 [ballast_and_trim:Science:B] Stopped
2025-07-18T01:14:57.129Z,1752801297.129 [ballast_and_trim:Science:C] Stopped
2025-07-18T01:14:57.129Z,1752801297.129 [ballast_and_trim:Science:E] Stopped
2025-07-18T01:14:57.129Z,1752801297.129 [ballast_and_trim:Science:OceanCurrent] Stopped
2025-07-18T01:14:57.129Z,1752801297.129 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:OceanCurrent
2025-07-18T01:14:57.129Z,1752801297.129 [ballast_and_trim:Science:OceanCurrent:A.] Stopped
2025-07-18T01:14:57.129Z,1752801297.129 [ballast_and_trim:StandardEnvelopes] Stopped
2025-07-18T01:14:57.129Z,1752801297.129 [ballast_and_trim:StandardEnvelopes](DEBUG): Aggregate::uninitialize ballast_and_trim:StandardEnvelopes
2025-07-18T01:14:57.129Z,1752801297.129 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-07-18T01:14:57.129Z,1752801297.129 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-07-18T01:14:57.134Z,1752801297.134 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-07-18T01:14:57.134Z,1752801297.134 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-07-18T01:14:57.134Z,1752801297.134 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-07-18T01:14:57.134Z,1752801297.134 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-07-18T01:14:57.134Z,1752801297.134 [ballast_and_trim:BackseatDriver] Stopped
2025-07-18T01:14:57.134Z,1752801297.134 [ballast_and_trim:BackseatDriver](DEBUG): Aggregate::uninitialize ballast_and_trim:BackseatDriver
2025-07-18T01:14:57.134Z,1752801297.134 [ballast_and_trim:BackseatDriver:A.BackseatDriver] Stopped
2025-07-18T01:14:57.134Z,1752801297.134 [ballast_and_trim:PowerOnly] Stopped
2025-07-18T01:14:57.134Z,1752801297.134 [ballast_and_trim:PowerOnly](DEBUG): Aggregate::uninitialize ballast_and_trim:PowerOnly
2025-07-18T01:14:57.134Z,1752801297.134 [ballast_and_trim:PowerOnly:E.Wait] Stopped
2025-07-18T01:14:57.135Z,1752801297.135 [ballast_and_trim:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-07-18T01:14:57.272Z,1752801297.272 [CommandExec](IMPORTANT): got command run ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-07-18T01:14:57.490Z,1752801297.490 [WetLabsBB2FL](INFO): Powering down
2025-07-18T01:14:57.557Z,1752801297.557 [MissionManager](INFO): Loading Mission from file: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-07-18T01:14:57.557Z,1752801297.557 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-07-18T01:14:57.561Z,1752801297.561 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-07-18T01:15:05.574Z,1752801305.574 [MissionManager](DEBUG): TethyslAPI: ./Missions/Maintenance/calibrate_sparton_compass.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="calibrate_sparton_compass">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinDepth">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="YoYoMaxDepth">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="YoYoMinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="YoYoPitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="RudderAngle">
        <Units:degree />
        <Value>13</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CalibrationInitTimeout">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>50</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    <Guidance:Pitch>
        <Parallel />
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Guidance:Buoyancy>
        <Parallel />
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.minDepth />
            <Arg Name="YoYoMinDepth" />
        </Setting>
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="YoYoMaxDepth" />
        </Setting>
        <Setting>
            <Guidance:DepthEnvelope.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="YoYoMinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:YoYo>
        <Parallel />
        <Setting>
            <Guidance:YoYo.pitch />
            <Arg Name="YoYoPitch" />
        </Setting>
    </Guidance:YoYo>
    <Aggregate Id="AdaptCal">
        <Sequence />
        <ReadDatum Id="WaitForCalibrationInit">
            <Timeout Duration="CalibrationInitTimeout">
                <Syslog Severity="Important">Failed to initialize calibration within timeout. Stopping mission.</Syslog>
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>stop</String>
                    </Setting>
                </Guidance:Execute>
            </Timeout>
            <Sensor:AHRS_M2.number_of_calbration_points />
        </ReadDatum>
        <Aggregate Id="AcquireCalibrationPoints">
            <Sequence />
            <Guidance:Point>
                <Parallel />
                <Setting>
                    <Guidance:Point.rudderAngle />
                    <Arg Name="RudderAngle" />
                </Setting>
            </Guidance:Point>
            <Guidance:SetSpeed>
                <Parallel />
                <Setting>
                    <Guidance:SetSpeed.speed />
                    <Arg Name="Speed" />
                </Setting>
            </Guidance:SetSpeed>
        </Aggregate>
        <Sensor:CalibrateAHRS_M2>
            <Parallel />
        </Sensor:CalibrateAHRS_M2>
    </Aggregate>
</Mission>

2025-07-18T01:15:05.585Z,1752801305.585 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MissionTimeout = 60.000000 min
2025-07-18T01:15:05.588Z,1752801305.588 [MissionManager](INFO): DefineArg calibrate_sparton_compass.NeedCommsTime = 60.000000 min
2025-07-18T01:15:05.591Z,1752801305.591 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMinDepth = 5.000000 m
2025-07-18T01:15:05.615Z,1752801305.615 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMaxDepth = 40.000000 m
2025-07-18T01:15:05.622Z,1752801305.622 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoMinAltitude = 7.000000 m
2025-07-18T01:15:05.625Z,1752801305.625 [MissionManager](INFO): DefineArg calibrate_sparton_compass.YoYoPitch = 20.000000 arcdeg
2025-07-18T01:15:05.642Z,1752801305.642 [MissionManager](INFO): DefineArg calibrate_sparton_compass.RudderAngle = 13.000000 arcdeg
2025-07-18T01:15:05.645Z,1752801305.645 [MissionManager](INFO): DefineArg calibrate_sparton_compass.Speed = 1.000000 m/s
2025-07-18T01:15:05.653Z,1752801305.653 [MissionManager](INFO): DefineArg calibrate_sparton_compass.CalibrationInitTimeout = 2.000000 min
2025-07-18T01:15:05.660Z,1752801305.660 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MinAltitude = 5.000000 m
2025-07-18T01:15:05.663Z,1752801305.663 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MaxDepth = 50.000000 m
2025-07-18T01:15:05.671Z,1752801305.671 [MissionManager](INFO): DefineArg calibrate_sparton_compass.MinOffshore = 2.000000 km
2025-07-18T01:15:05.671Z,1752801305.671 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-07-18T01:15:05.671Z,1752801305.671 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-07-18T01:15:05.687Z,1752801305.687 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-07-18T01:15:09.467Z,1752801309.467 [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="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <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="EnabledRBRTridente">
        <Science:RBRTridente.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="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</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>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <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="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <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="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <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="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <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="EnabledRBRTridente" />
            </Or>
            <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.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </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.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </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="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <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="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_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.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </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="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</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.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </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="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</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.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </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>

