2025-08-22T04:29:00.805Z,1755836940.805 [CommandExec](IMPORTANT): got command restart logs
2025-08-22T04:29:01.132Z,1755836941.132 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T04:29:01.384Z,1755836941.384 [DAT](INFO): DAT read: user:7343>

2025-08-22T04:29:01.385Z,1755836941.385 [DAT](INFO): DAT read: Tx time:04:29:00.5431

2025-08-22T04:29:01.385Z,1755836941.385 [DAT](INFO): Ping request sent.
2025-08-22T04:29:01.385Z,1755836941.385 [DAT](INFO): transmitted an acoustic signal
2025-08-22T04:29:01.386Z,1755836941.386 [DAT](INFO): publishing transmit ping time
2025-08-22T04:29:01.386Z,1755836941.386 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T04:29:01.585Z,1755836941.585 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-08-22T04:29:01.636Z,1755836941.636 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T04:29:01.980Z,1755836941.980 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T04:29:02.101Z,1755836942.101 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T04:29:03.652Z,1755836943.652 [DAT](INFO): DAT read: Rx Time:04:29:02.4035

2025-08-22T04:29:03.653Z,1755836943.653 [DAT](INFO): Rx dataTimestamp_ set to:1755836943.652508
2025-08-22T04:29:04.166Z,1755836944.166 [DAT](INFO): DAT read: 04:29:02.4035 LVL= 15952, 13473, 24306, 18099, AGC= 44, IDX= 480, 0.21, 0.689, 0.205,-0.510, 1.414, PHS=-0.623,-1.164,-1.968, RAW=  53.6,  48.6, CAL=  50.8,  53.3, ROT=  99.2, -53.3

2025-08-22T04:29:04.167Z,1755836944.167 [DAT](INFO): got valid direction response:
 04:29:02.4035 LVL= 15952, 13473, 24306, 18099, AGC= 44, IDX= 480, 0.21, 0.689, 0.205,-0.510, 1.414, PHS=-0.623,-1.164,-1.968, RAW=  53.6,  48.6, CAL=  50.8,  53.3, ROT=  99.2, -53.3

2025-08-22T04:29:04.168Z,1755836944.168 [DAT](INFO): DAT read: OK

2025-08-22T04:29:04.168Z,1755836944.168 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T04:29:04.169Z,1755836944.169 [DAT](INFO): DAT read: user:7344>

2025-08-22T04:29:04.170Z,1755836944.170 [DAT](INFO): DAT read: Tx time:04:29:03.4931

2025-08-22T04:29:04.170Z,1755836944.170 [DAT](INFO): Ping request sent.
2025-08-22T04:29:04.170Z,1755836944.170 [DAT](INFO): transmitted an acoustic signal
2025-08-22T04:29:04.171Z,1755836944.171 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-22T04:29:04.176Z,1755836944.176 [DAT](INFO): direction in FSK: [-0.095549,0.589937,0.801776]
2025-08-22T04:29:04.177Z,1755836944.177 [DAT](INFO): publishing transmit ping time
2025-08-22T04:29:04.185Z,1755836944.185 [DAT](INFO): publishing transmit ping time
2025-08-22T04:29:05.629Z,1755836945.629 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T04:29:06.676Z,1755836946.676 [DAT](INFO): DAT read: Rx Time:04:29:05.3539

2025-08-22T04:29:06.677Z,1755836946.677 [DAT](INFO): Rx dataTimestamp_ set to:1755836946.676540
2025-08-22T04:29:07.180Z,1755836947.180 [DAT](INFO): DAT read: OK

2025-08-22T04:29:07.181Z,1755836947.181 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T04:29:07.181Z,1755836947.181 [DAT](INFO): DAT read: user:7345>

2025-08-22T04:29:07.182Z,1755836947.182 [DAT](INFO): DAT read: Tx time:04:29:06.4431

2025-08-22T04:29:07.183Z,1755836947.183 [DAT](INFO): Ping request sent.
2025-08-22T04:29:07.183Z,1755836947.183 [DAT](INFO): transmitted an acoustic signal
2025-08-22T04:29:07.183Z,1755836947.183 [DAT](INFO): publishing transmit ping time
2025-08-22T04:29:09.702Z,1755836949.702 [DAT](INFO): DAT read: Rx Time:04:29:08.3040

2025-08-22T04:29:09.702Z,1755836949.702 [DAT](INFO): Rx dataTimestamp_ set to:1755836949.702101
2025-08-22T04:29:10.208Z,1755836950.208 [DAT](INFO): DAT read: 04:29:08.3040 LVL= 20528, 11041, 17394, 21795, AGC= 44, IDX= 433, 0.15, 0.522, 2.141, 1.781, 2.768, PHS=-2.144,-0.582,-1.031, RAW= 286.2,  43.7, CAL= 289.3,  49.2, ROT= 220.7, -49.2

2025-08-22T04:29:10.209Z,1755836950.209 [DAT](INFO): got valid direction response:
 04:29:08.3040 LVL= 20528, 11041, 17394, 21795, AGC= 44, IDX= 433, 0.15, 0.522, 2.141, 1.781, 2.768, PHS=-2.144,-0.582,-1.031, RAW= 286.2,  43.7, CAL= 289.3,  49.2, ROT= 220.7, -49.2

2025-08-22T04:29:10.210Z,1755836950.210 [DAT](INFO): DAT read: OK

2025-08-22T04:29:10.210Z,1755836950.210 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T04:29:10.210Z,1755836950.210 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-22T04:29:10.211Z,1755836950.211 [DAT](INFO): direction in FSK: [-0.495381,-0.426094,0.756995]
2025-08-22T04:29:39.142Z,1755836979.142 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,        +9.45,      +92 ,   6.33,  0.00
2025-08-22T04:29:44.320Z,1755836984.320 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS8170360,35.0,  0.0,1492.4,  0
2025-08-22T04:30:09.794Z,1755837009.794 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:4.940000m. At depth:69.854988m.
2025-08-22T04:30:54.253Z,1755837054.253 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022708181365,35.0, +10.6,   .2,  0
2025-08-22T04:30:58.732Z,1755837058.732 [OnDock:J.](INFO): *** querying acoustic contact ***
2025-08-22T04:30:58.904Z,1755837058.904 [DAT](DEBUG): Acoustic response timeout
2025-08-22T04:30:58.904Z,1755837058.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T04:30:59.156Z,1755837059.156 [DAT](INFO): DAT read: user:7346>

2025-08-22T04:30:59.158Z,1755837059.158 [DAT](INFO): DAT read: Tx time:04:30:58.2939

2025-08-22T04:30:59.158Z,1755837059.158 [DAT](INFO): Ping request sent.
2025-08-22T04:30:59.158Z,1755837059.158 [DAT](INFO): transmitted an acoustic signal
2025-08-22T04:30:59.158Z,1755837059.158 [DAT](INFO): publishing transmit ping time
2025-08-22T04:30:59.159Z,1755837059.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001123
2025-08-22T04:30:59.409Z,1755837059.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250558
2025-08-22T04:30:59.660Z,1755837059.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501981
2025-08-22T04:30:59.913Z,1755837059.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754509
2025-08-22T04:31:00.165Z,1755837060.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006412
2025-08-22T04:31:00.416Z,1755837060.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258271
2025-08-22T04:31:00.668Z,1755837060.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510163
2025-08-22T04:31:00.920Z,1755837060.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762127
2025-08-22T04:31:01.173Z,1755837061.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014696
2025-08-22T04:31:01.424Z,1755837061.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266110
2025-08-22T04:31:01.677Z,1755837061.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518385
2025-08-22T04:31:01.932Z,1755837061.932 [DAT](INFO): DAT read: Rx Time:04:31:00.7091

2025-08-22T04:31:01.933Z,1755837061.933 [DAT](INFO): Rx dataTimestamp_ set to:1755837061.932408
2025-08-22T04:31:01.933Z,1755837061.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775069
2025-08-22T04:31:02.184Z,1755837062.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026149
2025-08-22T04:31:02.441Z,1755837062.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280521
2025-08-22T04:31:02.694Z,1755837062.694 [DAT](INFO): DAT read: 04:31:00.7091 LVL= 22240, 29137, 25698, 32755, AGC= 46, IDX= 478, 0.46, 2.012, 0.436, 2.120, 1.410, PHS= 0.704,-0.929, 0.666, RAW= 148.8,  -5.5, CAL= 148.7,  -6.7, ROT=   1.3,   6.7

2025-08-22T04:31:02.695Z,1755837062.695 [DAT](INFO): got valid direction response:
 04:31:00.7091 LVL= 22240, 29137, 25698, 32755, AGC= 46, IDX= 478, 0.46, 2.012, 0.436, 2.120, 1.410, PHS= 0.704,-0.929, 0.666, RAW= 148.8,  -5.5, CAL= 148.7,  -6.7, ROT=   1.3,   6.7

2025-08-22T04:31:02.696Z,1755837062.696 [DAT](INFO): DAT read: Bearing  66.8,   5.6 (Local)

2025-08-22T04:31:02.696Z,1755837062.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.8,   5.6 (Local)

2025-08-22T04:31:02.697Z,1755837062.697 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m  (Round-trip  11.1 ms) speed  0.0 m/s

2025-08-22T04:31:02.698Z,1755837062.698 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T04:31:02.699Z,1755837062.699 [DAT](INFO): direction in FSK: [0.992915,0.022532,-0.116671]
2025-08-22T04:31:02.699Z,1755837062.699 [DAT](INFO): publishing direction and range info
2025-08-22T04:31:02.803Z,1755837062.803 [OnDock:N.Docked](FAULT): Off dock, range to dock 8.300000 exceeded threshold.
2025-08-22T04:31:02.804Z,1755837062.804 [OnDock:N.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act...
2025-08-22T04:31:33.028Z,1755837093.028 [OnDock:N.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2025-08-22T04:31:33.029Z,1755837093.029 [OnDock:N.Docked] Stopped
2025-08-22T04:31:33.029Z,1755837093.029 [OnDock:Detach] Running Loop=1
2025-08-22T04:31:33.029Z,1755837093.029 [OnDock:Detach](DEBUG): Aggregate::initialize OnDock:Detach
2025-08-22T04:31:33.030Z,1755837093.030 [OnDock:Detach:A] Running Loop=1
2025-08-22T04:31:33.055Z,1755837093.055 [DockingStepper](INFO): Changing to mode: 2
2025-08-22T04:31:33.392Z,1755837093.392 [OnDock:Detach:A](IMPORTANT): Mission ending, breaking off. Range:  8.300000 m .
2025-08-22T04:31:33.393Z,1755837093.393 [OnDock:Detach:A] Stopped
2025-08-22T04:31:33.393Z,1755837093.393 [OnDock:Detach:B.Undock] Running Loop=1
2025-08-22T04:31:33.393Z,1755837093.393 [OnDock:Detach:B.Undock](DEBUG): Initialize.
2025-08-22T04:31:33.393Z,1755837093.393 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T04:31:33.456Z,1755837093.456 [DAT](INFO): DAT read: user:7347>

2025-08-22T04:31:33.457Z,1755837093.457 [DAT](INFO): DAT read: Tx time:04:31:32.5928

2025-08-22T04:31:33.458Z,1755837093.458 [DAT](INFO): Ping request sent.
2025-08-22T04:31:33.458Z,1755837093.458 [DAT](INFO): transmitted an acoustic signal
2025-08-22T04:31:33.458Z,1755837093.458 [DAT](INFO): publishing transmit ping time
2025-08-22T04:31:33.838Z,1755837093.838 [OnDock:Detach:B.Undock](DEBUG): Initialize.
2025-08-22T04:31:33.838Z,1755837093.838 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T04:31:33.839Z,1755837093.839 [OnDock:Detach:B.Undock](INFO): Detached from dock at depth 69.449310 m.
2025-08-22T04:31:34.264Z,1755837094.264 [DockingStepper](INFO): Changing to mode: 3
2025-08-22T04:31:35.724Z,1755837095.724 [DAT](INFO): DAT read: Rx Time:04:31:34.4634

2025-08-22T04:31:35.725Z,1755837095.725 [DAT](INFO): Rx dataTimestamp_ set to:1755837095.724411
2025-08-22T04:31:36.236Z,1755837096.236 [DAT](INFO): DAT read: 04:31:34.4634 LVL= 20800, 29841, 23282, 30579, AGC= 47, IDX= 507, 0.01,-1.466, 3.098,-1.529,-2.009, PHS= 0.645,-1.131, 0.436, RAW= 143.8,   0.6, CAL= 143.4,   0.8, ROT=   6.6,  -0.8

2025-08-22T04:31:36.237Z,1755837096.237 [DAT](INFO): got valid direction response:
 04:31:34.4634 LVL= 20800, 29841, 23282, 30579, AGC= 47, IDX= 507, 0.01,-1.466, 3.098,-1.529,-2.009, PHS= 0.645,-1.131, 0.436, RAW= 143.8,   0.6, CAL= 143.4,   0.8, ROT=   6.6,  -0.8

2025-08-22T04:31:36.237Z,1755837096.237 [DAT](INFO): DAT read: OK

2025-08-22T04:31:36.238Z,1755837096.238 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T04:31:36.238Z,1755837096.238 [DAT](INFO): DAT read: user:7348>

2025-08-22T04:31:36.238Z,1755837096.238 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-22T04:31:36.239Z,1755837096.239 [DAT](INFO): direction in FSK: [0.993276,0.114926,0.013962]
2025-08-22T04:31:36.480Z,1755837096.480 [DAT](INFO): DAT read: Tx time:04:31:35.5928

2025-08-22T04:31:36.481Z,1755837096.481 [DAT](INFO): Ping request sent.
2025-08-22T04:31:36.481Z,1755837096.481 [DAT](INFO): transmitted an acoustic signal
2025-08-22T04:31:36.481Z,1755837096.481 [DAT](INFO): publishing transmit ping time
2025-08-22T04:31:38.749Z,1755837098.749 [DAT](INFO): DAT read: Rx Time:04:31:37.4636

2025-08-22T04:31:38.749Z,1755837098.749 [DAT](INFO): Rx dataTimestamp_ set to:1755837098.749045
2025-08-22T04:31:39.083Z,1755837099.083 [OnDock:Detach:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-22T04:31:39.259Z,1755837099.259 [DAT](INFO): DAT read: 04:31:37.4636 LVL= 19888, 26449, 25074, 30627, AGC= 47, IDX= 429, 0.23,-0.187,-1.935,-0.266,-0.738, PHS= 0.653,-1.152, 0.428, RAW= 143.4,   0.8, CAL= 143.1,   1.1, ROT=   6.9,  -1.1

2025-08-22T04:31:39.260Z,1755837099.260 [DAT](INFO): got valid direction response:
 04:31:37.4636 LVL= 19888, 26449, 25074, 30627, AGC= 47, IDX= 429, 0.23,-0.187,-1.935,-0.266,-0.738, PHS= 0.653,-1.152, 0.428, RAW= 143.4,   0.8, CAL= 143.1,   1.1, ROT=   6.9,  -1.1

2025-08-22T04:31:39.260Z,1755837099.260 [DAT](INFO): DAT read: OK

2025-08-22T04:31:39.260Z,1755837099.260 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T04:31:39.261Z,1755837099.261 [DAT](INFO): DAT read: user:7349>