2025-07-18T01:15:09.509Z,1752801309.509 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectChlActive = 0 bool
2025-07-18T01:15:09.512Z,1752801309.512 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectChlActive = 0 bool
2025-07-18T01:15:09.516Z,1752801309.516 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.TimeWindowPeakReport = nan min
2025-07-18T01:15:09.519Z,1752801309.519 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestChlPeakReportActive = 0 bool
2025-07-18T01:15:09.522Z,1752801309.522 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestSaltPeakReportActive = 0 bool
2025-07-18T01:15:09.525Z,1752801309.525 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.HighestOilPeakReportActive = 0 bool
2025-07-18T01:15:09.528Z,1752801309.528 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PatchTracking = 0 bool
2025-07-18T01:15:09.531Z,1752801309.531 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.FilterWidthHorizontal = 3.000000 count
2025-07-18T01:15:09.534Z,1752801309.534 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.NumProfilesSlidingwindow = 100.000000 count
2025-07-18T01:15:09.537Z,1752801309.537 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.OffPeakFractionHorizontal = 80.000000 %
2025-07-18T01:15:09.540Z,1752801309.540 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectNO3Active = 0 bool
2025-07-18T01:15:09.582Z,1752801309.582 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectOilActive = 0 bool
2025-07-18T01:15:09.593Z,1752801309.593 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectFDOMActive = 0 bool
2025-07-18T01:15:09.608Z,1752801309.608 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectSalinityActive = 0 bool
2025-07-18T01:15:09.611Z,1752801309.611 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-07-18T01:15:09.622Z,1752801309.622 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-07-18T01:15:09.625Z,1752801309.625 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-07-18T01:15:09.632Z,1752801309.632 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-07-18T01:15:09.650Z,1752801309.650 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-07-18T01:15:09.653Z,1752801309.653 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-07-18T01:15:09.670Z,1752801309.670 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-07-18T01:15:09.673Z,1752801309.673 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-07-18T01:15:09.680Z,1752801309.680 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-07-18T01:15:09.696Z,1752801309.696 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledAanderaaO2 = 0 bool
2025-07-18T01:15:09.700Z,1752801309.700 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledNeilBrown = 0 bool
2025-07-18T01:15:09.710Z,1752801309.710 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledRBRTridente = 0 bool
2025-07-18T01:15:09.713Z,1752801309.713 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledSeabird = 1 bool
2025-07-18T01:15:09.729Z,1752801309.729 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsBB2FL = 1 bool
2025-07-18T01:15:09.782Z,1752801309.782 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-07-18T01:15:09.785Z,1752801309.785 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.EnabledWetLabsUBAT = 0 bool
2025-07-18T01:15:09.801Z,1752801309.801 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.LowPassWindowLength = 20.000000 count
2025-07-18T01:15:09.820Z,1752801309.820 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.MedianFilterLen = 5.000000 count
2025-07-18T01:15:09.836Z,1752801309.836 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ShallowBound = nan m
2025-07-18T01:15:09.840Z,1752801309.840 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.DeepBound = nan m
2025-07-18T01:15:09.852Z,1752801309.852 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-07-18T01:15:09.861Z,1752801309.861 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.OffPeakFractionVerticalAscent = nan %
2025-07-18T01:15:09.880Z,1752801309.880 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.OffPeakFractionVerticalDescent = nan %
2025-07-18T01:15:09.884Z,1752801309.884 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlPeakThresh = 0.000000 ug/l
2025-07-18T01:15:09.900Z,1752801309.900 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.NumberOfLayers = 1.000000 count
2025-07-18T01:15:09.903Z,1752801309.903 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlThreshTriggerActive = 0 bool
2025-07-18T01:15:09.923Z,1752801309.923 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlLowerThresh = nan ug/l
2025-07-18T01:15:09.930Z,1752801309.930 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.ChlUpperThresh = nan ug/l
2025-07-18T01:15:09.933Z,1752801309.933 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.NumProfilesThresh = 5.000000 count
2025-07-18T01:15:09.940Z,1752801309.940 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-07-18T01:15:09.954Z,1752801309.954 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-07-18T01:15:09.957Z,1752801309.957 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-07-18T01:15:09.965Z,1752801309.965 [MissionManager](INFO): DefineArg calibrate_sparton_compass:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-07-18T01:15:09.968Z,1752801309.968 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.GoDown = 1 bool
2025-07-18T01:15:09.981Z,1752801309.981 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChl = nan ug/l
2025-07-18T01:15:09.989Z,1752801309.989 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlDepth = nan m
2025-07-18T01:15:09.998Z,1752801309.998 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlTemperature = nan degC
2025-07-18T01:15:10.004Z,1752801310.004 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlLatitude = nan arcdeg
2025-07-18T01:15:10.007Z,1752801310.007 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakChlLongitude = nan arcdeg
2025-07-18T01:15:10.019Z,1752801310.019 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChl = nan ug/l
2025-07-18T01:15:10.026Z,1752801310.026 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlDepth = nan m
2025-07-18T01:15:10.034Z,1752801310.034 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlTemperature = nan degC
2025-07-18T01:15:10.037Z,1752801310.037 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlLatitude = nan arcdeg
2025-07-18T01:15:10.045Z,1752801310.045 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgeChlLongitude = nan arcdeg
2025-07-18T01:15:10.068Z,1752801310.068 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3 = nan umol/l
2025-07-18T01:15:10.082Z,1752801310.082 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Depth = nan m
2025-07-18T01:15:10.090Z,1752801310.090 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Latitude = nan arcdeg
2025-07-18T01:15:10.098Z,1752801310.098 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakNO3Longitude = nan arcdeg
2025-07-18T01:15:10.101Z,1752801310.101 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOil = nan kg/m3
2025-07-18T01:15:10.109Z,1752801310.109 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilDepth = nan m
2025-07-18T01:15:10.116Z,1752801310.116 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilLatitude = nan arcdeg
2025-07-18T01:15:10.120Z,1752801310.120 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakOilLongitude = nan arcdeg
2025-07-18T01:15:10.132Z,1752801310.132 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOM = nan ppb
2025-07-18T01:15:10.168Z,1752801310.168 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMDepth = nan m
2025-07-18T01:15:10.207Z,1752801310.207 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMTemperature = nan degC
2025-07-18T01:15:10.211Z,1752801310.211 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMLatitude = nan arcdeg
2025-07-18T01:15:10.218Z,1752801310.218 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakFDOMLongitude = nan arcdeg
2025-07-18T01:15:10.226Z,1752801310.226 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSalt = nan psu
2025-07-18T01:15:10.229Z,1752801310.229 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltDepth = nan m
2025-07-18T01:15:10.236Z,1752801310.236 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltTemperature = nan degC
2025-07-18T01:15:10.240Z,1752801310.240 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltLatitude = nan arcdeg
2025-07-18T01:15:10.260Z,1752801310.260 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakSaltLongitude = nan arcdeg
2025-07-18T01:15:10.263Z,1752801310.263 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-07-18T01:15:10.279Z,1752801310.279 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-07-18T01:15:10.286Z,1752801310.286 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-07-18T01:15:10.294Z,1752801310.294 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-07-18T01:15:10.297Z,1752801310.297 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-07-18T01:15:10.305Z,1752801310.305 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-07-18T01:15:10.320Z,1752801310.320 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-07-18T01:15:10.332Z,1752801310.332 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-07-18T01:15:10.341Z,1752801310.341 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-07-18T01:15:10.345Z,1752801310.345 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-07-18T01:15:10.353Z,1752801310.353 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-07-18T01:15:10.361Z,1752801310.361 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-07-18T01:15:10.391Z,1752801310.391 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-07-18T01:15:10.399Z,1752801310.399 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-07-18T01:15:10.410Z,1752801310.410 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-07-18T01:15:10.413Z,1752801310.413 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-07-18T01:15:10.421Z,1752801310.421 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-07-18T01:15:10.433Z,1752801310.433 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-07-18T01:15:10.440Z,1752801310.440 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-07-18T01:15:10.444Z,1752801310.444 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-07-18T01:15:10.460Z,1752801310.460 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-07-18T01:15:10.465Z,1752801310.465 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-07-18T01:15:10.490Z,1752801310.490 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-07-18T01:15:10.493Z,1752801310.493 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-07-18T01:15:10.505Z,1752801310.505 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-07-18T01:15:10.513Z,1752801310.513 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-07-18T01:15:10.525Z,1752801310.525 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-07-18T01:15:10.529Z,1752801310.529 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-07-18T01:15:10.573Z,1752801310.573 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-07-18T01:15:10.585Z,1752801310.585 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-07-18T01:15:10.614Z,1752801310.614 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-07-18T01:15:10.630Z,1752801310.630 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-07-18T01:15:10.639Z,1752801310.639 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-07-18T01:15:10.658Z,1752801310.658 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-07-18T01:15:10.661Z,1752801310.661 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-07-18T01:15:10.677Z,1752801310.677 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-07-18T01:15:10.684Z,1752801310.684 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-07-18T01:15:10.693Z,1752801310.693 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-07-18T01:15:10.709Z,1752801310.709 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-07-18T01:15:10.716Z,1752801310.716 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-07-18T01:15:10.730Z,1752801310.730 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChl = nan ug/l
2025-07-18T01:15:10.733Z,1752801310.733 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlDepth = nan m
2025-07-18T01:15:10.741Z,1752801310.741 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlLatitude = nan arcdeg
2025-07-18T01:15:10.748Z,1752801310.748 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlLongitude = nan arcdeg
2025-07-18T01:15:10.763Z,1752801310.763 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchChlDistance = nan m
2025-07-18T01:15:10.771Z,1752801310.771 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSalt = nan psu
2025-07-18T01:15:10.778Z,1752801310.778 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltDepth = nan m
2025-07-18T01:15:10.795Z,1752801310.795 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltLatitude = nan arcdeg
2025-07-18T01:15:10.800Z,1752801310.800 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltLongitude = nan arcdeg
2025-07-18T01:15:10.803Z,1752801310.803 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchSaltDistance = nan m
2025-07-18T01:15:10.809Z,1752801310.809 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOil = nan psu
2025-07-18T01:15:10.820Z,1752801310.820 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilDepth = nan m
2025-07-18T01:15:10.834Z,1752801310.834 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilLatitude = nan arcdeg
2025-07-18T01:15:10.837Z,1752801310.837 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilLongitude = nan arcdeg
2025-07-18T01:15:10.845Z,1752801310.845 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.PatchOilDistance = nan m
2025-07-18T01:15:10.852Z,1752801310.852 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.TriggeredOnChl = 0 bool
2025-07-18T01:15:10.856Z,1752801310.856 [MissionManager](INFO): DefineOutput calibrate_sparton_compass:Science.ChlTriggering = nan ug/l
2025-07-18T01:15:10.935Z,1752801310.935 [calibrate_sparton_compass:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T01:15:11.008Z,1752801311.008 [calibrate_sparton_compass:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-07-18T01:15:11.068Z,1752801311.068 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-07-18T01:15:11.145Z,1752801311.145 [calibrate_sparton_compass:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T01:15:11.194Z,1752801311.194 [calibrate_sparton_compass:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T01:15:11.227Z,1752801311.227 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-07-18T01:15:11.253Z,1752801311.253 [calibrate_sparton_compass:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T01:15:11.281Z,1752801311.281 [calibrate_sparton_compass:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T01:15:11.311Z,1752801311.311 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-07-18T01:15:11.342Z,1752801311.342 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T01:15:11.432Z,1752801311.432 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-07-18T01:15:11.521Z,1752801311.521 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T01:15:11.564Z,1752801311.564 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-07-18T01:15:11.632Z,1752801311.632 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T01:15:11.664Z,1752801311.664 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-07-18T01:15:11.732Z,1752801311.732 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-07-18T01:15:11.800Z,1752801311.800 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-07-18T01:15:11.888Z,1752801311.888 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-07-18T01:15:11.911Z,1752801311.911 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-07-18T01:15:11.911Z,1752801311.911 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-07-18T01:15:11.913Z,1752801311.913 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-07-18T01:15:12.452Z,1752801312.452 [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>