2025-08-22T04:31:39.262Z,1755837099.262 [DAT](INFO): DAT read: Tx time:04:31:38.5928

2025-08-22T04:31:39.262Z,1755837099.262 [DAT](INFO): Ping request sent.
2025-08-22T04:31:39.262Z,1755837099.262 [DAT](INFO): transmitted an acoustic signal
2025-08-22T04:31:39.262Z,1755837099.262 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-22T04:31:39.263Z,1755837099.263 [DAT](INFO): direction in FSK: [0.992574,0.120115,0.019197]
2025-08-22T04:31:39.263Z,1755837099.263 [DAT](INFO): publishing transmit ping time
2025-08-22T04:31:39.266Z,1755837099.266 [DAT](INFO): publishing transmit ping time
2025-08-22T04:31:41.788Z,1755837101.788 [DAT](INFO): DAT read: Rx Time:04:31:40.4639

2025-08-22T04:31:41.789Z,1755837101.789 [DAT](INFO): Rx dataTimestamp_ set to:1755837101.788354
2025-08-22T04:31:42.312Z,1755837102.312 [DAT](INFO): DAT read: 04:31:40.4639 LVL= 21280, 26161, 24018, 31219, AGC= 47, IDX= 448,-0.30,-2.690, 1.849,-2.787, 3.067, PHS= 0.629,-1.173, 0.386, RAW= 142.9,   1.9, CAL= 142.6,   2.2, ROT=   7.4,  -2.2

2025-08-22T04:31:42.313Z,1755837102.313 [DAT](INFO): got valid direction response:
 04:31:40.4639 LVL= 21280, 26161, 24018, 31219, AGC= 47, IDX= 448,-0.30,-2.690, 1.849,-2.787, 3.067, PHS= 0.629,-1.173, 0.386, RAW= 142.9,   1.9, CAL= 142.6,   2.2, ROT=   7.4,  -2.2

2025-08-22T04:31:42.313Z,1755837102.313 [DAT](INFO): DAT read: OK

2025-08-22T04:31:42.314Z,1755837102.314 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T04:31:42.314Z,1755837102.314 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-22T04:31:42.315Z,1755837102.315 [DAT](INFO): direction in FSK: [0.990940,0.128701,0.038388]
2025-08-22T04:31:59.313Z,1755837119.313 [OnDock:Detach:B.Undock](INFO): Detached at range: 8.30 m. Transitioning docking module to standby.
2025-08-22T04:31:59.677Z,1755837119.677 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T04:32:04.528Z,1755837124.528 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,        +9.36,      +910.53,    ,  0.00
2025-08-22T04:32:05.757Z,1755837125.757 [OnDock:Detach:B.Undock](INFO): Docking module at standby.
2025-08-22T04:32:06.117Z,1755837126.117 [OnDock:Detach:B.Undock](IMPORTANT): Undocking sequence complete.
2025-08-22T04:32:06.117Z,1755837126.117 [OnDock:Detach:B.Undock] Stopped
2025-08-22T04:32:06.117Z,1755837126.117 [OnDock:Detach](INFO): Completed OnDock:Detach
2025-08-22T04:32:06.117Z,1755837126.117 [OnDock:Detach] Stopped
2025-08-22T04:32:06.117Z,1755837126.117 [OnDock:Detach](DEBUG): Aggregate::uninitialize OnDock:Detach
2025-08-22T04:32:06.119Z,1755837126.119 [OnDock](INFO): Completed OnDock
2025-08-22T04:32:06.120Z,1755837126.120 [MissionManager](INFO): OnDock is completed.
2025-08-22T04:32:06.120Z,1755837126.120 [MissionManager](INFO): Uninitializing Mission OnDock
2025-08-22T04:32:06.120Z,1755837126.120 [OnDock] Stopped
2025-08-22T04:32:06.120Z,1755837126.120 [OnDock](DEBUG): Aggregate::uninitialize OnDock
2025-08-22T04:32:06.120Z,1755837126.120 [OnDock:StandardEnvelopes] Stopped
2025-08-22T04:32:06.120Z,1755837126.120 [OnDock:StandardEnvelopes](DEBUG): Aggregate::uninitialize OnDock:StandardEnvelopes
2025-08-22T04:32:06.120Z,1755837126.120 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-22T04:32:06.120Z,1755837126.120 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-22T04:32:06.120Z,1755837126.120 [OnDock:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-22T04:32:06.120Z,1755837126.120 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-22T04:32:06.121Z,1755837126.121 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-22T04:32:06.121Z,1755837126.121 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-22T04:32:06.121Z,1755837126.121 [OnDock:BackseatDriver] Stopped
2025-08-22T04:32:06.121Z,1755837126.121 [OnDock:BackseatDriver](DEBUG): Aggregate::uninitialize OnDock:BackseatDriver
2025-08-22T04:32:06.121Z,1755837126.121 [OnDock:BackseatDriver:A.BackseatDriver] Stopped
2025-08-22T04:32:06.121Z,1755837126.121 [OnDock:PowerOnly] Stopped
2025-08-22T04:32:06.121Z,1755837126.121 [OnDock:PowerOnly](DEBUG): Aggregate::uninitialize OnDock:PowerOnly
2025-08-22T04:32:06.121Z,1755837126.121 [OnDock:PowerOnly:E.Wait] Stopped
2025-08-22T04:32:06.121Z,1755837126.121 [OnDock:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T04:32:06.121Z,1755837126.121 [OnDock:dataRead] Stopped
2025-08-22T04:32:06.121Z,1755837126.121 [OnDock:dataRead](DEBUG): Aggregate::uninitialize OnDock:dataRead
2025-08-22T04:32:06.121Z,1755837126.121 [OnDock:dataRead:A] Stopped
2025-08-22T04:32:06.122Z,1755837126.122 [OnDock:J.] Stopped
2025-08-22T04:32:06.122Z,1755837126.122 [OnDock:J.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-22T04:32:06.122Z,1755837126.122 [OnDock:PeriodicCheck] Stopped
2025-08-22T04:32:06.122Z,1755837126.122 [OnDock:PeriodicCheck](DEBUG): Aggregate::uninitialize OnDock:PeriodicCheck
2025-08-22T04:32:06.122Z,1755837126.122 [OnDock:PeriodicCheck:CheckIP] Stopped
2025-08-22T04:32:06.122Z,1755837126.122 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::uninitialize OnDock:PeriodicCheck:CheckIP
2025-08-22T04:32:06.122Z,1755837126.122 [OnDock:PeriodicCheck:CheckIP:B.Wait] Stopped
2025-08-22T04:32:06.122Z,1755837126.122 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T04:32:06.547Z,1755837126.547 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-08-22T04:32:06.547Z,1755837126.547 [DefaultWithUndock] Running Loop=1
2025-08-22T04:32:06.547Z,1755837126.547 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-08-22T04:32:06.548Z,1755837126.548 [DefaultWithUndock:A.Wait] Running Loop=1
2025-08-22T04:32:06.548Z,1755837126.548 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-08-22T04:32:36.847Z,1755837156.847 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-08-22T04:32:36.847Z,1755837156.847 [DefaultWithUndock:A.Wait] Stopped
2025-08-22T04:32:36.847Z,1755837156.847 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T04:32:36.847Z,1755837156.847 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-08-22T04:32:36.848Z,1755837156.848 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-08-22T04:32:36.848Z,1755837156.848 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-08-22T04:32:36.848Z,1755837156.848 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-08-22T04:32:36.848Z,1755837156.848 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-08-22T04:32:36.848Z,1755837156.848 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-08-22T04:32:36.848Z,1755837156.848 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T04:32:37.245Z,1755837157.245 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-08-22T04:32:37.245Z,1755837157.245 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T04:32:37.246Z,1755837157.246 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock at depth 69.096764 m.
2025-08-22T04:32:37.247Z,1755837157.247 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-08-22T04:32:38.059Z,1755837158.059 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T04:32:38.172Z,1755837158.172 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T04:32:40.501Z,1755837160.501 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-08-22T04:32:41.728Z,1755837161.728 [DockingStepper](INFO): Changing to mode: 3
2025-08-22T04:32:46.954Z,1755837166.954 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T04:32:47.108Z,1755837167.108 [DAT](DEBUG): Acoustic response timeout
2025-08-22T04:32:47.108Z,1755837167.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T04:32:47.361Z,1755837167.361 [DAT](INFO): DAT read: user:7350>

2025-08-22T04:32:47.361Z,1755837167.361 [DAT](INFO): DAT read: Tx time:04:32:46.5438

2025-08-22T04:32:47.362Z,1755837167.362 [DAT](INFO): Ping request sent.
2025-08-22T04:32:47.362Z,1755837167.362 [DAT](INFO): transmitted an acoustic signal
2025-08-22T04:32:47.362Z,1755837167.362 [DAT](INFO): publishing transmit ping time
2025-08-22T04:32:47.363Z,1755837167.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724
2025-08-22T04:32:47.612Z,1755837167.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250492
2025-08-22T04:32:47.739Z,1755837167.739 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-08-22T04:32:47.739Z,1755837167.739 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-08-22T04:32:47.867Z,1755837167.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504826
2025-08-22T04:32:48.116Z,1755837168.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754749
2025-08-22T04:32:48.173Z,1755837168.173 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-08-22T04:32:48.368Z,1755837168.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006534
2025-08-22T04:32:48.547Z,1755837168.547 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-08-22T04:32:48.620Z,1755837168.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258535
2025-08-22T04:32:48.875Z,1755837168.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512510
2025-08-22T04:32:48.962Z,1755837168.962 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-08-22T04:32:49.124Z,1755837169.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762565
2025-08-22T04:32:49.360Z,1755837169.360 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-08-22T04:32:49.376Z,1755837169.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014486
2025-08-22T04:32:49.628Z,1755837169.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266445
2025-08-22T04:32:49.767Z,1755837169.767 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-08-22T04:32:49.885Z,1755837169.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520959
2025-08-22T04:32:50.132Z,1755837170.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770384
2025-08-22T04:32:50.201Z,1755837170.201 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-08-22T04:32:50.384Z,1755837170.384 [DAT](INFO): DAT read: Rx Time:04:32:48.9696

2025-08-22T04:32:50.385Z,1755837170.385 [DAT](INFO): Rx dataTimestamp_ set to:1755837170.384391
2025-08-22T04:32:50.385Z,1755837170.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023506
2025-08-22T04:32:50.562Z,1755837170.562 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Either camera/lights unpowered or charge off not requested, but continuing with undock
2025-08-22T04:32:50.636Z,1755837170.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274697
2025-08-22T04:32:50.911Z,1755837170.911 [DAT](INFO): DAT read: 04:32:48.9696 LVL= 21248, 32753, 29266, 32755, AGC= 50, IDX= 491,-0.40, 0.866,-0.891, 0.555, 0.328, PHS= 0.640,-1.174, 0.183, RAW= 136.0,   4.3, CAL= 136.1,   5.3, ROT=  13.9,  -5.3

2025-08-22T04:32:50.914Z,1755837170.914 [DAT](INFO): got valid direction response:
 04:32:48.9696 LVL= 21248, 32753, 29266, 32755, AGC= 50, IDX= 491,-0.40, 0.866,-0.891, 0.555, 0.328, PHS= 0.640,-1.174, 0.183, RAW= 136.0,   4.3, CAL= 136.1,   5.3, ROT=  13.9,  -5.3

2025-08-22T04:32:50.917Z,1755837170.917 [DAT](INFO): DAT read: Bearing  56.6,  19.8 (Local)

2025-08-22T04:32:50.918Z,1755837170.918 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.6,  19.8 (Local)

2025-08-22T04:32:50.922Z,1755837170.922 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m  (Round-trip  21.6 ms) speed -0.1 m/s

2025-08-22T04:32:50.924Z,1755837170.924 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T04:32:50.926Z,1755837170.926 [DAT](INFO): direction in FSK: [0.966566,0.239201,0.092371]
2025-08-22T04:32:50.926Z,1755837170.926 [DAT](INFO): publishing direction and range info
2025-08-22T04:32:51.043Z,1755837171.043 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2025-08-22T04:32:51.364Z,1755837171.364 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-22T04:32:57.063Z,1755837177.063 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T04:32:57.196Z,1755837177.196 [DAT](INFO): ****** received valid address query ******
2025-08-22T04:32:57.196Z,1755837177.196 [DAT](INFO): ****** received valid ping request ******
2025-08-22T04:32:57.196Z,1755837177.196 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T04:32:57.448Z,1755837177.448 [DAT](INFO): DAT read: user:7351>

2025-08-22T04:32:57.449Z,1755837177.449 [DAT](INFO): DAT read: Tx time:04:32:56.5937

2025-08-22T04:32:57.449Z,1755837177.449 [DAT](INFO): Ping request sent.
2025-08-22T04:32:57.449Z,1755837177.449 [DAT](INFO): transmitted an acoustic signal
2025-08-22T04:32:57.449Z,1755837177.449 [DAT](INFO): publishing transmit ping time
2025-08-22T04:32:57.450Z,1755837177.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-08-22T04:32:57.700Z,1755837177.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250847
2025-08-22T04:32:57.952Z,1755837177.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502847
2025-08-22T04:32:58.204Z,1755837178.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754904
2025-08-22T04:32:58.456Z,1755837178.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006777
2025-08-22T04:32:58.722Z,1755837178.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.272686
2025-08-22T04:32:58.972Z,1755837178.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522935
2025-08-22T04:32:59.224Z,1755837179.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774839
2025-08-22T04:32:59.476Z,1755837179.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027088
2025-08-22T04:32:59.728Z,1755837179.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278880
2025-08-22T04:32:59.980Z,1755837179.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530834
2025-08-22T04:33:00.237Z,1755837180.237 [DAT](INFO): DAT read: Rx Time:04:32:59.0206

2025-08-22T04:33:00.237Z,1755837180.237 [DAT](INFO): Rx dataTimestamp_ set to:1755837180.236729
2025-08-22T04:33:00.238Z,1755837180.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.788200
2025-08-22T04:33:00.488Z,1755837180.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038836
2025-08-22T04:33:00.744Z,1755837180.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294539
2025-08-22T04:33:01.001Z,1755837181.001 [DAT](INFO): DAT read: 04:32:59.0206 LVL= 24944, 32753, 32754, 32755, AGC= 51, IDX= 436, 0.23,-1.365, 3.086,-1.928,-1.852, PHS= 0.589,-1.300,-0.121, RAW= 128.2,  10.1, CAL= 128.2,  11.3, ROT=  21.8, -11.3

2025-08-22T04:33:01.003Z,1755837181.003 [DAT](INFO): got valid direction response:
 04:32:59.0206 LVL= 24944, 32753, 32754, 32755, AGC= 51, IDX= 436, 0.23,-1.365, 3.086,-1.928,-1.852, PHS= 0.589,-1.300,-0.121, RAW= 128.2,  10.1, CAL= 128.2,  11.3, ROT=  21.8, -11.3

2025-08-22T04:33:01.004Z,1755837181.004 [DAT](INFO): DAT read: Bearing  61.5,  20.3 (Local)

2025-08-22T04:33:01.004Z,1755837181.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.5,  20.3 (Local)

2025-08-22T04:33:01.006Z,1755837181.006 [DAT](INFO): DAT read: Range 11 to 50 : 16.9 m  (Round-trip  22.6 ms) speed  0.0 m/s

2025-08-22T04:33:01.006Z,1755837181.006 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T04:33:01.010Z,1755837181.010 [DAT](INFO): direction in FSK: [0.910487,0.364169,0.195946]
2025-08-22T04:33:01.011Z,1755837181.011 [DAT](INFO): publishing direction and range info
2025-08-22T04:33:07.184Z,1755837187.184 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T04:33:07.300Z,1755837187.300 [DAT](INFO): ****** received valid address query ******
2025-08-22T04:33:07.300Z,1755837187.300 [DAT](INFO): ****** received valid ping request ******
2025-08-22T04:33:07.300Z,1755837187.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T04:33:07.552Z,1755837187.552 [DAT](INFO): DAT read: user:7352>

2025-08-22T04:33:07.553Z,1755837187.553 [DAT](INFO): DAT read: Tx time:04:33:06.6937

2025-08-22T04:33:07.553Z,1755837187.553 [DAT](INFO): Ping request sent.
2025-08-22T04:33:07.553Z,1755837187.553 [DAT](INFO): transmitted an acoustic signal
2025-08-22T04:33:07.553Z,1755837187.553 [DAT](INFO): publishing transmit ping time
2025-08-22T04:33:07.554Z,1755837187.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720
2025-08-22T04:33:07.805Z,1755837187.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251129
2025-08-22T04:33:08.056Z,1755837188.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502990
2025-08-22T04:33:08.308Z,1755837188.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754875
2025-08-22T04:33:08.560Z,1755837188.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006827
2025-08-22T04:33:08.812Z,1755837188.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258990
2025-08-22T04:33:09.064Z,1755837189.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510782
2025-08-22T04:33:09.316Z,1755837189.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762956
2025-08-22T04:33:09.568Z,1755837189.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014966
2025-08-22T04:33:09.820Z,1755837189.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266798
2025-08-22T04:33:10.072Z,1755837190.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518837
2025-08-22T04:33:10.329Z,1755837190.329 [DAT](INFO): DAT read: Rx Time:04:33:09.1215

2025-08-22T04:33:10.329Z,1755837190.329 [DAT](INFO): Rx dataTimestamp_ set to:1755837190.329016
2025-08-22T04:33:10.330Z,1755837190.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776466
2025-08-22T04:33:10.576Z,1755837190.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022801
2025-08-22T04:33:10.829Z,1755837190.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275527
2025-08-22T04:33:11.086Z,1755837191.086 [DAT](INFO): DAT read: 04:33:09.1215 LVL= 25760, 32753, 32754, 32755, AGC= 51, IDX= 447, 0.29, 2.949, 1.082, 2.489, 2.405, PHS= 0.646,-1.278, 0.040, RAW= 132.1,   7.0, CAL= 132.2,   8.2, ROT=  17.8,  -8.2

2025-08-22T04:33:11.087Z,1755837191.087 [DAT](INFO): got valid direction response:
 04:33:09.1215 LVL= 25760, 32753, 32754, 32755, AGC= 51, IDX= 447, 0.29, 2.949, 1.082, 2.489, 2.405, PHS= 0.646,-1.278, 0.040, RAW= 132.1,   7.0, CAL= 132.2,   8.2, ROT=  17.8,  -8.2

2025-08-22T04:33:11.088Z,1755837191.088 [DAT](INFO): DAT read: Bearing  57.8,  18.9 (Local)

2025-08-22T04:33:11.088Z,1755837191.088 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.8,  18.9 (Local)

2025-08-22T04:33:11.089Z,1755837191.089 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m  (Round-trip  23.7 ms) speed  0.0 m/s

2025-08-22T04:33:11.090Z,1755837191.090 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T04:33:11.091Z,1755837191.091 [DAT](INFO): direction in FSK: [0.942395,0.302570,0.142629]
2025-08-22T04:33:11.091Z,1755837191.091 [DAT](INFO): publishing direction and range info
2025-08-22T04:33:11.593Z,1755837191.593 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 17.70 m. Transitioning docking module to standby.
2025-08-22T04:33:12.016Z,1755837192.016 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-08-22T04:33:12.017Z,1755837192.017 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-22T04:33:12.017Z,1755837192.017 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-22T04:33:12.018Z,1755837192.018 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-22T04:33:12.019Z,1755837192.019 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-22T04:33:12.020Z,1755837192.020 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-22T04:33:12.021Z,1755837192.021 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-22T04:33:12.021Z,1755837192.021 [BPC1](INFO): Calculating totals. Valid battery stick count: 19. Valid reserve battery stick count: 2.
2025-08-22T04:33:12.027Z,1755837192.027 [BPC1](FAULT): Failed to receive data from 28 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 26, 27, 33, 34, 35, 36, 37, 38, 39, 44, 58.
2025-08-22T04:33:12.093Z,1755837192.093 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T04:33:17.229Z,1755837197.229 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T04:33:17.384Z,1755837197.384 [DAT](INFO): ****** received valid address query ******
2025-08-22T04:33:17.384Z,1755837197.384 [DAT](INFO): ****** received valid ping request ******
2025-08-22T04:33:17.384Z,1755837197.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T04:33:17.636Z,1755837197.636 [DAT](INFO): DAT read: user:7353>

2025-08-22T04:33:17.637Z,1755837197.637 [DAT](INFO): DAT read: Tx time:04:33:16.7937

2025-08-22T04:33:17.637Z,1755837197.637 [DAT](INFO): Ping request sent.
2025-08-22T04:33:17.637Z,1755837197.637 [DAT](INFO): transmitted an acoustic signal
2025-08-22T04:33:17.637Z,1755837197.637 [DAT](INFO): publishing transmit ping time
2025-08-22T04:33:17.638Z,1755837197.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-22T04:33:17.888Z,1755837197.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250795
2025-08-22T04:33:18.035Z,1755837198.035 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-08-22T04:33:18.140Z,1755837198.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502921
2025-08-22T04:33:18.392Z,1755837198.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754973
2025-08-22T04:33:18.457Z,1755837198.457 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-08-22T04:33:18.458Z,1755837198.458 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-08-22T04:33:18.458Z,1755837198.458 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-08-22T04:33:18.458Z,1755837198.458 [DefaultWithUndock:LeaveDock] Stopped
2025-08-22T04:33:18.458Z,1755837198.458 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-08-22T04:33:18.458Z,1755837198.458 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-08-22T04:33:18.458Z,1755837198.458 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-22T04:33:18.459Z,1755837198.459 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-08-22T04:33:18.459Z,1755837198.459 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-08-22T04:33:18.459Z,1755837198.459 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-08-22T04:33:18.459Z,1755837198.459 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-08-22T04:33:18.460Z,1755837198.460 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-08-22T04:33:18.460Z,1755837198.460 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-08-22T04:33:18.460Z,1755837198.460 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-08-22T04:33:18.461Z,1755837198.461 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-08-22T04:33:18.461Z,1755837198.461 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-08-22T04:33:18.461Z,1755837198.461 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-08-22T04:33:18.644Z,1755837198.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006847
2025-08-22T04:33:18.896Z,1755837198.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258810
2025-08-22T04:33:19.149Z,1755837199.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511416
2025-08-22T04:33:19.235Z,1755837199.235 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm (2 active estimators).
2025-08-22T04:33:19.400Z,1755837199.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762837
2025-08-22T04:33:19.419Z,1755837199.419 [Radio_Surface](INFO): Powering up
2025-08-22T04:33:19.641Z,1755837199.641 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768V
2025-08-22T04:33:19.652Z,1755837199.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014990
2025-08-22T04:33:19.909Z,1755837199.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270382
2025-08-22T04:33:20.156Z,1755837200.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518938
2025-08-22T04:33:20.408Z,1755837200.408 [DAT](INFO): DAT read: Rx Time:04:33:19.2226

2025-08-22T04:33:20.409Z,1755837200.409 [DAT](INFO): Rx dataTimestamp_ set to:1755837200.408505
2025-08-22T04:33:20.409Z,1755837200.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771976
2025-08-22T04:33:20.661Z,1755837200.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023434
2025-08-22T04:33:20.913Z,1755837200.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275752
2025-08-22T04:33:21.170Z,1755837201.170 [DAT](INFO): DAT read: 04:33:19.2226 LVL= 22512, 32753, 30930, 32755, AGC= 52, IDX= 458, 0.13,-2.217, 2.267,-2.640,-2.755, PHS= 0.640,-1.216, 0.071, RAW= 132.6,   6.2, CAL= 132.8,   7.4, ROT=  17.2,  -7.4

2025-08-22T04:33:21.171Z,1755837201.171 [DAT](INFO): got valid direction response:
 04:33:19.2226 LVL= 22512, 32753, 30930, 32755, AGC= 52, IDX= 458, 0.13,-2.217, 2.267,-2.640,-2.755, PHS= 0.640,-1.216, 0.071, RAW= 132.6,   6.2, CAL= 132.8,   7.4, ROT=  17.2,  -7.4

2025-08-22T04:33:21.172Z,1755837201.172 [DAT](INFO): DAT read: Bearing  56.6,  21.9 (Local)

2025-08-22T04:33:21.172Z,1755837201.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.6,  21.9 (Local)

2025-08-22T04:33:21.173Z,1755837201.173 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m  (Round-trip  24.8 ms) speed -0.1 m/s