2025-07-18T01:15:12.467Z,1752801312.467 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.DiveInterval = 1.000000 h
2025-07-18T01:15:12.480Z,1752801312.480 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.WaitForPitchUp = 10.000000 min
2025-07-18T01:15:12.484Z,1752801312.484 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-07-18T01:15:12.498Z,1752801312.498 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfaceDepthRate = nan m/s
2025-07-18T01:15:12.501Z,1752801312.501 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-07-18T01:15:12.505Z,1752801312.505 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.SurfacingTimeout = 1000.000000 s
2025-07-18T01:15:12.512Z,1752801312.512 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.GPSTimeout = 7.000000 min
2025-07-18T01:15:12.521Z,1752801312.521 [MissionManager](INFO): DefineArg calibrate_sparton_compass:NeedComms.CommsTimeout = 30.000000 min
2025-07-18T01:15:12.618Z,1752801312.618 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-07-18T01:15:12.674Z,1752801312.674 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-07-18T01:15:12.674Z,1752801312.674 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-07-18T01:15:12.675Z,1752801312.675 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-07-18T01:15:12.842Z,1752801312.842 [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>1.5</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>

2025-07-18T01:15:12.847Z,1752801312.847 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MinAltitude = 5.000000 m
2025-07-18T01:15:12.859Z,1752801312.859 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-07-18T01:15:12.866Z,1752801312.866 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MaxDepth = 200.000000 m
2025-07-18T01:15:12.869Z,1752801312.869 [MissionManager](INFO): DefineArg calibrate_sparton_compass:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-07-18T01:15:12.874Z,1752801312.874 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-07-18T01:15:12.890Z,1752801312.890 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-07-18T01:15:12.912Z,1752801312.912 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-07-18T01:15:12.932Z,1752801312.932 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-07-18T01:15:12.932Z,1752801312.932 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-07-18T01:15:12.933Z,1752801312.933 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-07-18T01:15:13.004Z,1752801313.004 [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>

2025-07-18T01:15:13.016Z,1752801313.016 [MissionManager](INFO): DefineArg calibrate_sparton_compass:BackseatDriver.EnableBackseat = 0 bool
2025-07-18T01:15:13.027Z,1752801313.027 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-07-18T01:15:13.038Z,1752801313.038 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-07-18T01:15:13.038Z,1752801313.038 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-07-18T01:15:13.039Z,1752801313.039 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-07-18T01:15:13.301Z,1752801313.301 [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>

2025-07-18T01:15:13.314Z,1752801313.314 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleAll = 0 bool
2025-07-18T01:15:13.317Z,1752801313.317 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad1 = 0 bool
2025-07-18T01:15:13.324Z,1752801313.324 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad2 = 0 bool
2025-07-18T01:15:13.327Z,1752801313.327 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.SampleLoad3 = 0 bool
2025-07-18T01:15:13.339Z,1752801313.339 [MissionManager](INFO): DefineArg calibrate_sparton_compass:PowerOnly.EnabledPowerOnly = 0 bool
2025-07-18T01:15:13.355Z,1752801313.355 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-07-18T01:15:13.357Z,1752801313.357 [calibrate_sparton_compass:K.Pitch](DEBUG): Construct.
2025-07-18T01:15:13.404Z,1752801313.404 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Construct Buoyancy.
2025-07-18T01:15:13.413Z,1752801313.413 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-07-18T01:15:13.451Z,1752801313.451 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-07-18T01:15:13.479Z,1752801313.479 [calibrate_sparton_compass:O.YoYo](DEBUG): Construct YoYo.
2025-07-18T01:15:13.503Z,1752801313.503 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-07-18T01:15:13.510Z,1752801313.510 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point](DEBUG): Construct.
2025-07-18T01:15:13.517Z,1752801313.517 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Construct.
2025-07-18T01:15:13.529Z,1752801313.529 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](DEBUG): Construct CalibrateSparton.
2025-07-18T01:15:13.649Z,1752801313.649 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission calibrate_sparton_compass {
  """
  This mission yoyos in a spiral while calibrating the Sparton AHRS-M2
  Micro AHRS/IMU with AdaptCal.
  """

  # Mission-wide settings

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

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

    # You probably need to change these.

    # You probably do not need to change these.

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

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

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

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

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

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

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

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

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

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

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

  # Missions should almost always start with a timeout

  timeout duration=MissionTimeout

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

  # Most missions should use the NeedComms aggregate.

  insert id="NeedComms" Insert/NeedComms.tl

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

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Check for additional instructions first.

  call id="StartingMission" priorityHere=false refId="NeedComms"

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

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = Control:VerticalControl.buoyancyNeutral
  }