2025-08-22T04:33:21.174Z,1755837201.174 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T04:33:21.175Z,1755837201.175 [DAT](INFO): direction in FSK: [0.947322,0.293245,0.128796]
2025-08-22T04:33:21.175Z,1755837201.175 [DAT](INFO): publishing direction and range info
2025-08-22T04:33:24.672Z,1755837204.672 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-08-22T04:33:24.672Z,1755837204.672 [Radio_Surface](INFO): No local IP found
2025-08-22T04:33:49.148Z,1755837229.148 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022708210823,35.0, +10.6,   0.0,1492.2,A,  0.00, 124.32, 131.45,  86.62,   0.00
2025-08-22T04:34:29.543Z,1755837269.543 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +849,   +21,A
2025-08-22T04:35:36.912Z,1755837336.912 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T04:35:37.916Z,1755837337.916 [DataOverHttps](INFO): Radio surface powered ON.
2025-08-22T04:35:37.916Z,1755837337.916 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:35:53.968Z,1755837353.968 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 18.81 mm.
2025-08-22T04:35:53.974Z,1755837353.974 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-08-22T04:35:53.974Z,1755837353.974 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T04:35:53.974Z,1755837353.974 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-08-22T04:36:08.036Z,1755837368.036 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T04:36:09.039Z,1755837369.039 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:36:39.160Z,1755837399.160 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T04:36:40.164Z,1755837400.164 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:37:05.070Z,1755837425.070 [NAL9602](INFO): SBD MO Status=2, MOMSN=968, MT Status=2, MTMSN=0
2025-08-22T04:37:05.070Z,1755837425.070 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T04:37:08.039Z,1755837428.039 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002835
2025-08-22T04:37:09.040Z,1755837429.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:37:18.688Z,1755837438.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:37:24.870Z,1755837444.870 [NAL9602](INFO): SBD MO Status=2, MOMSN=968, MT Status=2, MTMSN=0
2025-08-22T04:37:24.870Z,1755837444.870 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T04:37:27.208Z,1755837447.208 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:37:35.952Z,1755837455.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:37:44.596Z,1755837464.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:37:44.683Z,1755837464.683 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022708250389,35.0, +13.7,   0.0,1502.8, ,  0.00, 704.21, 871.88, 861.04, 712.39
2025-08-22T04:37:53.187Z,1755837473.187 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:37:54.780Z,1755837474.780 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 720.78, 786.31, 778.97
2025-08-22T04:38:01.744Z,1755837481.744 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:38:10.904Z,1755837490.904 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:38:14.651Z,1755837494.651 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      -21.85,       + 59,  20.00,  0.00
2025-08-22T04:38:19.528Z,1755837499.528 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:38:24.689Z,1755837504.689 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,    ,     +1031.25,       -0.74,  78.19,  0.00
2025-08-22T04:38:28.172Z,1755837508.172 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:38:28.290Z,1755837508.290 [NAL9602](INFO): SBD MO Status=2, MOMSN=968, MT Status=2, MTMSN=0
2025-08-22T04:38:28.290Z,1755837508.290 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T04:38:36.728Z,1755837516.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:38:45.404Z,1755837525.404 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:38:54.100Z,1755837534.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:38:54.640Z,1755837534.640 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD13.42,     +1027.44,        +1.45,  75.3
2025-08-22T04:39:02.712Z,1755837542.712 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:39:11.216Z,1755837551.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:39:16.370Z,1755837556.370 [NAL9602](INFO): SBD MO Status=2, MOMSN=968, MT Status=2, MTMSN=0
2025-08-22T04:39:16.370Z,1755837556.370 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T04:39:19.732Z,1755837559.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:39:28.432Z,1755837568.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:39:37.076Z,1755837577.076 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:39:45.552Z,1755837585.552 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:39:54.289Z,1755837594.289 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:40:02.960Z,1755837602.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:40:11.440Z,1755837611.440 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:40:20.100Z,1755837620.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:40:28.915Z,1755837628.915 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:40:37.496Z,1755837637.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:40:46.172Z,1755837646.172 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:40:54.148Z,1755837654.148 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](INFO): Timed out from 2025-08-22T04:35:53.0Z
2025-08-22T04:40:54.148Z,1755837654.148 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-08-22T04:40:54.148Z,1755837654.148 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-08-22T04:40:58.261Z,1755837658.261 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-08-22T04:41:01.403Z,1755837661.403 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250822T011254/Courier0015.lzma
2025-08-22T04:41:02.405Z,1755837662.405 [DataOverHttps](INFO): Moved sent file to Logs/20250822T011254/Courier0015.lzma.bak
2025-08-22T04:41:02.405Z,1755837662.405 [DataOverHttps](INFO): SBD MOMSN=25879652
2025-08-22T04:41:18.593Z,1755837678.593 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250822T014326/Courier0000.lzma
2025-08-22T04:41:19.585Z,1755837679.585 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0000.lzma.bak
2025-08-22T04:41:19.585Z,1755837679.585 [DataOverHttps](INFO): SBD MOMSN=25879655
2025-08-22T04:41:28.962Z,1755837688.962 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T04:41:35.975Z,1755837695.975 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0003.lzma
2025-08-22T04:41:36.977Z,1755837696.977 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0003.lzma.bak
2025-08-22T04:41:36.977Z,1755837696.977 [DataOverHttps](INFO): SBD MOMSN=25879684
2025-08-22T04:41:53.231Z,1755837713.231 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0006.lzma
2025-08-22T04:41:54.233Z,1755837714.233 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0006.lzma.bak
2025-08-22T04:41:54.233Z,1755837714.233 [DataOverHttps](INFO): SBD MOMSN=25879686
2025-08-22T04:42:10.504Z,1755837730.504 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0009.lzma
2025-08-22T04:42:11.506Z,1755837731.506 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0009.lzma.bak
2025-08-22T04:42:11.507Z,1755837731.507 [DataOverHttps](INFO): SBD MOMSN=25879688
2025-08-22T04:42:27.671Z,1755837747.671 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0012.lzma
2025-08-22T04:42:28.673Z,1755837748.673 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0012.lzma.bak
2025-08-22T04:42:28.673Z,1755837748.673 [DataOverHttps](INFO): SBD MOMSN=25879704
2025-08-22T04:42:44.975Z,1755837764.975 [DataOverHttps](INFO): Sending 168 bytes from file Logs/20250822T014326/Courier0015.lzma
2025-08-22T04:42:45.977Z,1755837765.977 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0015.lzma.bak
2025-08-22T04:42:45.977Z,1755837765.977 [DataOverHttps](INFO): SBD MOMSN=25879706
2025-08-22T04:43:02.287Z,1755837782.287 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0018.lzma
2025-08-22T04:43:03.289Z,1755837783.289 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0018.lzma.bak
2025-08-22T04:43:03.289Z,1755837783.289 [DataOverHttps](INFO): SBD MOMSN=25879708
2025-08-22T04:43:20.159Z,1755837800.159 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0021.lzma
2025-08-22T04:43:21.184Z,1755837801.184 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0021.lzma.bak
2025-08-22T04:43:21.184Z,1755837801.184 [DataOverHttps](INFO): SBD MOMSN=25879710
2025-08-22T04:43:37.351Z,1755837817.351 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0024.lzma
2025-08-22T04:43:38.353Z,1755837818.353 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0024.lzma.bak
2025-08-22T04:43:38.353Z,1755837818.353 [DataOverHttps](INFO): SBD MOMSN=25879712
2025-08-22T04:43:55.159Z,1755837835.159 [DataOverHttps](INFO): Sending 51 bytes from file Logs/20250822T014326/Courier0027.lzma
2025-08-22T04:43:56.161Z,1755837836.161 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0027.lzma.bak
2025-08-22T04:43:56.161Z,1755837836.161 [DataOverHttps](INFO): SBD MOMSN=25879714
2025-08-22T04:44:13.283Z,1755837853.283 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0030.lzma
2025-08-22T04:44:14.285Z,1755837854.285 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0030.lzma.bak
2025-08-22T04:44:14.285Z,1755837854.285 [DataOverHttps](INFO): SBD MOMSN=25879716
2025-08-22T04:44:30.627Z,1755837870.627 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0033.lzma
2025-08-22T04:44:31.629Z,1755837871.629 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0033.lzma.bak
2025-08-22T04:44:31.629Z,1755837871.629 [DataOverHttps](INFO): SBD MOMSN=25879719
2025-08-22T04:44:48.067Z,1755837888.067 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0036.lzma
2025-08-22T04:44:49.069Z,1755837889.069 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0036.lzma.bak
2025-08-22T04:44:49.069Z,1755837889.069 [DataOverHttps](INFO): SBD MOMSN=25879721
2025-08-22T04:45:05.499Z,1755837905.499 [DataOverHttps](INFO): Sending 51 bytes from file Logs/20250822T014326/Courier0039.lzma
2025-08-22T04:45:06.501Z,1755837906.501 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0039.lzma.bak
2025-08-22T04:45:06.501Z,1755837906.501 [DataOverHttps](INFO): SBD MOMSN=25879727
2025-08-22T04:45:23.022Z,1755837923.022 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0042.lzma
2025-08-22T04:45:24.021Z,1755837924.021 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0042.lzma.bak
2025-08-22T04:45:24.021Z,1755837924.021 [DataOverHttps](INFO): SBD MOMSN=25879738
2025-08-22T04:45:40.395Z,1755837940.395 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0045.lzma
2025-08-22T04:45:41.397Z,1755837941.397 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0045.lzma.bak
2025-08-22T04:45:41.398Z,1755837941.398 [DataOverHttps](INFO): SBD MOMSN=25879741
2025-08-22T04:45:57.699Z,1755837957.699 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0048.lzma
2025-08-22T04:45:58.701Z,1755837958.701 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0048.lzma.bak
2025-08-22T04:45:58.701Z,1755837958.701 [DataOverHttps](INFO): SBD MOMSN=25879743
2025-08-22T04:46:17.119Z,1755837977.119 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0051.lzma
2025-08-22T04:46:18.121Z,1755837978.121 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0051.lzma.bak
2025-08-22T04:46:18.121Z,1755837978.121 [DataOverHttps](INFO): SBD MOMSN=25879746
2025-08-22T04:46:34.459Z,1755837994.459 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T014326/Courier0054.lzma
2025-08-22T04:46:35.461Z,1755837995.461 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Courier0054.lzma.bak
2025-08-22T04:46:35.461Z,1755837995.461 [DataOverHttps](INFO): SBD MOMSN=25879749
2025-08-22T04:46:52.747Z,1755838012.747 [DataOverHttps](INFO): Sending 194 bytes from file Logs/20250822T042900/Courier0000.lzma
2025-08-22T04:46:53.749Z,1755838013.749 [DataOverHttps](INFO): Moved sent file to Logs/20250822T042900/Courier0000.lzma.bak
2025-08-22T04:46:53.749Z,1755838013.749 [DataOverHttps](INFO): SBD MOMSN=25879751
2025-08-22T04:47:10.651Z,1755838030.651 [DataOverHttps](INFO): Sending 190 bytes from file Logs/20250822T011254/Express0016.lzma
2025-08-22T04:47:11.653Z,1755838031.653 [DataOverHttps](INFO): Moved sent file to Logs/20250822T011254/Express0016.lzma.bak
2025-08-22T04:47:11.653Z,1755838031.653 [DataOverHttps](INFO): SBD MOMSN=25879754
2025-08-22T04:47:27.868Z,1755838047.868 [DataOverHttps](INFO): Sending 610 bytes from file Logs/20250822T014326/Express0001.lzma
2025-08-22T04:47:28.869Z,1755838048.869 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0001.lzma.bak
2025-08-22T04:47:28.869Z,1755838048.869 [DataOverHttps](INFO): SBD MOMSN=25879760
2025-08-22T04:47:45.121Z,1755838065.121 [DataOverHttps](INFO): Sending 500 bytes from file Logs/20250822T014326/Express0004.lzma
2025-08-22T04:47:46.121Z,1755838066.121 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0004.lzma.bak
2025-08-22T04:47:46.121Z,1755838066.121 [DataOverHttps](INFO): SBD MOMSN=25879763
2025-08-22T04:48:03.292Z,1755838083.292 [DataOverHttps](INFO): Sending 321 bytes from file Logs/20250822T014326/Express0007.lzma
2025-08-22T04:48:04.293Z,1755838084.293 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0007.lzma.bak
2025-08-22T04:48:04.294Z,1755838084.294 [DataOverHttps](INFO): SBD MOMSN=25879810
2025-08-22T04:48:06.958Z,1755838086.958 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-08-22T04:48:20.623Z,1755838100.623 [DataOverHttps](INFO): Sending 255 bytes from file Logs/20250822T014326/Express0010.lzma
2025-08-22T04:48:21.626Z,1755838101.626 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0010.lzma.bak
2025-08-22T04:48:21.626Z,1755838101.626 [DataOverHttps](INFO): SBD MOMSN=25879815
2025-08-22T04:48:38.703Z,1755838118.703 [DataOverHttps](INFO): Sending 202 bytes from file Logs/20250822T014326/Express0013.lzma
2025-08-22T04:48:39.705Z,1755838119.705 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0013.lzma.bak
2025-08-22T04:48:39.705Z,1755838119.705 [DataOverHttps](INFO): SBD MOMSN=25879824
2025-08-22T04:48:55.907Z,1755838135.907 [DataOverHttps](INFO): Sending 308 bytes from file Logs/20250822T014326/Express0016.lzma
2025-08-22T04:48:56.910Z,1755838136.910 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0016.lzma.bak
2025-08-22T04:48:56.910Z,1755838136.910 [DataOverHttps](INFO): SBD MOMSN=25879826
2025-08-22T04:49:13.347Z,1755838153.347 [DataOverHttps](INFO): Sending 161 bytes from file Logs/20250822T014326/Express0019.lzma
2025-08-22T04:49:14.349Z,1755838154.349 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0019.lzma.bak
2025-08-22T04:49:14.349Z,1755838154.349 [DataOverHttps](INFO): SBD MOMSN=25879829
2025-08-22T04:49:30.848Z,1755838170.848 [DataOverHttps](INFO): Sending 191 bytes from file Logs/20250822T014326/Express0022.lzma
2025-08-22T04:49:31.849Z,1755838171.849 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0022.lzma.bak
2025-08-22T04:49:31.849Z,1755838171.849 [DataOverHttps](INFO): SBD MOMSN=25879832
2025-08-22T04:49:48.067Z,1755838188.067 [DataOverHttps](INFO): Sending 187 bytes from file Logs/20250822T014326/Express0025.lzma
2025-08-22T04:49:49.069Z,1755838189.069 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0025.lzma.bak
2025-08-22T04:49:49.069Z,1755838189.069 [DataOverHttps](INFO): SBD MOMSN=25879836
2025-08-22T04:50:07.528Z,1755838207.528 [DataOverHttps](INFO): Sending 345 bytes from file Logs/20250822T014326/Express0028.lzma
2025-08-22T04:50:08.534Z,1755838208.534 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0028.lzma.bak
2025-08-22T04:50:08.534Z,1755838208.534 [DataOverHttps](INFO): SBD MOMSN=25879839
2025-08-22T04:50:24.780Z,1755838224.780 [DataOverHttps](INFO): Sending 186 bytes from file Logs/20250822T014326/Express0031.lzma
2025-08-22T04:50:25.781Z,1755838225.781 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0031.lzma.bak
2025-08-22T04:50:25.781Z,1755838225.781 [DataOverHttps](INFO): SBD MOMSN=25879846
2025-08-22T04:50:42.267Z,1755838242.267 [DataOverHttps](INFO): Sending 154 bytes from file Logs/20250822T014326/Express0034.lzma
2025-08-22T04:50:43.269Z,1755838243.269 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0034.lzma.bak
2025-08-22T04:50:43.269Z,1755838243.269 [DataOverHttps](INFO): SBD MOMSN=25879848
2025-08-22T04:50:59.387Z,1755838259.387 [DataOverHttps](INFO): Sending 201 bytes from file Logs/20250822T014326/Express0037.lzma
2025-08-22T04:51:00.389Z,1755838260.389 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0037.lzma.bak
2025-08-22T04:51:00.389Z,1755838260.389 [DataOverHttps](INFO): SBD MOMSN=25879850
2025-08-22T04:51:17.592Z,1755838277.592 [DataOverHttps](INFO): Sending 311 bytes from file Logs/20250822T014326/Express0040.lzma
2025-08-22T04:51:18.593Z,1755838278.593 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0040.lzma.bak
2025-08-22T04:51:18.593Z,1755838278.593 [DataOverHttps](INFO): SBD MOMSN=25879853
2025-08-22T04:51:34.971Z,1755838294.971 [DataOverHttps](INFO): Sending 139 bytes from file Logs/20250822T014326/Express0043.lzma
2025-08-22T04:51:35.973Z,1755838295.973 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0043.lzma.bak
2025-08-22T04:51:35.973Z,1755838295.973 [DataOverHttps](INFO): SBD MOMSN=25879856
2025-08-22T04:51:52.554Z,1755838312.554 [DataOverHttps](INFO): Sending 529 bytes from file Logs/20250822T014326/Express0046.lzma
2025-08-22T04:51:53.541Z,1755838313.541 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0046.lzma.bak
2025-08-22T04:51:53.541Z,1755838313.541 [DataOverHttps](INFO): SBD MOMSN=25879858
2025-08-22T04:52:09.940Z,1755838329.940 [DataOverHttps](INFO): Sending 308 bytes from file Logs/20250822T014326/Express0049.lzma
2025-08-22T04:52:10.941Z,1755838330.941 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0049.lzma.bak
2025-08-22T04:52:10.941Z,1755838330.941 [DataOverHttps](INFO): SBD MOMSN=25879866
2025-08-22T04:52:27.432Z,1755838347.432 [DataOverHttps](INFO): Sending 471 bytes from file Logs/20250822T014326/Express0052.lzma
2025-08-22T04:52:28.433Z,1755838348.433 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0052.lzma.bak
2025-08-22T04:52:28.433Z,1755838348.433 [DataOverHttps](INFO): SBD MOMSN=25879887
2025-08-22T04:52:44.860Z,1755838364.860 [DataOverHttps](INFO): Sending 471 bytes from file Logs/20250822T014326/Express0055.lzma
2025-08-22T04:52:45.861Z,1755838365.861 [DataOverHttps](INFO): Moved sent file to Logs/20250822T014326/Express0055.lzma.bak
2025-08-22T04:52:45.861Z,1755838365.861 [DataOverHttps](INFO): SBD MOMSN=25879901
2025-08-22T04:53:02.178Z,1755838382.178 [DataOverHttps](INFO): Sending 1044 bytes from file Logs/20250822T042900/Express0001.lzma
2025-08-22T04:53:03.185Z,1755838383.185 [DataOverHttps](INFO): Moved sent file to Logs/20250822T042900/Express0001.lzma.bak
2025-08-22T04:53:03.185Z,1755838383.185 [DataOverHttps](INFO): SBD MOMSN=25879906
2025-08-22T04:53:04.749Z,1755838384.749 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-08-22T04:53:04.749Z,1755838384.749 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-08-22T04:53:04.750Z,1755838384.750 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-08-22T04:53:12.912Z,1755838392.912 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:53:21.620Z,1755838401.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:53:30.256Z,1755838410.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:53:38.964Z,1755838418.964 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:53:47.632Z,1755838427.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:53:56.180Z,1755838436.180 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:54:05.404Z,1755838445.404 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:54:14.288Z,1755838454.288 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:54:23.099Z,1755838463.099 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:54:31.780Z,1755838471.780 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:54:40.465Z,1755838480.465 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:54:49.292Z,1755838489.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:54:57.916Z,1755838497.916 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:55:06.608Z,1755838506.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:55:15.288Z,1755838515.288 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:55:23.796Z,1755838523.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:55:32.528Z,1755838532.528 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:55:41.204Z,1755838541.204 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:55:49.764Z,1755838549.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:55:58.565Z,1755838558.565 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:56:08.976Z,1755838568.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:56:17.604Z,1755838577.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:56:26.348Z,1755838586.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:56:35.040Z,1755838595.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:56:43.468Z,1755838603.468 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:56:52.168Z,1755838612.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:57:00.976Z,1755838620.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:57:09.600Z,1755838629.600 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:57:10.809Z,1755838630.809 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -10.32,     , 0.71,  78.26
2025-08-22T04:57:18.212Z,1755838638.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:57:20.927Z,1755838640.927 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -10.77,      +868.20,     ,  79.29,  0.00
2025-08-22T04:57:21.684Z,1755838641.684 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-08-22T04:57:26.900Z,1755838646.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:57:35.628Z,1755838655.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:57:44.292Z,1755838664.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:57:52.860Z,1755838672.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:58:01.704Z,1755838681.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:58:05.344Z,1755838685.344 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-08-22T04:58:05.344Z,1755838685.344 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-08-22T04:58:05.344Z,1755838685.344 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T04:58:05.345Z,1755838685.345 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-08-22T04:58:05.761Z,1755838685.761 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-08-22T04:58:05.761Z,1755838685.761 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-08-22T04:58:06.176Z,1755838686.176 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  25.986898 min 
2025-08-22T04:58:06.176Z,1755838686.176 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-08-22T04:58:06.176Z,1755838686.176 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T04:58:06.177Z,1755838686.177 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-08-22T04:58:06.177Z,1755838686.177 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T04:58:06.177Z,1755838686.177 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-08-22T04:58:06.177Z,1755838686.177 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2025-08-22T04:58:06.177Z,1755838686.177 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T04:58:06.177Z,1755838686.177 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-08-22T04:58:07.748Z,1755838687.748 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-08-22T04:58:07.748Z,1755838687.748 [NAL9602] Data Fault, FailCount= 1
2025-08-22T04:58:07.749Z,1755838687.749 [NAL9602](ERROR): Data Fault
2025-08-22T04:58:07.814Z,1755838687.814 [CBIT](ERROR): Data Fault in component: NAL9602
2025-08-22T04:58:08.161Z,1755838688.161 [NAL9602](INFO): Powering down
2025-08-22T04:58:08.991Z,1755838688.991 [CBIT](INFO): Clearing failed state for component NAL9602
2025-08-22T04:58:08.991Z,1755838688.991 [NAL9602] No Fault, FailCount= 1
2025-08-22T04:58:11.120Z,1755838691.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:58:19.748Z,1755838699.748 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:58:28.632Z,1755838708.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:58:37.227Z,1755838717.227 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:58:38.449Z,1755838718.449 [NAL9602](INFO): Powering up NAL9602
2025-08-22T04:58:45.848Z,1755838725.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:58:49.381Z,1755838729.381 [NAL9602](INFO): NAL9602 initialized
2025-08-22T04:58:54.557Z,1755838734.557 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:59:03.100Z,1755838743.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:59:11.956Z,1755838751.956 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:59:12.402Z,1755838752.402 [NAL9602](INFO): SBD MO Status=2, MOMSN=968, MT Status=2, MTMSN=0
2025-08-22T04:59:12.402Z,1755838752.402 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T04:59:20.628Z,1755838760.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:59:29.244Z,1755838769.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:59:37.964Z,1755838777.964 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:59:46.648Z,1755838786.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T04:59:55.308Z,1755838795.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:00:04.044Z,1755838804.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:00:12.720Z,1755838812.720 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:00:21.348Z,1755838821.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:00:30.027Z,1755838830.027 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:00:38.692Z,1755838838.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:00:44.926Z,1755838844.926 [NAL9602](INFO): SBD MO Status=2, MOMSN=968, MT Status=2, MTMSN=0
2025-08-22T05:00:44.926Z,1755838844.926 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T05:00:47.392Z,1755838847.392 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:00:56.092Z,1755838856.092 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:01:04.744Z,1755838864.744 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:01:13.324Z,1755838873.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:01:22.044Z,1755838882.044 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:01:30.804Z,1755838890.804 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:01:39.480Z,1755838899.480 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:01:48.039Z,1755838908.039 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:01:56.776Z,1755838916.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:02:03.794Z,1755838923.794 [NAL9602](INFO): SBD MO Status=2, MOMSN=968, MT Status=2, MTMSN=0
2025-08-22T05:02:03.794Z,1755838923.794 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T05:02:06.612Z,1755838926.612 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:02:15.210Z,1755838935.210 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:02:23.992Z,1755838943.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:02:29.638Z,1755838949.638 [NAL9602](INFO): SBD MO Status=2, MOMSN=968, MT Status=2, MTMSN=0
2025-08-22T05:02:29.638Z,1755838949.638 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T05:02:32.780Z,1755838952.780 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:02:41.472Z,1755838961.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:02:50.236Z,1755838970.236 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:02:58.868Z,1755838978.868 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:03:06.414Z,1755838986.414 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](INFO): Timed out from 2025-08-22T04:58:06.2Z
2025-08-22T05:03:06.415Z,1755838986.415 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-08-22T05:03:06.416Z,1755838986.416 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-08-22T05:03:14.471Z,1755838994.471 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T042900/Courier0003.lzma
2025-08-22T05:03:15.473Z,1755838995.473 [DataOverHttps](INFO): Moved sent file to Logs/20250822T042900/Courier0003.lzma.bak
2025-08-22T05:03:15.473Z,1755838995.473 [DataOverHttps](INFO): SBD MOMSN=25879939
2025-08-22T05:03:31.960Z,1755839011.960 [DataOverHttps](INFO): Sending 285 bytes from file Logs/20250822T042900/Express0004.lzma
2025-08-22T05:03:32.961Z,1755839012.961 [DataOverHttps](INFO): Moved sent file to Logs/20250822T042900/Express0004.lzma.bak
2025-08-22T05:03:32.961Z,1755839012.961 [DataOverHttps](INFO): SBD MOMSN=25879941
2025-08-22T05:03:34.343Z,1755839014.343 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-08-22T05:03:34.343Z,1755839014.343 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-08-22T05:03:34.343Z,1755839014.343 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-08-22T05:03:35.505Z,1755839015.505 [NAL9602](INFO): SBD MO Status=2, MOMSN=968, MT Status=2, MTMSN=0
2025-08-22T05:03:35.506Z,1755839015.506 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T05:03:42.764Z,1755839022.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:03:52.188Z,1755839032.188 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:03:52.525Z,1755839032.525 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-08-22T05:04:00.936Z,1755839040.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:04:10.368Z,1755839050.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:04:19.035Z,1755839059.035 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:04:23.160Z,1755839063.160 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T05:04:27.740Z,1755839067.740 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:04:36.557Z,1755839076.557 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:04:45.232Z,1755839085.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:04:53.883Z,1755839093.883 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:05:02.436Z,1755839102.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:05:11.203Z,1755839111.203 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:05:19.848Z,1755839119.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:05:28.356Z,1755839128.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:05:37.204Z,1755839137.204 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:05:45.872Z,1755839145.872 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:05:54.472Z,1755839154.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:06:03.260Z,1755839163.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:06:11.855Z,1755839171.855 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:06:20.584Z,1755839180.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:06:29.244Z,1755839189.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:06:38.072Z,1755839198.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:06:45.797Z,1755839205.797 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-08-22T05:06:46.855Z,1755839206.855 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:06:50.281Z,1755839210.281 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.001419
CHAN A1 (24V): 0.003614
CHAN A2 (12V): 0.001016
CHAN A3 (5V): 0.000251
CHAN B0 (3.3V): 0.000309
CHAN B1 (3.15aV): -0.000255
CHAN B2 (3.15bV): 0.000556
CHAN B3 (GND): 0.000257
OPEN: 0.004873
Full Scale: +/- 1 mA
2025-08-22T05:06:55.576Z,1755839215.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:07:04.112Z,1755839224.112 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:07:12.796Z,1755839232.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:07:21.348Z,1755839241.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:07:30.124Z,1755839250.124 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:07:38.772Z,1755839258.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:07:47.324Z,1755839267.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:07:56.076Z,1755839276.076 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:08:04.049Z,1755839284.049 [DataOverHttps](IMPORTANT): SBD MTMSN=20250822T050803
2025-08-22T05:08:11.651Z,1755839291.651 [DataOverHttps](INFO): Received command: schedule clear;schedule resume
2025-08-22T05:08:11.688Z,1755839291.688 [CommandExec](IMPORTANT): got command schedule clear
2025-08-22T05:08:11.688Z,1755839291.688 [CommandExec](IMPORTANT): Cleared 0 scheduled commands.
2025-08-22T05:08:11.689Z,1755839291.689 [CommandExec](IMPORTANT): got command schedule resume
2025-08-22T05:08:13.656Z,1755839293.656 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:08:22.368Z,1755839302.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:08:31.080Z,1755839311.080 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:08:34.912Z,1755839314.912 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-08-22T05:08:34.912Z,1755839314.912 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-08-22T05:08:34.913Z,1755839314.913 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T05:08:34.913Z,1755839314.913 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-08-22T05:08:35.276Z,1755839315.276 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-08-22T05:08:35.276Z,1755839315.276 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-08-22T05:08:35.686Z,1755839315.686 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  36.478821 min 
2025-08-22T05:08:35.686Z,1755839315.686 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-08-22T05:08:35.686Z,1755839315.686 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T05:08:35.686Z,1755839315.686 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-08-22T05:08:35.686Z,1755839315.686 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T05:08:35.686Z,1755839315.686 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2025-08-22T05:08:35.687Z,1755839315.687 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2025-08-22T05:08:35.687Z,1755839315.687 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T05:08:35.687Z,1755839315.687 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-08-22T05:08:37.678Z,1755839317.678 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,050836.00,A,3646.83743,N,12151.77239,W,0.311,268.25,220825,,,D*74
2025-08-22T05:08:37.681Z,1755839317.681 [NAL9602](INFO): GPS fix at 20250822T050836: (36.780624, -121.862873)
2025-08-22T05:08:37.694Z,1755839317.694 [UniversalFixResidualReporter](INFO): Fix residual: 1.2 %DT, over the last 5006.0 m. Residual distance 60.4 m at bearing -44.3 degrees. Fix at (36.7806, -121.8629) with 594.1 m made good.
2025-08-22T05:08:37.695Z,1755839317.695 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-08-22T05:08:37.695Z,1755839317.695 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-08-22T05:08:46.600Z,1755839326.600 [DataOverHttps](INFO): Sending 283 bytes from file Logs/20250822T042900/Courier0006.lzma
2025-08-22T05:08:47.601Z,1755839327.601 [DataOverHttps](INFO): Moved sent file to Logs/20250822T042900/Courier0006.lzma.bak
2025-08-22T05:08:47.601Z,1755839327.601 [DataOverHttps](INFO): SBD MOMSN=25879960
2025-08-22T05:09:03.981Z,1755839343.981 [DataOverHttps](INFO): Sending 655 bytes from file Logs/20250822T042900/Express0007.lzma
2025-08-22T05:09:04.981Z,1755839344.981 [DataOverHttps](INFO): Moved sent file to Logs/20250822T042900/Express0007.lzma.bak
2025-08-22T05:09:04.981Z,1755839344.981 [DataOverHttps](INFO): SBD MOMSN=25879963
2025-08-22T05:09:08.397Z,1755839348.397 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2025-08-22T05:09:08.479Z,1755839348.479 [NAL9602](ERROR): received: 
+CSQ:0