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

    run in parallel

    set minDepth = YoYoMinDepth

    set maxDepth = YoYoMaxDepth

    set pitch = YoYoPitch
  }

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

    run in parallel

    set minAltitude = YoYoMinAltitude

    set pitch = YoYoPitch
  }

  behavior Guidance:YoYo {
    run in parallel

    set pitch = YoYoPitch
  }

  aggregate AdaptCal {
    run in sequence

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

        behavior Guidance:Execute {
          run in sequence

          set command = "stop"
        }
      }

      Sensor:AHRS_M2.number_of_calbration_points
    }

    aggregate AcquireCalibrationPoints {
      run in sequence

      behavior Guidance:Point {
        run in parallel

        set rudderAngle = RudderAngle
      }

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = Speed
      }
    }

    behavior Sensor:CalibrateAHRS_M2 {
      run in parallel
    }
  }
}


2025-07-18T01:15:13.666Z,1752801313.666 [CommandExec](IMPORTANT): Running ./Missions/Maintenance/calibrate_sparton_compass.tl
2025-07-18T01:15:13.819Z,1752801313.819 [MissionManager](IMPORTANT): Started mission calibrate_sparton_compass
2025-07-18T01:15:13.820Z,1752801313.820 [calibrate_sparton_compass] Running Loop=1
2025-07-18T01:15:13.820Z,1752801313.820 [calibrate_sparton_compass](DEBUG): Aggregate::initialize calibrate_sparton_compass
2025-07-18T01:15:13.820Z,1752801313.820 [calibrate_sparton_compass:Science] Running Loop=1
2025-07-18T01:15:13.820Z,1752801313.820 [calibrate_sparton_compass:Science](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science
2025-07-18T01:15:13.820Z,1752801313.820 [calibrate_sparton_compass:Science:A] Running Loop=1
2025-07-18T01:15:13.820Z,1752801313.820 [calibrate_sparton_compass:Science:B] Running Loop=1
2025-07-18T01:15:13.820Z,1752801313.820 [calibrate_sparton_compass:Science:C] Running Loop=1
2025-07-18T01:15:13.820Z,1752801313.820 [calibrate_sparton_compass:Science:D] Running Loop=1
2025-07-18T01:15:13.820Z,1752801313.820 [calibrate_sparton_compass:Science:E] Running Loop=1
2025-07-18T01:15:13.820Z,1752801313.820 [calibrate_sparton_compass:Science:F] Running Loop=1
2025-07-18T01:15:13.821Z,1752801313.821 [calibrate_sparton_compass:Science:Read_Oil] Running Loop=1
2025-07-18T01:15:13.821Z,1752801313.821 [calibrate_sparton_compass:Science:PeakDetectChl] Running Loop=1
2025-07-18T01:15:13.821Z,1752801313.821 [calibrate_sparton_compass:Science:PeakDetectChl](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectChl
2025-07-18T01:15:13.821Z,1752801313.821 [calibrate_sparton_compass:Science:PeakDetectChl:A] Running Loop=1
2025-07-18T01:15:13.821Z,1752801313.821 [calibrate_sparton_compass:Science:EdgeDetectChl] Running Loop=1
2025-07-18T01:15:13.821Z,1752801313.821 [calibrate_sparton_compass:Science:EdgeDetectChl](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectChl
2025-07-18T01:15:13.821Z,1752801313.821 [calibrate_sparton_compass:Science:EdgeDetectChl:A] Running Loop=1
2025-07-18T01:15:13.830Z,1752801313.830 [calibrate_sparton_compass:Science:HighestChlPeakReport] Running Loop=1
2025-07-18T01:15:13.830Z,1752801313.830 [calibrate_sparton_compass:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestChlPeakReport
2025-07-18T01:15:13.830Z,1752801313.830 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-07-18T01:15:13.830Z,1752801313.830 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-07-18T01:15:13.831Z,1752801313.831 [calibrate_sparton_compass:Science:PeakDetectNO3] Running Loop=1
2025-07-18T01:15:13.831Z,1752801313.831 [calibrate_sparton_compass:Science:PeakDetectNO3](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectNO3
2025-07-18T01:15:13.831Z,1752801313.831 [calibrate_sparton_compass:Science:PeakDetectNO3:A] Running Loop=1
2025-07-18T01:15:13.831Z,1752801313.831 [calibrate_sparton_compass:Science:PeakDetectOil] Running Loop=1
2025-07-18T01:15:13.831Z,1752801313.831 [calibrate_sparton_compass:Science:PeakDetectOil](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectOil
2025-07-18T01:15:13.831Z,1752801313.831 [calibrate_sparton_compass:Science:PeakDetectOil:A] Running Loop=1
2025-07-18T01:15:13.831Z,1752801313.831 [calibrate_sparton_compass:Science:HighestOilPeakReport] Running Loop=1
2025-07-18T01:15:13.831Z,1752801313.831 [calibrate_sparton_compass:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestOilPeakReport
2025-07-18T01:15:13.832Z,1752801313.832 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-07-18T01:15:13.832Z,1752801313.832 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-07-18T01:15:13.832Z,1752801313.832 [calibrate_sparton_compass:Science:PeakDetectFDOM] Running Loop=1
2025-07-18T01:15:13.832Z,1752801313.832 [calibrate_sparton_compass:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectFDOM
2025-07-18T01:15:13.832Z,1752801313.832 [calibrate_sparton_compass:Science:PeakDetectFDOM:A] Running Loop=1
2025-07-18T01:15:13.832Z,1752801313.832 [calibrate_sparton_compass:Science:PeakDetectSalinity] Running Loop=1
2025-07-18T01:15:13.832Z,1752801313.832 [calibrate_sparton_compass:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectSalinity
2025-07-18T01:15:13.833Z,1752801313.833 [calibrate_sparton_compass:Science:PeakDetectSalinity:A] Running Loop=1
2025-07-18T01:15:13.833Z,1752801313.833 [calibrate_sparton_compass:Science:HighestSaltPeakReport] Running Loop=1
2025-07-18T01:15:13.833Z,1752801313.833 [calibrate_sparton_compass:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:HighestSaltPeakReport
2025-07-18T01:15:13.833Z,1752801313.833 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-07-18T01:15:13.833Z,1752801313.833 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-07-18T01:15:13.833Z,1752801313.833 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-07-18T01:15:13.833Z,1752801313.833 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI
2025-07-18T01:15:13.834Z,1752801313.834 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-07-18T01:15:13.834Z,1752801313.834 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-07-18T01:15:13.834Z,1752801313.834 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI
2025-07-18T01:15:13.834Z,1752801313.834 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-07-18T01:15:13.834Z,1752801313.834 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-07-18T01:15:13.835Z,1752801313.835 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI
2025-07-18T01:15:13.835Z,1752801313.835 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-07-18T01:15:13.835Z,1752801313.835 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-07-18T01:15:13.835Z,1752801313.835 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI
2025-07-18T01:15:13.835Z,1752801313.835 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-07-18T01:15:13.835Z,1752801313.835 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-07-18T01:15:13.835Z,1752801313.835 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms
2025-07-18T01:15:13.835Z,1752801313.835 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-07-18T01:15:13.835Z,1752801313.835 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-07-18T01:15:13.835Z,1752801313.835 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms
2025-07-18T01:15:13.836Z,1752801313.836 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-07-18T01:15:13.836Z,1752801313.836 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-07-18T01:15:13.836Z,1752801313.836 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates
2025-07-18T01:15:13.836Z,1752801313.836 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-07-18T01:15:13.836Z,1752801313.836 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-07-18T01:15:13.836Z,1752801313.836 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates
2025-07-18T01:15:13.837Z,1752801313.837 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-07-18T01:15:13.837Z,1752801313.837 [calibrate_sparton_compass:Science:ChlThreshTrigger] Running Loop=1
2025-07-18T01:15:13.837Z,1752801313.837 [calibrate_sparton_compass:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:ChlThreshTrigger
2025-07-18T01:15:13.837Z,1752801313.837 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-07-18T01:15:13.837Z,1752801313.837 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-07-18T01:15:13.850Z,1752801313.850 [calibrate_sparton_compass:Science:OceanCurrent] Running Loop=1
2025-07-18T01:15:13.850Z,1752801313.850 [calibrate_sparton_compass:Science:OceanCurrent](DEBUG): Aggregate::initialize calibrate_sparton_compass:Science:OceanCurrent
2025-07-18T01:15:13.850Z,1752801313.850 [calibrate_sparton_compass:Science:OceanCurrent:A.] Running Loop=1
2025-07-18T01:15:13.850Z,1752801313.850 [calibrate_sparton_compass:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-07-18T01:15:13.850Z,1752801313.850 [calibrate_sparton_compass:StandardEnvelopes] Running Loop=1
2025-07-18T01:15:13.851Z,1752801313.851 [calibrate_sparton_compass:StandardEnvelopes](DEBUG): Aggregate::initialize calibrate_sparton_compass:StandardEnvelopes
2025-07-18T01:15:13.851Z,1752801313.851 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-07-18T01:15:13.851Z,1752801313.851 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-07-18T01:15:13.851Z,1752801313.851 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-07-18T01:15:13.851Z,1752801313.851 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-07-18T01:15:13.851Z,1752801313.851 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-07-18T01:15:13.851Z,1752801313.851 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-07-18T01:15:13.851Z,1752801313.851 [calibrate_sparton_compass:BackseatDriver] Running Loop=1
2025-07-18T01:15:13.851Z,1752801313.851 [calibrate_sparton_compass:BackseatDriver](DEBUG): Aggregate::initialize calibrate_sparton_compass:BackseatDriver
2025-07-18T01:15:13.852Z,1752801313.852 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-07-18T01:15:13.852Z,1752801313.852 [calibrate_sparton_compass:PowerOnly] Running Loop=1
2025-07-18T01:15:13.852Z,1752801313.852 [calibrate_sparton_compass:PowerOnly](DEBUG): Aggregate::initialize calibrate_sparton_compass:PowerOnly
2025-07-18T01:15:13.852Z,1752801313.852 [calibrate_sparton_compass:PowerOnly:A] Running Loop=1
2025-07-18T01:15:13.852Z,1752801313.852 [calibrate_sparton_compass:PowerOnly:B] Running Loop=1
2025-07-18T01:15:13.852Z,1752801313.852 [calibrate_sparton_compass:PowerOnly:C] Running Loop=1
2025-07-18T01:15:13.852Z,1752801313.852 [calibrate_sparton_compass:PowerOnly:D] Running Loop=1
2025-07-18T01:15:13.852Z,1752801313.852 [calibrate_sparton_compass:PowerOnly:E.Wait] Running Loop=1
2025-07-18T01:15:13.852Z,1752801313.852 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-07-18T01:15:13.852Z,1752801313.852 [calibrate_sparton_compass:K.Pitch] Running Loop=1
2025-07-18T01:15:13.852Z,1752801313.852 [calibrate_sparton_compass:K.Pitch](DEBUG): Initialize.
2025-07-18T01:15:13.853Z,1752801313.853 [calibrate_sparton_compass:L.Buoyancy] Running Loop=1
2025-07-18T01:15:13.853Z,1752801313.853 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-07-18T01:15:13.853Z,1752801313.853 [calibrate_sparton_compass:M.DepthEnvelope] Running Loop=1
2025-07-18T01:15:13.853Z,1752801313.853 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-07-18T01:15:13.853Z,1752801313.853 [calibrate_sparton_compass:N.AltitudeEnvelope] Running Loop=1
2025-07-18T01:15:13.853Z,1752801313.853 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-07-18T01:15:13.853Z,1752801313.853 [calibrate_sparton_compass:O.YoYo] Running Loop=1