OK8, 2, 0, 0, 0

OK
2025-08-22T05:09:21.392Z,1755839361.392 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250822T042900/Express0010.lzma
2025-08-22T05:09:22.389Z,1755839362.389 [DataOverHttps](INFO): Moved sent file to Logs/20250822T042900/Express0010.lzma.bak
2025-08-22T05:09:22.389Z,1755839362.389 [DataOverHttps](INFO): SBD MOMSN=25879973
2025-08-22T05:09:23.920Z,1755839363.920 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-08-22T05:09:23.921Z,1755839363.921 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-08-22T05:09:23.921Z,1755839363.921 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-08-22T05:09:25.113Z,1755839365.113 [NAL9602](INFO): SBD MO Status=0, MOMSN=968, MT Status=0, MTMSN=0
2025-08-22T05:09:25.113Z,1755839365.113 [NAL9602](INFO): No messages in MT queue
2025-08-22T05:09:32.084Z,1755839372.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:09:40.855Z,1755839380.855 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:09:48.425Z,1755839388.425 [DataOverHttps](IMPORTANT): SBD MTMSN=20250822T050947
2025-08-22T05:09:55.820Z,1755839395.820 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T05:09:56.144Z,1755839396.144 [DataOverHttps](INFO): Received command: sched asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.SlideCloseDuration 1.5 min" 15508 1 2
2025-08-22T05:09:56.172Z,1755839396.172 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.SlideCloseDuration 1.5 min" 15508 1 2.000000
2025-08-22T05:09:56.172Z,1755839396.172 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=15508
2025-08-22T05:09:56.173Z,1755839396.173 [CommandExec](IMPORTANT): Scheduled #36 (#1 of 2 with id='15508'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.SlideCloseDuration 1.5 min", ASAP
2025-08-22T05:09:57.145Z,1755839397.145 [DataOverHttps](IMPORTANT): SBD MTMSN=20250822T050956
2025-08-22T05:10:06.864Z,1755839406.864 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m;set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 15508 2 2
2025-08-22T05:10:06.880Z,1755839406.880 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m;set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 15508 2 2.000000
2025-08-22T05:10:06.880Z,1755839406.880 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=15508
2025-08-22T05:10:06.881Z,1755839406.881 [CommandExec](IMPORTANT): Scheduled #37 (#2 of 2 with id='15508'): "set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m;set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", ASAP
2025-08-22T05:10:07.024Z,1755839407.024 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl
2025-08-22T05:10:07.024Z,1755839407.024 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-22T05:10:07.024Z,1755839407.024 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-22T05:10:07.028Z,1755839407.028 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-22T05:10:08.868Z,1755839408.868 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:10:17.144Z,1755839417.144 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="lineCaptureHoming">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>180</Value>
    </DefineArg>
    <DefineArg Name="MicromodemCommsInterval">
        <Units:hour />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitOnDockTimeout">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="TrySlide">
        <False />
    </DefineArg>
    <DefineArg Name="RetryIncompleteDock">
        <False />
    </DefineArg>
    <DefineArg Name="SlideRetries">
        <Units:count />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="SlideSinkDuration">
        <Units:minute />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="SlideCloseDuration">
        <Units:minute />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodMidcourse">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodTerminal">
        <Units:second />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodDocked">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilter">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="NumPingsUSBL">
        <Units:count />
        <Value>120</Value>
    </DefineArg>
    <DefineArg Name="RangeUSBL">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilterUSBL">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>205</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CorrectForSoundSpeed">
        <False />
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="TrackingPeriod">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineOutput Name="Mode">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="NumPings">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinSize">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinOverlap">
        <True />
    </DefineOutput>
    <DefineOutput Name="EndDockingSequence">
        <Arg Name="StayOnDock" />
    </DefineOutput>
    <DefineOutput Name="LastDockSuccessful">
        <False />
    </DefineOutput>
    <DefineOutput Name="DockSuccessfulCount">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RepeatArg">
        <Arg Name="Repeat" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <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 Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Id="MicromodemComms" Filename="Insert/MicromodemComms.tl">
        <RedefineArg Name="CommsInterval">
            <Arg Name="MicromodemCommsInterval" />
        </RedefineArg>
    </Insert>
    <ReadData>
        <While>
            <Arg Name="Mode" />
            <Ge>
                <Units:count />
                <Value>0</Value>
            </Ge>
            <And>
                <Sensor:DataOverHttps.connectionStatus />
                <Eq>
                    <True />
                </Eq>
            </And>
        </While>
        <Universal:platform_communications />
    </ReadData>
    <Insert Filename="Insert/LineCapture.tl" />
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:DockingAltitude" />
        <Arg Name="DockingAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:InvalidAltitudeTimeout" />
        <Arg Name="InvalidAltitudeTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:AltitudeDepthLimit" />
        <Arg Name="AltitudeDepthLimit" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NumPings" />
        <Arg Name="NumberOfPings" />
    </Assign>
    <Estimation:TrackAcousticContact Id="TrackAC">
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingPeriod" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numFixesLowPassSetting />
            <Arg Name="LowPassFilterWinSize" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.lowPassOverlapSetting />
            <Arg Name="LowPassFilterWinOverlap" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.useSoundSpeedCorrectionSetting />
            <Arg Name="CorrectForSoundSpeed" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Aggregate Id="UpdateNumPings_NotTerminal">
        <While>
            <Not>
                <Arg Name="LineCapture:GuidanceMode" />
                <Eq>
                    <Arg Name="LineCapture:Terminal" />
                </Eq>
            </Not>
            <And>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
            </And>
        </While>
        <Syslog Severity="Info">
            No longer in Terminal. Resuming normal ranging with 
            <Arg Name="NumberOfPings" />
            <Units:count />
            pings.
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="NumPings" />
            <Arg Name="NumberOfPings" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateNumPings_Terminal">
        <While>
            <Arg Name="LineCapture:GuidanceMode" />
            <Eq>
                <Arg Name="LineCapture:Terminal" />
            </Eq>
        </While>
        <Aggregate Id="UpdateNumPingsUSBL">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumPingsUSBL" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Lt>
                        <Arg Name="RangeUSBL" />
                    </Lt>
                    <And>
                        <Not>
                            <Dock:LineCapture.guidanceMode />
                            <Eq>
                                <Units:count />
                                <Value>5</Value>
                            </Eq>
                        </Not>
                    </And>
                </And>
            </When>
            <Syslog Severity="Info">
                Entering USBL mode with 
                <Arg Name="NumPingsUSBL" />
                <Units:count />
                pings at 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumPingsUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilterUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
        <Aggregate Id="UpdateNumPingsATR">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Ge>
                        <Arg Name="RangeUSBL" />
                    </Ge>
                    <Or>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Or>
                </And>
            </When>
            <Syslog Severity="Info">
                Resuming normal ranging with 
                <Arg Name="NumberOfPings" />
                <Units:count />
                pings 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumberOfPings" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilter" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Midcourse">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodMidcourse" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Gt>
                    <Arg Name="LineCapture:TerminalRange" />
                </Gt>
                <Or>
                    <Dock:LineCapture.guidanceMode />
                    <Eq>
                        <Units:count />
                        <Value>5</Value>
                    </Eq>
                </Or>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Midcourse tracking update period 
            <Arg Name="TrackingUpdatePeriodMidcourse" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodMidcourse" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Terminal">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodTerminal" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Le>
                    <Arg Name="LineCapture:TerminalRange" />
                </Le>
                <And>
                    <Not>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Not>
                </And>
                <And>
                    <Not>
                        <Arg Name="LineCapture:GuidanceMode" />
                        <Eq>
                            <Units:count />
                            <Value>0</Value>
                        </Eq>
                    </Not>
                </And>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Terminal tracking update period 
            <Arg Name="TrackingUpdatePeriodTerminal" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodTerminal" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="restartDHCP">
        <When>
            <Called />
        </When>
        <Syslog Severity="Info">Restarting DHCP...</Syslog>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>! /mnt/mmc/LRAUV/Tools/dhcp.sh</String>
            </Setting>
        </Guidance:Execute>
    </Aggregate>
    <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="InitialDive">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="MidcourseSpeed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
        <Guidance:Pitch>
            <Sequence />
            <Timeout Duration="ApproachDepthTimeout">
                <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="MidcourseDepth" />
            </Setting>
            <Setting>
                <Guidance:Pitch.depthRate />
                <Arg Name="ApproachDepthRate" />
            </Setting>
        </Guidance:Pitch>
    </Aggregate>
    <Aggregate Id="RepeatHack">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="RetryIncompleteDock" />
            </Not>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="RepeatArg" />
            <Arg Name="Repeat" />
            <Add>
                <Units:count />
                <Value>1</Value>
            </Add>
        </Assign>
    </Aggregate>
    <Aggregate Id="Lap">
        <Sequence Repeat="RepeatArg" />
        <Break>
            <Arg Name="StayOnDock" />
            <And>
                <Arg Name="LastDockSuccessful" />
            </And>
            <Or>
                <Arg Name="RetryIncompleteDock" />
                <And>
                    <Arg Name="DockSuccessfulCount" />
                    <Eq>
                        <Arg Name="Repeat" />
                    </Eq>
                </And>
            </Or>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Units:count />
            <Value>-99</Value>
        </Assign>
        <Call RefId="LineCapture" PriorityHere="false" />
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Arg Name="LineCapture:GuidanceMode" />
        </Assign>
        <Syslog Severity="Info">
            Mode
            <Arg Name="Mode" />
            <Units:count />
        </Syslog>
        <Call RefId="restartDHCP" PriorityHere="false" />
        <Aggregate Id="Docked">
            <Sequence />
            <Break>
                <Arg Name="Mode" />
                <Lt>
                    <Units:count />
                    <Value>0</Value>
                </Lt>
            </Break>
            <Syslog Severity="Info">
                Waiting on dock for 
                <Arg Name="WaitOnDockTimeout" />
                <Units:minute />
            </Syslog>
            <Insert Filename="Insert/SetNavAcoustic.tl" />
            <Assign>
                <Sequence />
                <Arg Name="TrackingPeriod" />
                <Arg Name="TrackingUpdatePeriodDocked" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="EndDockingSequence" />
                <Arg Name="StayOnDock" />
            </Assign>
            <Dock:Docked Id="Docked">
                <Sequence />
                <Timeout Duration="WaitOnDockTimeout" />
                <Setting>
                    <Dock:Docked.slideSinkTime />
                    <Arg Name="SlideSinkDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideCloseTime />
                    <Arg Name="SlideCloseDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideRetries />
                    <Arg Name="SlideRetries" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideAllowed />
                    <Arg Name="TrySlide" />
                </Setting>
                <OutputArg Name="LastDockSuccessful">
                    <Dock:Docked.dockSuccessful />
                </OutputArg>
            </Dock:Docked>
            <Aggregate Id="setCompletion">
                <Sequence />
                <Break>
                    <Not>
                        <Arg Name="RetryIncompleteDock" />
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="EndDockingSequence" />
                    <Arg Name="LastDockSuccessful" />
                    <And>
                        <Arg Name="StayOnDock" />
                    </And>
                </Assign>
                <Assign>
                    <Sequence />
                    <Arg Name="DockSuccessfulCount" />
                    <Arg Name="DockSuccessfulCount" />
                    <Add>
                        <Arg Name="LastDockSuccessful" />
                    </Add>
                </Assign>
                <Aggregate Id="setRetry">
                    <Sequence />
                    <Break>
                        <Arg Name="LastDockSuccessful" />
                    </Break>
                    <Syslog Severity="Important">Retrying incomplete docking attempt</Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="RepeatArg" />
                        <Arg Name="RepeatArg" />
                        <Add>
                            <Units:count />
                            <Value>1</Value>
                        </Add>
                    </Assign>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Detach">
                <Sequence />
                <Break>
                    <Arg Name="EndDockingSequence" />
                </Break>
                <Syslog Severity="Important">
                    Breaking off. Range: 
                    <Universal:acoustic_contact_range />
                    <Units:meter />
                    .
                </Syslog>
                <Dock:Undock Id="Undock">
                    <Sequence />
                </Dock:Undock>
                <Call RefId="restartDHCP" PriorityHere="false" />
            </Aggregate>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Lat1" />
                    </IsNaN>
                    <Or>
                        <IsNaN>
                            <Arg Name="Lon1" />
                        </IsNaN>
                    </Or>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    Driving to post-undock waypoint 
                    <Arg Name="Lat1" />
                    <Units:degree />
                    ,
                    <Arg Name="Lon1" />
                    <Units:degree />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.captureRadius />
                        <Arg Name="CaptureRadius" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Drift">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Lat1" />
                        </IsNaN>
                    </Not>
                    <And>
                        <Not>
                            <IsNaN>
                                <Arg Name="Lon1" />
                            </IsNaN>
                        </Not>
                    </And>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    No post-undock waypoint, drifting for 
                    <Dock:LineCapture.rolloutTimeout />
                    <Units:minute />
                     minutes
                </Syslog>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.massPosition />
                        <Control:VerticalControl.massDefault />
                    </Setting>
                    <Setting>
                        <Guidance:Pitch.elevatorAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Point>
                    <Parallel />
                    <Setting>
                        <Guidance:Point.rudderAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Point>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Dock:LineCapture.rolloutTimeout />
                    </Setting>
                </Guidance:Wait>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-08-22T05:10:17.182Z,1755839417.182 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 3.000000 h
2025-08-22T05:10:17.189Z,1755839417.189 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 180.000000 min
2025-08-22T05:10:17.191Z,1755839417.191 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 3.000000 h
2025-08-22T05:10:17.197Z,1755839417.197 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2025-08-22T05:10:17.204Z,1755839417.204 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min
2025-08-22T05:10:17.206Z,1755839417.206 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool
2025-08-22T05:10:17.276Z,1755839417.276 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool
2025-08-22T05:10:17.278Z,1755839417.278 [MissionManager](INFO): DefineArg lineCaptureHoming.RetryIncompleteDock = 0 bool
2025-08-22T05:10:17.289Z,1755839417.289 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 4.000000 count
2025-08-22T05:10:17.307Z,1755839417.307 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 1.500000 min
2025-08-22T05:10:17.310Z,1755839417.310 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 1.500000 min
2025-08-22T05:10:17.321Z,1755839417.321 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 50 count
2025-08-22T05:10:17.323Z,1755839417.323 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s
2025-08-22T05:10:17.341Z,1755839417.341 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.000000 s
2025-08-22T05:10:17.352Z,1755839417.352 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min
2025-08-22T05:10:17.367Z,1755839417.367 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count
2025-08-22T05:10:17.381Z,1755839417.381 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2025-08-22T05:10:17.392Z,1755839417.392 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 120.000000 count
2025-08-22T05:10:17.394Z,1755839417.394 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m
2025-08-22T05:10:17.411Z,1755839417.411 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count
2025-08-22T05:10:17.421Z,1755839417.421 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m
2025-08-22T05:10:17.436Z,1755839417.436 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 10.000000 min
2025-08-22T05:10:17.438Z,1755839417.438 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m
2025-08-22T05:10:17.446Z,1755839417.446 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 4.000000 m
2025-08-22T05:10:17.466Z,1755839417.466 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2025-08-22T05:10:17.477Z,1755839417.477 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2025-08-22T05:10:17.487Z,1755839417.487 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min
2025-08-22T05:10:17.490Z,1755839417.490 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s
2025-08-22T05:10:17.500Z,1755839417.500 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg
2025-08-22T05:10:17.502Z,1755839417.502 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg
2025-08-22T05:10:17.513Z,1755839417.513 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m
2025-08-22T05:10:17.515Z,1755839417.515 [MissionManager](INFO): DefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 bool
2025-08-22T05:10:17.534Z,1755839417.534 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m
2025-08-22T05:10:17.541Z,1755839417.541 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s
2025-08-22T05:10:17.543Z,1755839417.543 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s
2025-08-22T05:10:17.566Z,1755839417.566 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count
2025-08-22T05:10:17.576Z,1755839417.576 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count
2025-08-22T05:10:17.579Z,1755839417.579 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count
2025-08-22T05:10:17.589Z,1755839417.589 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool
2025-08-22T05:10:17.599Z,1755839417.599 [MissionManager](INFO): DefineOutput lineCaptureHoming.EndDockingSequence = 0 bool
2025-08-22T05:10:17.602Z,1755839417.602 [MissionManager](INFO): DefineOutput lineCaptureHoming.LastDockSuccessful = 0 bool
2025-08-22T05:10:17.608Z,1755839417.608 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 count
2025-08-22T05:10:17.610Z,1755839417.610 [MissionManager](INFO): DefineOutput lineCaptureHoming.RepeatArg = 1.000000 count
2025-08-22T05:10:17.627Z,1755839417.627 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-22T05:10:17.627Z,1755839417.627 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-22T05:10:17.711Z,1755839417.711 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-22T05:10:20.641Z,1755839420.641 [DataOverHttps](IMPORTANT): SBD MTMSN=20250822T051019
2025-08-22T05:10:22.222Z,1755839422.222 [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>

2025-08-22T05:10:22.250Z,1755839422.250 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectChlActive = 0 bool
2025-08-22T05:10:22.254Z,1755839422.254 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectChlActive = 0 bool
2025-08-22T05:10:22.260Z,1755839422.260 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.TimeWindowPeakReport = nan min
2025-08-22T05:10:22.261Z,1755839422.261 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestChlPeakReportActive = 0 bool
2025-08-22T05:10:22.284Z,1755839422.284 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestSaltPeakReportActive = 0 bool
2025-08-22T05:10:22.286Z,1755839422.286 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestOilPeakReportActive = 0 bool
2025-08-22T05:10:22.289Z,1755839422.289 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PatchTracking = 0 bool
2025-08-22T05:10:22.304Z,1755839422.304 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.FilterWidthHorizontal = 3.000000 count
2025-08-22T05:10:22.306Z,1755839422.306 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-22T05:10:22.320Z,1755839422.320 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-22T05:10:22.322Z,1755839422.322 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectNO3Active = 0 bool
2025-08-22T05:10:22.329Z,1755839422.329 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectOilActive = 0 bool
2025-08-22T05:10:22.331Z,1755839422.331 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectFDOMActive = 0 bool
2025-08-22T05:10:22.341Z,1755839422.341 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectSalinityActive = 0 bool
2025-08-22T05:10:22.347Z,1755839422.347 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-22T05:10:22.349Z,1755839422.349 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-22T05:10:22.363Z,1755839422.363 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-22T05:10:22.365Z,1755839422.365 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-22T05:10:22.372Z,1755839422.372 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-22T05:10:22.374Z,1755839422.374 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-22T05:10:22.380Z,1755839422.380 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-22T05:10:22.382Z,1755839422.382 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-22T05:10:22.396Z,1755839422.396 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-22T05:10:22.399Z,1755839422.399 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool
2025-08-22T05:10:22.421Z,1755839422.421 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool
2025-08-22T05:10:22.428Z,1755839422.428 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledRBRTridente = 0 bool
2025-08-22T05:10:22.430Z,1755839422.430 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool
2025-08-22T05:10:22.437Z,1755839422.437 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-22T05:10:22.452Z,1755839422.452 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-22T05:10:22.454Z,1755839422.454 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 0 bool
2025-08-22T05:10:22.476Z,1755839422.476 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count
2025-08-22T05:10:22.478Z,1755839422.478 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count
2025-08-22T05:10:22.533Z,1755839422.533 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ShallowBound = nan m
2025-08-22T05:10:22.556Z,1755839422.556 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DeepBound = nan m
2025-08-22T05:10:22.571Z,1755839422.571 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-22T05:10:22.601Z,1755839422.601 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalAscent = nan %
2025-08-22T05:10:22.607Z,1755839422.607 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalDescent = nan %
2025-08-22T05:10:22.610Z,1755839422.610 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-22T05:10:22.628Z,1755839422.628 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumberOfLayers = 1.000000 count
2025-08-22T05:10:22.630Z,1755839422.630 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool
2025-08-22T05:10:22.635Z,1755839422.635 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l
2025-08-22T05:10:22.661Z,1755839422.661 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l
2025-08-22T05:10:22.663Z,1755839422.663 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count
2025-08-22T05:10:22.665Z,1755839422.665 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-22T05:10:22.672Z,1755839422.672 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-22T05:10:22.674Z,1755839422.674 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-22T05:10:22.681Z,1755839422.681 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-22T05:10:22.687Z,1755839422.687 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.GoDown = 1 bool
2025-08-22T05:10:22.690Z,1755839422.690 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l
2025-08-22T05:10:22.694Z,1755839422.694 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m
2025-08-22T05:10:22.705Z,1755839422.705 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC
2025-08-22T05:10:22.711Z,1755839422.711 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg
2025-08-22T05:10:22.714Z,1755839422.714 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg
2025-08-22T05:10:22.716Z,1755839422.716 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChl = nan ug/l
2025-08-22T05:10:22.718Z,1755839422.718 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlDepth = nan m
2025-08-22T05:10:22.738Z,1755839422.738 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlTemperature = nan degC
2025-08-22T05:10:22.757Z,1755839422.757 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLatitude = nan arcdeg
2025-08-22T05:10:22.760Z,1755839422.760 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLongitude = nan arcdeg
2025-08-22T05:10:22.762Z,1755839422.762 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l
2025-08-22T05:10:22.777Z,1755839422.777 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m
2025-08-22T05:10:22.781Z,1755839422.781 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg
2025-08-22T05:10:22.800Z,1755839422.800 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg
2025-08-22T05:10:22.802Z,1755839422.802 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3
2025-08-22T05:10:22.809Z,1755839422.809 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m
2025-08-22T05:10:22.820Z,1755839422.820 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLatitude = nan arcdeg
2025-08-22T05:10:22.822Z,1755839422.822 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLongitude = nan arcdeg
2025-08-22T05:10:22.839Z,1755839422.839 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOM = nan ppb
2025-08-22T05:10:22.842Z,1755839422.842 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMDepth = nan m
2025-08-22T05:10:22.856Z,1755839422.856 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMTemperature = nan degC
2025-08-22T05:10:22.858Z,1755839422.858 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLatitude = nan arcdeg
2025-08-22T05:10:22.863Z,1755839422.863 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLongitude = nan arcdeg
2025-08-22T05:10:22.925Z,1755839422.925 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSalt = nan psu
2025-08-22T05:10:22.951Z,1755839422.951 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m
2025-08-22T05:10:22.954Z,1755839422.954 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC
2025-08-22T05:10:22.964Z,1755839422.964 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg
2025-08-22T05:10:22.967Z,1755839422.967 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg
2025-08-22T05:10:22.977Z,1755839422.977 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-22T05:10:22.992Z,1755839422.992 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-22T05:10:22.994Z,1755839422.994 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-22T05:10:23.005Z,1755839423.005 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-22T05:10:23.012Z,1755839423.012 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-22T05:10:23.014Z,1755839423.014 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-22T05:10:23.036Z,1755839423.036 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-22T05:10:23.038Z,1755839423.038 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-22T05:10:23.045Z,1755839423.045 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-22T05:10:23.057Z,1755839423.057 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-22T05:10:23.065Z,1755839423.065 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-22T05:10:23.072Z,1755839423.072 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-22T05:10:23.074Z,1755839423.074 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-22T05:10:23.078Z,1755839423.078 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-22T05:10:23.092Z,1755839423.092 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-22T05:10:23.095Z,1755839423.095 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-22T05:10:23.098Z,1755839423.098 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-22T05:10:23.113Z,1755839423.113 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-22T05:10:23.117Z,1755839423.117 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-22T05:10:23.132Z,1755839423.132 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-22T05:10:23.134Z,1755839423.134 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-22T05:10:23.145Z,1755839423.145 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-22T05:10:23.152Z,1755839423.152 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-22T05:10:23.154Z,1755839423.154 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-22T05:10:23.161Z,1755839423.161 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-22T05:10:23.168Z,1755839423.168 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-22T05:10:23.170Z,1755839423.170 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-22T05:10:23.177Z,1755839423.177 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-22T05:10:23.188Z,1755839423.188 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-22T05:10:23.190Z,1755839423.190 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-22T05:10:23.197Z,1755839423.197 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-22T05:10:23.204Z,1755839423.204 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-22T05:10:23.206Z,1755839423.206 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-22T05:10:23.221Z,1755839423.221 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-22T05:10:23.227Z,1755839423.227 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-22T05:10:23.230Z,1755839423.230 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-22T05:10:23.233Z,1755839423.233 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-22T05:10:23.243Z,1755839423.243 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-22T05:10:23.246Z,1755839423.246 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-22T05:10:23.252Z,1755839423.252 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-22T05:10:23.255Z,1755839423.255 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l
2025-08-22T05:10:23.265Z,1755839423.265 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m
2025-08-22T05:10:23.311Z,1755839423.311 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg
2025-08-22T05:10:23.314Z,1755839423.314 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg
2025-08-22T05:10:23.321Z,1755839423.321 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m
2025-08-22T05:10:23.343Z,1755839423.343 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSalt = nan psu
2025-08-22T05:10:23.346Z,1755839423.346 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m
2025-08-22T05:10:23.360Z,1755839423.360 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg
2025-08-22T05:10:23.363Z,1755839423.363 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg
2025-08-22T05:10:23.377Z,1755839423.377 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m
2025-08-22T05:10:23.396Z,1755839423.396 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOil = nan psu
2025-08-22T05:10:23.398Z,1755839423.398 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m
2025-08-22T05:10:23.405Z,1755839423.405 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg
2025-08-22T05:10:23.420Z,1755839423.420 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg
2025-08-22T05:10:23.422Z,1755839423.422 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m
2025-08-22T05:10:23.433Z,1755839423.433 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool
2025-08-22T05:10:23.439Z,1755839423.439 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/l
2025-08-22T05:10:23.482Z,1755839423.482 [lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:10:23.519Z,1755839423.519 [lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T05:10:23.573Z,1755839423.573 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T05:10:23.602Z,1755839423.602 [lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:10:23.634Z,1755839423.634 [lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:10:23.685Z,1755839423.685 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T05:10:23.758Z,1755839423.758 [lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:10:23.811Z,1755839423.811 [lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:10:23.866Z,1755839423.866 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T05:10:23.916Z,1755839423.916 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:10:23.957Z,1755839423.957 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T05:10:24.028Z,1755839424.028 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:10:24.065Z,1755839424.065 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T05:10:24.175Z,1755839424.175 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:10:24.226Z,1755839424.226 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T05:10:24.282Z,1755839424.282 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:10:24.306Z,1755839424.306 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T05:10:24.355Z,1755839424.355 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-22T05:10:24.370Z,1755839424.370 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-22T05:10:24.370Z,1755839424.370 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-22T05:10:24.375Z,1755839424.375 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-22T05:10:24.607Z,1755839424.607 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>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>

2025-08-22T05:10:24.619Z,1755839424.619 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-22T05:10:24.622Z,1755839424.622 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-22T05:10:24.648Z,1755839424.648 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-22T05:10:24.650Z,1755839424.650 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-22T05:10:24.661Z,1755839424.661 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-22T05:10:24.674Z,1755839424.674 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-22T05:10:24.717Z,1755839424.717 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-22T05:10:24.760Z,1755839424.760 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-08-22T05:10:24.760Z,1755839424.760 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-08-22T05:10:24.761Z,1755839424.761 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-08-22T05:10:25.212Z,1755839425.212 [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>

2025-08-22T05:10:25.221Z,1755839425.221 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h
2025-08-22T05:10:25.227Z,1755839425.227 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2025-08-22T05:10:25.229Z,1755839425.229 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-08-22T05:10:25.236Z,1755839425.236 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2025-08-22T05:10:25.238Z,1755839425.238 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-08-22T05:10:25.244Z,1755839425.244 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s
2025-08-22T05:10:25.247Z,1755839425.247 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2025-08-22T05:10:25.253Z,1755839425.253 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2025-08-22T05:10:25.296Z,1755839425.296 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-08-22T05:10:25.370Z,1755839425.370 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl
2025-08-22T05:10:25.370Z,1755839425.370 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl
2025-08-22T05:10:25.388Z,1755839425.388 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl
2025-08-22T05:10:25.512Z,1755839425.512 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/MicromodemComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="MicromodemComms">
    <DefineArg Name="Timeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CommsInterval">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <While>
        <Elapsed>
            <Universal:platform_communications />
        </Elapsed>
        <Gt>
            <Arg Name="CommsInterval" />
        </Gt>
    </While>
    <Aggregate Id="CheckIn">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="Timeout" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Aggregate>

2025-08-22T05:10:25.519Z,1755839425.519 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min
2025-08-22T05:10:25.522Z,1755839425.522 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min
2025-08-22T05:10:25.543Z,1755839425.543 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval
2025-08-22T05:10:25.550Z,1755839425.550 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl
2025-08-22T05:10:25.550Z,1755839425.550 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl
2025-08-22T05:10:25.556Z,1755839425.556 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl
2025-08-22T05:10:27.815Z,1755839427.815 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/LineCapture.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="LineCapture">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="MidcourseTimeout">
        <Dock:LineCapture.midcourseTimeout />
    </DefineArg>
    <DefineArg Name="TerminalRange">
        <Dock:LineCapture.terminalRange />
    </DefineArg>
    <DefineArg Name="AcousticTimeout">
        <Dock:LineCapture.acousticTimeout />
    </DefineArg>
    <DefineArg Name="losRateIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="SearchTimeout">
        <Dock:LineCapture.searchTimeout />
    </DefineArg>
    <DefineArg Name="CircleRadius">
        <Dock:LineCapture.searchCircleRadius />
    </DefineArg>
    <DefineArg Name="CircleMaxError">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CircleTurnToPort">
        <False />
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.01</Value>
    </DefineArg>
    <DefineArg Name="RudderDeadband">
        <Units:degree />
        <Value>0.001</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="ElapsedRange">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Range">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineOutput Name="DoneTimeout">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="Done">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DetachFromDock">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="Midcourse">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="Terminal">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="GuidanceMode">
        <Arg Name="DetachFromDock" />
    </DefineOutput>
    <DefineOutput Name="DockingDepth">
        <Units:meter />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LineCapRollout">
        <Units:count />
        <Value>5</Value>
    </DefineOutput>
    <When>
        <Called />
    </When>
    <Assign>
        <Sequence />
        <Arg Name="GuidanceMode" />
        <Arg Name="DetachFromDock" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="DockingDepth" />
        <Dock:Dock.depth />
        <Add>
            <Dock:Docked.dockingDepthOffset />
        </Add>
    </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>
    <Assign>
        <Parallel />
        <Arg Name="ElapsedRange" />
        <Elapsed>
            <Universal:acoustic_contact_range />
        </Elapsed>
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="Range" />
        <Universal:acoustic_contact_range />
    </Assign>
    <Aggregate Id="HoldMass">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
            <Or>
                <Dock:LineCapture.guidanceMode />
                <Eq>
                    <Arg Name="LineCapRollout" />
                </Eq>
            </Or>
        </While>
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
    </Aggregate>
    <Aggregate Id="HoldBuoyancy">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
        </While>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
    </Aggregate>
    <Aggregate Id="HomingSequence">
        <Sequence />
        <Break>
            <Arg Name="GuidanceMode" />
            <Le>
                <Arg Name="Done" />
            </Le>
        </Break>
        <Aggregate Id="DetachFromDock">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="DetachFromDock" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Dock:Undock>
                    <Sequence />
                    <Timeout Duration="DetachTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to detach from dock at current depth of 
                            <Universal:depth />
                            <Units:meter />
                            .
                        </Syslog>
                    </Timeout>
                </Dock:Undock>
                <Syslog Severity="Info">Transitioning to midcourse guidance.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Midcourse" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MidcourseGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Midcourse" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">
                    Navigating to dock waypoint (
                    <Arg Name="DockLat" />
                    <Units:degree />
                    ,
                    <Arg Name="DockLon" />
                    <Units:degree />
                    )
                </Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Lt>
                            <Arg Name="TerminalRange" />
                        </Lt>
                        <And>
                            <Arg Name="ElapsedRange" />
                            <Le>
                                <Arg Name="AcousticTimeout" />
                            </Le>
                        </And>
                    </When>
                    <Syslog Severity="Info">
                        Transitioning to terminal guidance at range
                        <Arg Name="Range" />
                        <Units:meter />
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Terminal" />
                    </Assign>
                </Aggregate>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Waypoint>
                    <Sequence />
                    <Timeout Duration="MidcourseTimeout">
                        <Syslog Severity="Important">Terminating homing sequence: timed out while navigating to the dock waypoint.</Syslog>
                        <Assign>
                            <Sequence />
                            <Arg Name="GuidanceMode" />
                            <Arg Name="DoneTimeout" />
                        </Assign>
                    </Timeout>
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="DockLat" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="DockLon" />
                    </Setting>
                </Guidance:Waypoint>
                <Syslog Severity="Info">Executing search pattern.</Syslog>
                <Aggregate Id="SearchPattern">
                    <Sequence />
                    <Timeout Duration="SearchTimeout">
                        <Syslog Severity="Important">Timed out while executing search pattern around dock waypoint.</Syslog>
                    </Timeout>
                    <Guidance:Circle>
                        <Parallel />
                        <Setting>
                            <Guidance:Circle.latitude />
                            <Arg Name="DockLat" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.longitude />
                            <Arg Name="DockLon" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.radius />
                            <Arg Name="CircleRadius" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.maxError />
                            <Arg Name="CircleMaxError" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.turnToPort />
                            <Arg Name="CircleTurnToPort" />
                        </Setting>
                    </Guidance:Circle>
                    <Guidance:Wait>
                        <Sequence />
                        <Setting>
                            <Guidance:Wait.duration />
                            <Arg Name="SearchTimeout" />
                        </Setting>
                    </Guidance:Wait>
                </Aggregate>
                <Syslog Severity="Important">Homing sequence timed out prior to docking.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="DoneTimeout" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TerminalGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Terminal" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">Terminal guidance.</Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Ge>
                            <Arg Name="TerminalRange" />
                        </Ge>
                        <Or>
                            <Arg Name="ElapsedRange" />
                            <Gt>
                                <Arg Name="AcousticTimeout" />
                            </Gt>
                        </Or>
                    </When>
                    <Syslog Severity="Important">
                        Transitioning to midcourse guidance. Received last range of
                        <Arg Name="Range" />
                        <Units:meter />
                        <Arg Name="ElapsedRange" />
                        <Units:minute />
                        ago.
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Midcourse" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="altitudeControl">
                    <While>
                        <Not>
                            <IsNaN>
                                <Arg Name="DockingAltitude" />
                            </IsNaN>
                        </Not>
                    </While>
                    <Guidance:AltitudeServo>
                        <Parallel />
                        <Setting>
                            <Guidance:AltitudeServo.targetAltitude />
                            <Arg Name="DockingAltitude" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.initialDepth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.invalidAltitudeTimeout />
                            <Arg Name="InvalidAltitudeTimeout" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.maxDepthLimit />
                            <Arg Name="AltitudeDepthLimit" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.iirFilterDecay />
                            <Arg Name="AltitudeIIRFilterDecay" />
                        </Setting>
                    </Guidance:AltitudeServo>
                </Aggregate>
                <Aggregate Id="depthControl">
                    <While>
                        <IsNaN>
                            <Arg Name="DockingAltitude" />
                        </IsNaN>
                    </While>
                    <Guidance:Pitch>
                        <Parallel />
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Parallel />
                    <Servo:RudderServo.deviationAngle />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:HorizontalControl.rudDeadband />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Dock:LineCapture>
                    <Sequence />
                    <Setting>
                        <Dock:LineCapture.iirFilterDecay />
                        <Arg Name="losRateIIRFilterDecay" />
                    </Setting>
                </Dock:LineCapture>
                <Syslog Severity="Info">Docked. Homing sequence complete.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Done" />
                </Assign>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>3</Value>
        </Setting>
    </Guidance:Wait>
    <Syslog Severity="Info">
        GuidanceMode
        <Arg Name="GuidanceMode" />
        <Units:count />
    </Syslog>
</Aggregate>