2025-07-18T01:15:13.853Z,1752801313.853 [calibrate_sparton_compass:O.YoYo](DEBUG): Initialize YoYoComponent.
2025-07-18T01:15:13.858Z,1752801313.858 [calibrate_sparton_compass:C] Running Loop=1
2025-07-18T01:15:13.859Z,1752801313.859 [calibrate_sparton_compass:O.YoYo] Running Loop=1
2025-07-18T01:15:13.859Z,1752801313.859 [calibrate_sparton_compass:N.AltitudeEnvelope] Running Loop=1
2025-07-18T01:15:13.859Z,1752801313.859 [calibrate_sparton_compass:M.DepthEnvelope] Running Loop=1
2025-07-18T01:15:13.860Z,1752801313.860 [calibrate_sparton_compass:L.Buoyancy] Running Loop=1
2025-07-18T01:15:13.861Z,1752801313.861 [calibrate_sparton_compass:K.Pitch] Running Loop=1
2025-07-18T01:15:13.861Z,1752801313.861 [calibrate_sparton_compass:PowerOnly] Running Loop=1
2025-07-18T01:15:13.866Z,1752801313.866 [calibrate_sparton_compass:PowerOnly:D] Stopped
2025-07-18T01:15:13.866Z,1752801313.866 [calibrate_sparton_compass:PowerOnly:C] Stopped
2025-07-18T01:15:13.866Z,1752801313.866 [calibrate_sparton_compass:PowerOnly:B] Stopped
2025-07-18T01:15:13.866Z,1752801313.866 [calibrate_sparton_compass:PowerOnly:A] Stopped
2025-07-18T01:15:13.866Z,1752801313.866 [calibrate_sparton_compass:BackseatDriver] Running Loop=1
2025-07-18T01:15:13.866Z,1752801313.866 [calibrate_sparton_compass:StandardEnvelopes] Running Loop=1
2025-07-18T01:15:13.866Z,1752801313.866 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-07-18T01:15:13.867Z,1752801313.867 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-07-18T01:15:13.867Z,1752801313.867 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-07-18T01:15:13.867Z,1752801313.867 [calibrate_sparton_compass:C] Stopped
2025-07-18T01:15:13.868Z,1752801313.868 [calibrate_sparton_compass:E] Running Loop=1
2025-07-18T01:15:13.868Z,1752801313.868 [calibrate_sparton_compass:Science] Running Loop=1
2025-07-18T01:15:13.869Z,1752801313.869 [calibrate_sparton_compass:Science:ChlThreshTrigger] Stopped
2025-07-18T01:15:13.869Z,1752801313.869 [calibrate_sparton_compass:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:ChlThreshTrigger
2025-07-18T01:15:13.869Z,1752801313.869 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-07-18T01:15:13.869Z,1752801313.869 [calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-07-18T01:15:13.882Z,1752801313.882 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-07-18T01:15:13.882Z,1752801313.882 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates
2025-07-18T01:15:13.882Z,1752801313.882 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-07-18T01:15:13.882Z,1752801313.882 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-07-18T01:15:13.882Z,1752801313.882 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates
2025-07-18T01:15:13.882Z,1752801313.882 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-07-18T01:15:13.882Z,1752801313.882 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-07-18T01:15:13.882Z,1752801313.882 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms
2025-07-18T01:15:13.882Z,1752801313.882 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-07-18T01:15:13.882Z,1752801313.882 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-07-18T01:15:13.883Z,1752801313.883 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms
2025-07-18T01:15:13.883Z,1752801313.883 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-07-18T01:15:13.883Z,1752801313.883 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-07-18T01:15:13.883Z,1752801313.883 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI
2025-07-18T01:15:13.883Z,1752801313.883 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-07-18T01:15:13.883Z,1752801313.883 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-07-18T01:15:13.883Z,1752801313.883 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI
2025-07-18T01:15:13.883Z,1752801313.883 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-07-18T01:15:13.883Z,1752801313.883 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-07-18T01:15:13.883Z,1752801313.883 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI
2025-07-18T01:15:13.883Z,1752801313.883 [calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-07-18T01:15:13.883Z,1752801313.883 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-07-18T01:15:13.884Z,1752801313.884 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI
2025-07-18T01:15:13.884Z,1752801313.884 [calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-07-18T01:15:13.884Z,1752801313.884 [calibrate_sparton_compass:Science:HighestSaltPeakReport] Stopped
2025-07-18T01:15:13.884Z,1752801313.884 [calibrate_sparton_compass:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestSaltPeakReport
2025-07-18T01:15:13.884Z,1752801313.884 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-07-18T01:15:13.884Z,1752801313.884 [calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-07-18T01:15:13.884Z,1752801313.884 [calibrate_sparton_compass:Science:PeakDetectSalinity] Stopped
2025-07-18T01:15:13.884Z,1752801313.884 [calibrate_sparton_compass:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectSalinity
2025-07-18T01:15:13.884Z,1752801313.884 [calibrate_sparton_compass:Science:PeakDetectSalinity:A] Stopped
2025-07-18T01:15:13.884Z,1752801313.884 [calibrate_sparton_compass:Science:PeakDetectFDOM] Stopped
2025-07-18T01:15:13.884Z,1752801313.884 [calibrate_sparton_compass:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectFDOM
2025-07-18T01:15:13.884Z,1752801313.884 [calibrate_sparton_compass:Science:PeakDetectFDOM:A] Stopped
2025-07-18T01:15:13.884Z,1752801313.884 [calibrate_sparton_compass:Science:HighestOilPeakReport] Stopped
2025-07-18T01:15:13.885Z,1752801313.885 [calibrate_sparton_compass:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestOilPeakReport
2025-07-18T01:15:13.885Z,1752801313.885 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-07-18T01:15:13.885Z,1752801313.885 [calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-07-18T01:15:13.885Z,1752801313.885 [calibrate_sparton_compass:Science:PeakDetectOil] Stopped
2025-07-18T01:15:13.885Z,1752801313.885 [calibrate_sparton_compass:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectOil
2025-07-18T01:15:13.885Z,1752801313.885 [calibrate_sparton_compass:Science:PeakDetectOil:A] Stopped
2025-07-18T01:15:13.885Z,1752801313.885 [calibrate_sparton_compass:Science:PeakDetectNO3] Stopped
2025-07-18T01:15:13.885Z,1752801313.885 [calibrate_sparton_compass:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectNO3
2025-07-18T01:15:13.885Z,1752801313.885 [calibrate_sparton_compass:Science:PeakDetectNO3:A] Stopped
2025-07-18T01:15:13.885Z,1752801313.885 [calibrate_sparton_compass:Science:HighestChlPeakReport] Stopped
2025-07-18T01:15:13.885Z,1752801313.885 [calibrate_sparton_compass:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:HighestChlPeakReport
2025-07-18T01:15:13.885Z,1752801313.885 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-07-18T01:15:13.885Z,1752801313.885 [calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-07-18T01:15:13.890Z,1752801313.890 [calibrate_sparton_compass:Science:EdgeDetectChl] Stopped
2025-07-18T01:15:13.890Z,1752801313.890 [calibrate_sparton_compass:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:EdgeDetectChl
2025-07-18T01:15:13.890Z,1752801313.890 [calibrate_sparton_compass:Science:EdgeDetectChl:A] Stopped
2025-07-18T01:15:13.890Z,1752801313.890 [calibrate_sparton_compass:Science:PeakDetectChl] Stopped
2025-07-18T01:15:13.890Z,1752801313.890 [calibrate_sparton_compass:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:PeakDetectChl
2025-07-18T01:15:13.890Z,1752801313.890 [calibrate_sparton_compass:Science:PeakDetectChl:A] Stopped
2025-07-18T01:15:13.890Z,1752801313.890 [calibrate_sparton_compass:Science:OceanCurrent:A.] Running Loop=1
2025-07-18T01:15:13.891Z,1752801313.891 [calibrate_sparton_compass:Science:Read_Oil] Stopped
2025-07-18T01:15:13.891Z,1752801313.891 [calibrate_sparton_compass:Science:F] Stopped
2025-07-18T01:15:13.892Z,1752801313.892 [calibrate_sparton_compass:Science:E] Running Loop=1
2025-07-18T01:15:13.892Z,1752801313.892 [calibrate_sparton_compass:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-07-18T01:15:13.892Z,1752801313.892 [calibrate_sparton_compass:Science:D] Stopped
2025-07-18T01:15:13.892Z,1752801313.892 [calibrate_sparton_compass:Science:C] Running Loop=1
2025-07-18T01:15:13.893Z,1752801313.893 [calibrate_sparton_compass:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-07-18T01:15:13.899Z,1752801313.899 [calibrate_sparton_compass:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-07-18T01:15:13.899Z,1752801313.899 [calibrate_sparton_compass:Science:B] Running Loop=1
2025-07-18T01:15:13.900Z,1752801313.900 [calibrate_sparton_compass:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-07-18T01:15:13.901Z,1752801313.901 [calibrate_sparton_compass:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-07-18T01:15:13.901Z,1752801313.901 [calibrate_sparton_compass:Science:A] Stopped
2025-07-18T01:15:14.233Z,1752801314.233 [calibrate_sparton_compass:E] Stopped
2025-07-18T01:15:14.233Z,1752801314.233 [calibrate_sparton_compass:F] Running Loop=1
2025-07-18T01:15:14.539Z,1752801314.539 [WetLabsBB2FL](INFO): Powering up
2025-07-18T01:15:14.648Z,1752801314.648 [calibrate_sparton_compass:F] Stopped
2025-07-18T01:15:14.648Z,1752801314.648 [calibrate_sparton_compass:G] Running Loop=1
2025-07-18T01:15:15.030Z,1752801315.030 [calibrate_sparton_compass:G] Stopped
2025-07-18T01:15:15.031Z,1752801315.031 [calibrate_sparton_compass:StartingMission] Running Loop=1
2025-07-18T01:15:15.031Z,1752801315.031 [calibrate_sparton_compass:StartingMission](DEBUG): Aggregate::initialize calibrate_sparton_compass:StartingMission
2025-07-18T01:15:15.439Z,1752801315.439 [calibrate_sparton_compass:NeedComms] Running Loop=1
2025-07-18T01:15:15.440Z,1752801315.440 [calibrate_sparton_compass:NeedComms](DEBUG): Aggregate::initialize calibrate_sparton_compass:NeedComms
2025-07-18T01:15:15.440Z,1752801315.440 [calibrate_sparton_compass:NeedComms:B.GoToSurface] Running Loop=1
2025-07-18T01:15:15.440Z,1752801315.440 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-18T01:15:15.440Z,1752801315.440 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-07-18T01:15:15.440Z,1752801315.440 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-07-18T01:15:15.441Z,1752801315.441 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-07-18T01:15:15.441Z,1752801315.441 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-07-18T01:15:15.442Z,1752801315.442 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-18T01:15:15.442Z,1752801315.442 [calibrate_sparton_compass:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-18T01:15:15.443Z,1752801315.443 [calibrate_sparton_compass:NeedComms:A] Running Loop=1
2025-07-18T01:15:15.444Z,1752801315.444 [calibrate_sparton_compass:NeedComms:A](INFO): last time_fix was:  1752801295.000000 second since 1970/01/01T00:00:00Z 
2025-07-18T01:15:15.444Z,1752801315.444 [calibrate_sparton_compass:NeedComms:A] Stopped
2025-07-18T01:15:15.832Z,1752801315.832 [calibrate_sparton_compass:NeedComms:C] Running Loop=1
2025-07-18T01:15:16.227Z,1752801316.227 [calibrate_sparton_compass:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-07-18T01:15:16.995Z,1752801316.995 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-07-18T01:15:27.165Z,1752801327.165 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-07-18T01:15:27.238Z,1752801327.238 [NAL9602](ERROR): received: 
+CSQ:0

OK899, 0, 0, 0, 0

OK
2025-07-18T01:19:58.250Z,1752801598.250 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-18T01:20:05.125Z,1752801605.125 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,012004.00,A,3647.01223,N,12151.94277,W,0.447,112.89,180725,,,A*7B
2025-07-18T01:20:05.128Z,1752801605.128 [NAL9602](INFO): GPS fix at 20250718T012004: (36.783537, -121.865713)
2025-07-18T01:20:05.143Z,1752801605.143 [calibrate_sparton_compass:NeedComms:C] Stopped
2025-07-18T01:20:05.144Z,1752801605.144 [calibrate_sparton_compass:NeedComms:D] Running Loop=1
2025-07-18T01:20:05.589Z,1752801605.589 [calibrate_sparton_compass:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-07-18T01:20:12.877Z,1752801612.877 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250717T225938/Courier0033.lzma
2025-07-18T01:20:13.880Z,1752801613.880 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Courier0033.lzma.bak
2025-07-18T01:20:13.880Z,1752801613.880 [DataOverHttps](INFO): SBD MOMSN=25543491
2025-07-18T01:20:30.962Z,1752801630.962 [DataOverHttps](INFO): Sending 331 bytes from file Logs/20250717T225938/Express0034.lzma
2025-07-18T01:20:31.964Z,1752801631.964 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Express0034.lzma.bak
2025-07-18T01:20:31.964Z,1752801631.964 [DataOverHttps](INFO): SBD MOMSN=25543494
2025-07-18T01:20:33.053Z,1752801633.053 [calibrate_sparton_compass:NeedComms:D] Stopped
2025-07-18T01:20:33.053Z,1752801633.053 [calibrate_sparton_compass:NeedComms:E] Running Loop=1
2025-07-18T01:20:33.475Z,1752801633.475 [calibrate_sparton_compass:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-07-18T01:20:35.053Z,1752801635.053 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,012034.00,A,3647.01091,N,12151.93964,W,0.389,121.37,180725,,,A*7D
2025-07-18T01:20:35.061Z,1752801635.061 [NAL9602](INFO): GPS fix at 20250718T012034: (36.783515, -121.865661)
2025-07-18T01:20:35.118Z,1752801635.118 [calibrate_sparton_compass:NeedComms:E] Stopped
2025-07-18T01:20:35.119Z,1752801635.119 [calibrate_sparton_compass:NeedComms](INFO): Completed calibrate_sparton_compass:NeedComms
2025-07-18T01:20:35.119Z,1752801635.119 [calibrate_sparton_compass:NeedComms] Stopped
2025-07-18T01:20:35.119Z,1752801635.119 [calibrate_sparton_compass:NeedComms](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:NeedComms
2025-07-18T01:20:35.120Z,1752801635.120 [calibrate_sparton_compass:NeedComms:B.GoToSurface] Stopped
2025-07-18T01:20:35.120Z,1752801635.120 [calibrate_sparton_compass:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-07-18T01:20:35.557Z,1752801635.557 [calibrate_sparton_compass:StartingMission](INFO): Completed calibrate_sparton_compass:StartingMission
2025-07-18T01:20:35.557Z,1752801635.557 [calibrate_sparton_compass:StartingMission] Stopped
2025-07-18T01:20:35.557Z,1752801635.557 [calibrate_sparton_compass:StartingMission](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:StartingMission
2025-07-18T01:20:35.574Z,1752801635.574 [calibrate_sparton_compass:AdaptCal] Running Loop=1
2025-07-18T01:20:35.574Z,1752801635.574 [calibrate_sparton_compass:AdaptCal](DEBUG): Aggregate::initialize calibrate_sparton_compass:AdaptCal
2025-07-18T01:20:35.574Z,1752801635.574 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Running Loop=1
2025-07-18T01:20:35.574Z,1752801635.574 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-07-18T01:20:35.574Z,1752801635.574 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit] Running Loop=1
2025-07-18T01:20:35.933Z,1752801635.933 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Running Loop=1
2025-07-18T01:20:35.933Z,1752801635.933 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-07-18T01:20:35.938Z,1752801635.938 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit](DEBUG): Initialize ReadDataComponent to sense AHRS_M2.number_of_calbration_points
2025-07-18T01:20:36.318Z,1752801636.318 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-07-18T01:20:36.729Z,1752801636.729 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-07-18T01:20:37.151Z,1752801637.151 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Initialize CalibrateSpartonComponent.
2025-07-18T01:20:37.530Z,1752801637.530 [calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit] Stopped
2025-07-18T01:20:37.530Z,1752801637.530 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints] Running Loop=1
2025-07-18T01:20:37.530Z,1752801637.530 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints](DEBUG): Aggregate::initialize calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints
2025-07-18T01:20:37.531Z,1752801637.531 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Running Loop=1
2025-07-18T01:20:37.531Z,1752801637.531 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point](DEBUG): Initialize.
2025-07-18T01:20:37.531Z,1752801637.531 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Running Loop=1
2025-07-18T01:20:37.531Z,1752801637.531 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Initialize.
2025-07-18T01:20:37.920Z,1752801637.920 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Running Loop=1
2025-07-18T01:20:37.920Z,1752801637.920 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Running Loop=1
2025-07-18T01:21:07.379Z,1752801667.379 [NAL9602](INFO): Not Powering down - fast GPS
2025-07-18T01:21:24.772Z,1752801684.772 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch -20.00 deg, mass-position 18.42 mm (2 active estimators).
2025-07-18T01:22:14.270Z,1752801734.270 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T01:22:17.282Z,1752801737.282 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.253048
2025-07-18T01:22:25.198Z,1752801745.198 [Radio_Surface](INFO): Powering down
2025-07-18T01:22:49.410Z,1752801769.410 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T01:22:50.417Z,1752801770.417 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-07-18T01:30:03.601Z,1752802203.601 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000141,35.0, +12.6,   0.0,1499.:RA,  0.00,1142.14, 882.57,1409.90
2025-07-18T01:30:13.682Z,1752802213.682 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,284.03, 897.37, 757.02,1462.49
2025-07-18T01:30:23.397Z,1752802223.397 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00012305171141,35.0 98.5,  0
2025-07-18T01:30:33.510Z,1752802233.510 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-07-18T01:30:33.510Z,1752802233.510 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-07-18T01:30:33.510Z,1752802233.510 [RDI_Pathfinder](ERROR): Communications Fault
2025-07-18T01:30:33.641Z,1752802233.641 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-07-18T01:30:33.950Z,1752802233.950 [RDI_Pathfinder](INFO): Powering down
2025-07-18T01:30:34.865Z,1752802234.865 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-07-18T01:30:34.865Z,1752802234.865 [RDI_Pathfinder] No Fault, FailCount= 1
2025-07-18T01:30:35.100Z,1752802235.100 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-07-18T01:35:37.748Z,1752802537.748 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-07-18T01:35:38.931Z,1752802538.931 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 973
Device respsone is::TS,00012305222671,35.0, +12.6,  0.00, 959.52, 973.05, 715.20,1216.43
2025-07-18T01:35:58.736Z,1752802558.736 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00012305224671,2.4,   0.0,1498.3,  0
2025-07-18T01:36:08.830Z,1752802568.830 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,978.41,1010.85, 929.00
2025-07-18T01:36:28.696Z,1752802588.696 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 971.55, 971.55,1063.32
2025-07-18T01:36:58.944Z,1752802618.944 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,    ,      +260.37,       -1.58, 111.94,  0.00
2025-07-18T01:37:38.950Z,1752802658.950 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-07-18T01:37:38.950Z,1752802658.950 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-07-18T01:37:38.950Z,1752802658.950 [RDI_Pathfinder](ERROR): Communications Fault
2025-07-18T01:37:39.075Z,1752802659.075 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-07-18T01:37:39.394Z,1752802659.394 [RDI_Pathfinder](INFO): Powering down
2025-07-18T01:37:40.157Z,1752802660.157 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-07-18T01:37:40.157Z,1752802660.157 [RDI_Pathfinder] No Fault, FailCount= 1
2025-07-18T01:37:40.519Z,1752802660.519 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-07-18T01:38:50.895Z,1752802730.895 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-07-18T01:50:06.284Z,1752803406.284 [DAT](INFO): DAT read: user:6>Rx Time:01:50:05.5946

2025-07-18T01:50:06.284Z,1752803406.284 [DAT](INFO): Rx dataTimestamp_ set to:1752803406.284003
2025-07-18T01:50:06.791Z,1752803406.791 [DAT](INFO): DAT read: 01:50:05.5946 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 262, 0.13,-2.833,-1.038,-1.883,-2.008, PHS=-0.723, 1.015, 0.080, RAW= 302.5,  -5.0, CAL= 301.9,  -9.1, ROT= 208.1,   9.1

2025-07-18T01:50:06.792Z,1752803406.792 [DAT](INFO): got valid direction response:
 01:50:05.5946 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 262, 0.13,-2.833,-1.038,-1.883,-2.008, PHS=-0.723, 1.015, 0.080, RAW= 302.5,  -5.0, CAL= 301.9,  -9.1, ROT= 208.1,   9.1

2025-07-18T01:50:06.793Z,1752803406.793 [DAT](INFO): DAT read: bearing request

2025-07-18T01:50:06.793Z,1752803406.793 [DAT](INFO): received a bearing request message
2025-07-18T01:50:06.794Z,1752803406.794 [DAT](INFO): DAT read: Tx time:01:50:07.1974

2025-07-18T01:50:06.794Z,1752803406.794 [DAT](INFO): Ping request sent.
2025-07-18T01:50:06.794Z,1752803406.794 [DAT](INFO): transmitted an acoustic signal
2025-07-18T01:50:06.795Z,1752803406.795 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-07-18T01:50:06.796Z,1752803406.796 [DAT](INFO): direction in FSK: [-0.871024,-0.465084,-0.158158]
2025-07-18T01:50:06.796Z,1752803406.796 [DAT](INFO): publishing transmit ping time
2025-07-18T01:50:06.797Z,1752803406.797 [DAT](INFO): publishing range request flag
2025-07-18T01:50:06.800Z,1752803406.800 [DAT](INFO): publishing transmit ping time
2025-07-18T01:50:06.800Z,1752803406.800 [DAT](INFO): publishing range request flag
2025-07-18T01:50:25.187Z,1752803425.187 [DAT](INFO): DAT read: Rx Time:01:50:24.3998

2025-07-18T01:50:25.187Z,1752803425.187 [DAT](INFO): Rx dataTimestamp_ set to:1752803425.187155
2025-07-18T01:50:25.695Z,1752803425.695 [DAT](INFO): DAT read: 01:50:24.3998 LVL= 29216, 25441, 25074, 26771, AGC= 62, IDX=  91,-0.01,-0.665, 0.996, 1.163, 0.246, PHS=-0.809, 0.795, 0.873, RAW= 267.6, -10.5, CAL= 267.1, -16.0, ROT= 242.9,  16.0

2025-07-18T01:50:25.696Z,1752803425.696 [DAT](INFO): got valid direction response:
 01:50:24.3998 LVL= 29216, 25441, 25074, 26771, AGC= 62, IDX=  91,-0.01,-0.665, 0.996, 1.163, 0.246, PHS=-0.809, 0.795, 0.873, RAW= 267.6, -10.5, CAL= 267.1, -16.0, ROT= 242.9,  16.0

2025-07-18T01:50:25.697Z,1752803425.697 [DAT](INFO): DAT read: bearing request

2025-07-18T01:50:25.697Z,1752803425.697 [DAT](INFO): received a bearing request message
2025-07-18T01:50:25.697Z,1752803425.697 [DAT](INFO): DAT read: Tx time:01:50:26.0026

2025-07-18T01:50:25.698Z,1752803425.698 [DAT](INFO): Ping request sent.
2025-07-18T01:50:25.698Z,1752803425.698 [DAT](INFO): transmitted an acoustic signal
2025-07-18T01:50:25.698Z,1752803425.698 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-07-18T01:50:25.699Z,1752803425.699 [DAT](INFO): direction in FSK: [-0.437898,-0.855727,-0.275637]
2025-07-18T01:50:25.700Z,1752803425.700 [DAT](INFO): publishing transmit ping time
2025-07-18T01:50:25.700Z,1752803425.700 [DAT](INFO): publishing range request flag
2025-07-18T01:50:25.703Z,1752803425.703 [DAT](INFO): publishing transmit ping time
2025-07-18T01:50:25.703Z,1752803425.703 [DAT](INFO): publishing range request flag
2025-07-18T01:53:12.641Z,1752803592.641 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,1219.14,1105.56,1
2025-07-18T01:55:05.337Z,1752803705.337 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-07-18T01:55:57.016Z,1752803757.016 [BPC1](FAULT): Battery stick #5 (s/n: 00C2) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-07-18T01:55:57.017Z,1752803757.017 [BPC1](FAULT): Battery stick #8 (s/n: 027C) reported TERMINATE_CHARGE_ALARM. Status code: 0x40C0.
2025-07-18T01:55:57.019Z,1752803757.019 [BPC1](FAULT): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-07-18T01:55:57.020Z,1752803757.020 [BPC1](FAULT): Battery stick #18 (s/n: 0186) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-07-18T01:55:57.021Z,1752803757.021 [BPC1](FAULT): Battery stick #24 (s/n: 011E) reported TERMINATE_CHARGE_ALARM. Status code: 0x40C0.
2025-07-18T01:55:57.022Z,1752803757.022 [BPC1](FAULT): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-07-18T01:55:57.023Z,1752803757.023 [BPC1](FAULT): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-07-18T01:55:57.025Z,1752803757.025 [BPC1](FAULT): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-07-18T01:55:57.038Z,1752803757.038 [BPC1](INFO): Calculating totals. Valid battery stick count: 30. Valid reserve battery stick count: 2.
2025-07-18T01:55:57.040Z,1752803757.040 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-07-18T02:15:14.099Z,1752804914.099 [calibrate_sparton_compass](INFO): Timed out from 2025-07-18T01:15:13.8Z
2025-07-18T02:15:14.099Z,1752804914.099 [MissionManager](INFO): calibrate_sparton_compass is completed.
2025-07-18T02:15:14.099Z,1752804914.099 [MissionManager](INFO): Uninitializing Mission calibrate_sparton_compass
2025-07-18T02:15:14.099Z,1752804914.099 [calibrate_sparton_compass] Stopped
2025-07-18T02:15:14.099Z,1752804914.099 [calibrate_sparton_compass](DEBUG): Aggregate::uninitialize calibrate_sparton_compass
2025-07-18T02:15:14.100Z,1752804914.100 [calibrate_sparton_compass:Science] Stopped
2025-07-18T02:15:14.100Z,1752804914.100 [calibrate_sparton_compass:Science](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science
2025-07-18T02:15:14.100Z,1752804914.100 [calibrate_sparton_compass:Science:B] Stopped
2025-07-18T02:15:14.100Z,1752804914.100 [calibrate_sparton_compass:Science:C] Stopped
2025-07-18T02:15:14.100Z,1752804914.100 [calibrate_sparton_compass:Science:E] Stopped
2025-07-18T02:15:14.100Z,1752804914.100 [calibrate_sparton_compass:Science:OceanCurrent] Stopped
2025-07-18T02:15:14.100Z,1752804914.100 [calibrate_sparton_compass:Science:OceanCurrent](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:Science:OceanCurrent
2025-07-18T02:15:14.100Z,1752804914.100 [calibrate_sparton_compass:Science:OceanCurrent:A.] Stopped
2025-07-18T02:15:14.100Z,1752804914.100 [calibrate_sparton_compass:StandardEnvelopes] Stopped
2025-07-18T02:15:14.100Z,1752804914.100 [calibrate_sparton_compass:StandardEnvelopes](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:StandardEnvelopes
2025-07-18T02:15:14.100Z,1752804914.100 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-07-18T02:15:14.100Z,1752804914.100 [calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-07-18T02:15:14.100Z,1752804914.100 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-07-18T02:15:14.101Z,1752804914.101 [calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-07-18T02:15:14.101Z,1752804914.101 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-07-18T02:15:14.101Z,1752804914.101 [calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-07-18T02:15:14.101Z,1752804914.101 [calibrate_sparton_compass:BackseatDriver] Stopped
2025-07-18T02:15:14.101Z,1752804914.101 [calibrate_sparton_compass:BackseatDriver](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:BackseatDriver
2025-07-18T02:15:14.101Z,1752804914.101 [calibrate_sparton_compass:BackseatDriver:A.BackseatDriver] Stopped
2025-07-18T02:15:14.101Z,1752804914.101 [calibrate_sparton_compass:PowerOnly] Stopped
2025-07-18T02:15:14.101Z,1752804914.101 [calibrate_sparton_compass:PowerOnly](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:PowerOnly
2025-07-18T02:15:14.101Z,1752804914.101 [calibrate_sparton_compass:PowerOnly:E.Wait] Stopped
2025-07-18T02:15:14.101Z,1752804914.101 [calibrate_sparton_compass:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-07-18T02:15:14.101Z,1752804914.101 [calibrate_sparton_compass:K.Pitch] Stopped
2025-07-18T02:15:14.101Z,1752804914.101 [calibrate_sparton_compass:L.Buoyancy] Stopped
2025-07-18T02:15:14.101Z,1752804914.101 [calibrate_sparton_compass:L.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-07-18T02:15:14.102Z,1752804914.102 [calibrate_sparton_compass:M.DepthEnvelope] Stopped
2025-07-18T02:15:14.102Z,1752804914.102 [calibrate_sparton_compass:M.DepthEnvelope](DEBUG): Uninitialize.
2025-07-18T02:15:14.103Z,1752804914.103 [calibrate_sparton_compass:N.AltitudeEnvelope] Stopped
2025-07-18T02:15:14.103Z,1752804914.103 [calibrate_sparton_compass:N.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-07-18T02:15:14.103Z,1752804914.103 [calibrate_sparton_compass:O.YoYo] Stopped
2025-07-18T02:15:14.103Z,1752804914.103 [calibrate_sparton_compass:O.YoYo](DEBUG): Uninitialize YoYoComponent.
2025-07-18T02:15:14.103Z,1752804914.103 [calibrate_sparton_compass:AdaptCal] Stopped
2025-07-18T02:15:14.103Z,1752804914.103 [calibrate_sparton_compass:AdaptCal](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:AdaptCal
2025-07-18T02:15:14.103Z,1752804914.103 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints] Stopped
2025-07-18T02:15:14.103Z,1752804914.103 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints](DEBUG): Aggregate::uninitialize calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints
2025-07-18T02:15:14.103Z,1752804914.103 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point] Stopped
2025-07-18T02:15:14.103Z,1752804914.103 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed] Stopped
2025-07-18T02:15:14.103Z,1752804914.103 [calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed](DEBUG): Uninitialize.
2025-07-18T02:15:14.103Z,1752804914.103 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2] Stopped
2025-07-18T02:15:14.103Z,1752804914.103 [calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2](INFO): Uninitialize CalibrateSpartonComponent.
2025-07-18T02:15:14.298Z,1752804914.298 [WetLabsBB2FL](INFO): Powering down
2025-07-18T02:15:14.532Z,1752804914.532 [AHRS_M2](IMPORTANT): Acquired 10 calibration points.
2025-07-18T02:15:14.589Z,1752804914.589 [MissionManager](IMPORTANT): Started mission Default
2025-07-18T02:15:14.589Z,1752804914.589 [Default] Running Loop=1
2025-07-18T02:15:14.589Z,1752804914.589 [Default](DEBUG): Aggregate::initialize Default
2025-07-18T02:15:14.589Z,1752804914.589 [Default:B.GoToSurface] Running Loop=1
2025-07-18T02:15:14.590Z,1752804914.590 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-07-18T02:15:14.590Z,1752804914.590 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-07-18T02:15:14.590Z,1752804914.590 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-07-18T02:15:14.591Z,1752804914.591 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-07-18T02:15:14.591Z,1752804914.591 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-07-18T02:15:14.591Z,1752804914.591 [Default:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-07-18T02:15:14.592Z,1752804914.592 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-07-18T02:15:14.592Z,1752804914.592 [Default:A.Wait] Running Loop=1
2025-07-18T02:15:14.592Z,1752804914.592 [Default:A.Wait](DEBUG): Initialize Wait Component.
2025-07-18T02:15:15.183Z,1752804915.183 [Radio_Surface](INFO): Powering up
2025-07-18T02:15:15.326Z,1752804915.326 [AHRS_M2](IMPORTANT): Magnetic calibration quality (0[best] to 10000) is 0.000194.
2025-07-18T02:15:16.119Z,1752804916.119 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm (3 active estimators).
2025-07-18T02:15:20.482Z,1752804920.482 [DataOverHttps](INFO): Radio surface powered ON.
2025-07-18T02:15:27.836Z,1752804927.836 [Default:A.Wait](INFO): Done Waiting.
2025-07-18T02:15:27.836Z,1752804927.836 [Default:A.Wait] Stopped
2025-07-18T02:15:27.836Z,1752804927.836 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2025-07-18T02:15:50.607Z,1752804950.607 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T02:16:18.364Z,1752804978.364 [Default:CheckIn] Running Loop=1
2025-07-18T02:16:18.365Z,1752804978.365 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2025-07-18T02:16:18.365Z,1752804978.365 [Default:CheckIn:Read_GPS] Running Loop=1
2025-07-18T02:16:25.746Z,1752804985.746 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T02:16:51.049Z,1752805011.049 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-07-18T02:16:51.122Z,1752805011.122 [NAL9602](ERROR): received: 
+CSQ:0

OK899, 0, 0, 0, 0

OK
2025-07-18T02:17:00.890Z,1752805020.890 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T02:17:36.030Z,1752805056.030 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T02:18:11.174Z,1752805091.174 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T02:18:46.314Z,1752805126.314 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-07-18T02:19:01.914Z,1752805141.914 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003075
2025-07-18T02:21:18.552Z,1752805278.552 [Default:CheckIn:Read_GPS](INFO): Timed out from 2025-07-18T02:16:18.4Z
2025-07-18T02:21:18.552Z,1752805278.552 [Default:CheckIn:Read_GPS] Stopped
2025-07-18T02:21:18.553Z,1752805278.553 [Default:CheckIn:Read_Iridium] Running Loop=1
2025-07-18T02:21:21.461Z,1752805281.461 [DataOverHttps](INFO): Sending 87 bytes from file Logs/20250717T225938/Courier0036.lzma
2025-07-18T02:21:22.307Z,1752805282.307 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-07-18T02:21:22.464Z,1752805282.464 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Courier0036.lzma.bak
2025-07-18T02:21:22.464Z,1752805282.464 [DataOverHttps](INFO): SBD MOMSN=25543575
2025-07-18T02:21:38.815Z,1752805298.815 [DataOverHttps](INFO): Sending 1876 bytes from file Logs/20250717T225938/Express0037.lzma
2025-07-18T02:21:39.808Z,1752805299.808 [DataOverHttps](INFO): Moved sent file to Logs/20250717T225938/Express0037.lzma.bak
2025-07-18T02:21:39.808Z,1752805299.808 [DataOverHttps](INFO): SBD MOMSN=25543578
2025-07-18T02:21:40.911Z,1752805300.911 [Default:CheckIn:Read_Iridium] Stopped
2025-07-18T02:21:40.911Z,1752805300.911 [Default:CheckIn:C.Wait] Running Loop=1
2025-07-18T02:21:40.911Z,1752805300.911 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-07-18T02:21:53.007Z,1752805313.007 [NAL9602](INFO): Not Powering down - fast GPS
2025-07-18T02:22:59.963Z,1752805379.963 [DataOverHttps](IMPORTANT): SBD MTMSN=20250718T022258
2025-07-18T02:23:07.585Z,1752805387.585 [DataOverHttps](INFO): Received command: configSet ESPComponent.sampleTimeout 5 minute persist;configSet list;restart logs