2025-08-22T05:10:27.878Z,1755839427.878 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.779130 arcdeg
2025-08-22T05:10:27.885Z,1755839427.885 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -122.859630 arcdeg
2025-08-22T05:10:27.887Z,1755839427.887 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min
2025-08-22T05:10:27.894Z,1755839427.894 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m
2025-08-22T05:10:27.901Z,1755839427.901 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s
2025-08-22T05:10:27.907Z,1755839427.907 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h
2025-08-22T05:10:27.910Z,1755839427.910 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m
2025-08-22T05:10:27.917Z,1755839427.917 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min
2025-08-22T05:10:27.919Z,1755839427.919 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2025-08-22T05:10:27.926Z,1755839427.926 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min
2025-08-22T05:10:27.957Z,1755839427.957 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m
2025-08-22T05:10:27.959Z,1755839427.959 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m
2025-08-22T05:10:27.984Z,1755839427.984 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool
2025-08-22T05:10:27.986Z,1755839427.986 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m
2025-08-22T05:10:27.997Z,1755839427.997 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg
2025-08-22T05:10:28.007Z,1755839428.007 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m
2025-08-22T05:10:28.010Z,1755839428.010 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m
2025-08-22T05:10:28.017Z,1755839428.017 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m
2025-08-22T05:10:28.032Z,1755839428.032 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m
2025-08-22T05:10:28.034Z,1755839428.034 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min
2025-08-22T05:10:28.041Z,1755839428.041 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m
2025-08-22T05:10:28.043Z,1755839428.043 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2025-08-22T05:10:28.054Z,1755839428.054 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min
2025-08-22T05:10:28.060Z,1755839428.060 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m
2025-08-22T05:10:28.063Z,1755839428.063 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count
2025-08-22T05:10:28.081Z,1755839428.081 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count
2025-08-22T05:10:28.092Z,1755839428.092 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count
2025-08-22T05:10:28.094Z,1755839428.094 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count
2025-08-22T05:10:28.109Z,1755839428.109 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count
2025-08-22T05:10:28.119Z,1755839428.119 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count
2025-08-22T05:10:28.122Z,1755839428.122 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m
2025-08-22T05:10:28.128Z,1755839428.128 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 count
2025-08-22T05:10:28.193Z,1755839428.193 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-22T05:10:28.193Z,1755839428.193 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-22T05:10:28.194Z,1755839428.194 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-22T05:10:28.436Z,1755839428.436 [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>

2025-08-22T05:10:28.444Z,1755839428.444 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-22T05:10:28.446Z,1755839428.446 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-22T05:10:28.452Z,1755839428.452 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-22T05:10:28.454Z,1755839428.454 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-22T05:10:28.476Z,1755839428.476 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-22T05:10:28.487Z,1755839428.487 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-22T05:10:28.576Z,1755839428.576 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-22T05:10:28.630Z,1755839428.630 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Construct.
2025-08-22T05:10:28.657Z,1755839428.657 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-08-22T05:10:28.680Z,1755839428.680 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2025-08-22T05:10:28.680Z,1755839428.680 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T05:10:28.751Z,1755839428.751 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2025-08-22T05:10:28.754Z,1755839428.754 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2025-08-22T05:10:28.762Z,1755839428.762 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2025-08-22T05:10:28.795Z,1755839428.795 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2025-08-22T05:10:28.805Z,1755839428.805 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2025-08-22T05:10:28.830Z,1755839428.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2025-08-22T05:10:28.848Z,1755839428.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2025-08-22T05:10:28.864Z,1755839428.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2025-08-22T05:10:28.888Z,1755839428.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-22T05:10:28.889Z,1755839428.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-22T05:10:28.912Z,1755839428.912 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Construct Wait.
2025-08-22T05:10:29.158Z,1755839429.158 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute.
2025-08-22T05:10:29.165Z,1755839429.165 [lineCaptureHoming:BA.Execute](DEBUG): Construct Execute.
2025-08-22T05:10:29.172Z,1755839429.172 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct.
2025-08-22T05:10:29.174Z,1755839429.174 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Construct.
2025-08-22T05:10:29.181Z,1755839429.181 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Construct.
2025-08-22T05:10:29.195Z,1755839429.195 [lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-08-22T05:10:29.231Z,1755839429.231 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl
2025-08-22T05:10:29.235Z,1755839429.235 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl
2025-08-22T05:10:29.236Z,1755839429.236 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl
2025-08-22T05:10:29.498Z,1755839429.498 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="SetNavAcoustic">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DockRange">
        <Dock:SetNav.dockRange />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:SetNav.rangeTimeout />
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Dock:SetNav.time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="RangeTimeout" />
            </Gt>
            <And>
                <Estimation:TrackAcousticContact.range_to_contact />
                <Le>
                    <Arg Name="DockRange" />
                </Le>
            </And>
            <And>
                <Elapsed>
                    <Estimation:TrackAcousticContact.range_to_contact />
                </Elapsed>
                <Lt>
                    <Arg Name="RangeTimeout" />
                </Lt>
            </And>
        </Or>
    </When>
    <Aggregate Id="UpdateNav">
        <Sequence />
        <Timeout Duration="P1M" />
        <Syslog Severity="Info">
            Reseting nav to dock location at range
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
        </Syslog>
        <Dock:SetNav>
            <Sequence />
            <Setting>
                <Dock:SetNav.latitude />
                <Arg Name="DockLat" />
            </Setting>
            <Setting>
                <Dock:SetNav.longitude />
                <Arg Name="DockLon" />
            </Setting>
        </Dock:SetNav>
    </Aggregate>
</Aggregate>

2025-08-22T05:10:29.506Z,1755839429.506 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.779130 arcdeg
2025-08-22T05:10:29.513Z,1755839429.513 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.859630 arcdeg
2025-08-22T05:10:29.532Z,1755839429.532 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m
2025-08-22T05:10:29.540Z,1755839429.540 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min
2025-08-22T05:10:29.551Z,1755839429.551 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2025-08-22T05:10:29.565Z,1755839429.565 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct.
2025-08-22T05:10:29.565Z,1755839429.565 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-22T05:10:29.626Z,1755839429.626 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2025-08-22T05:10:29.626Z,1755839429.626 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T05:10:29.649Z,1755839429.649 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct.
2025-08-22T05:10:29.658Z,1755839429.658 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct.
2025-08-22T05:10:29.664Z,1755839429.664 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint.
2025-08-22T05:10:29.686Z,1755839429.686 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-08-22T05:10:29.693Z,1755839429.693 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct.
2025-08-22T05:10:29.703Z,1755839429.703 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct.
2025-08-22T05:10:29.716Z,1755839429.716 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct.
2025-08-22T05:10:29.723Z,1755839429.723 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait.
2025-08-22T05:10:29.977Z,1755839429.977 [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 lineCaptureHoming {
  """
  Home to transponder while maintaining altitude or depth. Altitude gets
  priority if non nan. The mission sequence: (*) Start (1) Midcourse
  guidance: nav to target WP while querying transponder (2) Terminal
  guidance: home to target using USBL tracking data (4) Dock: final
  approach using fixed heading.
  """

  # Define mission arguments

  arguments {
    MissionTimeout = 3 hour
      """
      Maximum length of mission
      """

    NeedCommsTime = 180 minute
      """
      How often to surface for commumications
      """

    MicromodemCommsInterval = 3 hour
      """
      How often to trigger Umodem communications
      """

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

    WaitOnDockTimeout = 5 minute
      """
      Time duration to wait on the dock after a successful line capture.
      """

    StayOnDock = false
      """
      If true, mission terminates after WaitOnDockTimeout following a successful
      capture, without executing the undock sequence.
      """

    TrySlide = false
      """
      If true, once docked, try to slide down the docking rod until charging and
      comms are acheived
      """

    RetryIncompleteDock = false
      """
      If true, restart docking sequence in event of a successful capture but
      unsuccessful slide
      """

    SlideRetries = 4 count
      """
      If using slide mode, max number of times to try the slide sequence before
      giving up
      """

    SlideSinkDuration = 1.5 minute
      """
      Time duration to slide down by sinking during each slide mode iteration
      """

    SlideCloseDuration = 1.5 minute
      """
      Time duration to close arm to check for power/comms during each slide mode
      iteration
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    TrackingUpdatePeriodMidcourse = 60 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodTerminal = 2 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodDocked = 2 minute
      """
      How long to wait between acoustic queries.
      """

    TrackingNumFixesLowPassFilter = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    NumPingsUSBL = 120 count
      """
      Number of pings requested while in USBL mode range.
      """

    RangeUSBL = 40 meter
      """
      USBL mode range.
      """

    TrackingNumFixesLowPassFilterUSBL = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    DockingAltitude = NaN meter
      """
      Docking altitude. Ignored when NaN and used over depth when a valid
      altitude is set.
      """

    InvalidAltitudeTimeout = 10 minute
      """
      The mission will use the last good depth command if no valid altitude
      readings are received within this specified time duration.
      """

    AltitudeDepthLimit = NaN meter
      """
      Vehicle will not be commanded deeper than this regardless of altitude
      command.
      """

    MinAltitude = 4 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 205 meter
      """
      Maximum depth for the entire mission.
      """

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

    ApproachDepthTimeout = 20 minute
      """
      Maximum wait time for the vehicle to reach the target depth on initial
      dive.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (positive depth is down). Used only as a smoothing
      parameter.
      """

    Lat1 = NaN degree
      """
      Latitude of rollout waypoint. If nan, waypoint is skipped.
      """

    Lon1 = NaN degree
      """
      Longitude of rollout waypoint. If nan, waypoint is skipped.
      """

    CaptureRadius = NaN meter
      """
      How close to call the waypiont behavior satisfied. Nan uses default
      value.
      """

    CorrectForSoundSpeed = false
      """
      Whether or not to apply sound speed correction to acoustic ranges
      """

    # Mission Variables (don't change)

    MidcourseDepth = Dock:LineCapture.midcourseDepth
      """
      Desired vehicle depth when navigating to dock WP (during midcourse
      phase).
      """

    MidcourseSpeed = Dock:LineCapture.midcourseSpeed
      """
      Speed during initial dive and waypoint.
      """

    TrackingPeriod = 60 second
      """
      Mission variable (don't change). The mission sets this variable to
      update the how long to wait between acoustic queries.
      """
  }

  output {
    Mode = -1 count
      """
      Mission variable (don't change). The mission sets this variable to
      reflect the termination status of the LineCapture insert.
      """

    NumPings = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinSize = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinOverlap = true
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    EndDockingSequence = StayOnDock
      """
      Mission variable (don't change). The mission sets this variable to
      determine whether or not to restart the docking sequence upon
      completion of the Docked behavior.
      """

    LastDockSuccessful = false
      """
      Mission variable (don't change). The mission sets this variable based
      on the last run of the Docked behavior
      """

    DockSuccessfulCount = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      track the number of complete docking attempts
      """

    RepeatArg = Repeat
      """
      Mission variable (don't change). Actual number of Lap repetitions
      """
  }

  # Mission 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.
    """
  }

  # Safety nets and surfacing behaviors

  insert Insert/StandardEnvelopes.tl

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

  assign in sequence NeedComms:DiveInterval = NeedCommsTime
  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  # Micromodem comms

  insert id="MicromodemComms" Insert/MicromodemComms.tl {
    redefineArg CommsInterval = MicromodemCommsInterval
  }

  readData {
    while (
      Mode >= 0 count
      and Sensor:DataOverHttps.connectionStatus == true
    )

    Universal:platform_communications
  }

  # Add LineCapture directives.

  insert Insert/LineCapture.tl

  assign in sequence LineCapture:MaxDepth = MaxDepth
  assign in sequence LineCapture:MinOffshore = MinOffshore
  assign in sequence LineCapture:MinAltitude = MinAltitude
  assign in sequence LineCapture:DockingAltitude = DockingAltitude
  assign in sequence LineCapture:InvalidAltitudeTimeout = InvalidAltitudeTimeout
  assign in sequence LineCapture:AltitudeDepthLimit = AltitudeDepthLimit

  # Add track acoustic contact directive.

  assign in sequence NumPings = NumberOfPings

  behavior Estimation:TrackAcousticContact id="TrackAC" {
    run in parallel

    set contactLabelSetting = TransponderCode

    set numberOfSamplesSetting = NumPings

    set updatePeriodSetting = TrackingPeriod

    set numFixesLowPassSetting = LowPassFilterWinSize

    set lowPassOverlapSetting = LowPassFilterWinOverlap

    set useSoundSpeedCorrectionSetting = CorrectForSoundSpeed
  }

  # Add USBL mode directives.

  aggregate UpdateNumPings_NotTerminal {
    run while (
      not ( LineCapture:GuidanceMode == LineCapture:Terminal )
      and not ( NumPings == NumberOfPings )
    )

    syslog info "No longer in Terminal. Resuming normal ranging with " + NumberOfPings~count
         + "pings."
    assign in sequence NumPings = NumberOfPings
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdateNumPings_Terminal {
    run while (
      LineCapture:GuidanceMode == LineCapture:Terminal
    )

    aggregate UpdateNumPingsUSBL {
      run when (
        not ( NumPings == NumPingsUSBL )
        and (
          ( LineCapture:Range < RangeUSBL ) # don't enter USBL mode during rollout
          and not ( Dock:LineCapture.guidanceMode == 5 count )
        )
      )

      syslog info "Entering USBL mode with " + NumPingsUSBL~count + "pings at "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumPingsUSBL
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilterUSBL
      assign in sequence LowPassFilterWinOverlap = true
    }

    aggregate UpdateNumPingsATR {
      run when (
        not ( NumPings == NumberOfPings )
        and (
          ( LineCapture:Range >= RangeUSBL ) # do ATR mode during rollout
          or Dock:LineCapture.guidanceMode == 5 count
        )
      )

      syslog info "Resuming normal ranging with " + NumberOfPings~count + "pings "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumberOfPings
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
      assign in sequence LowPassFilterWinOverlap = true
    }
  }

  aggregate UpdatePingUpdateRate_Midcourse {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodMidcourse )
      and (
        ( LineCapture:Range > LineCapture:TerminalRange ) # do slow ping mode during rollout
        or Dock:LineCapture.guidanceMode == 5 count
      )
    )

    syslog info "Entering Midcourse tracking update period " + TrackingUpdatePeriodMidcourse~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodMidcourse
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdatePingUpdateRate_Terminal {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodTerminal )
      and (
        ( LineCapture:Range <= LineCapture:TerminalRange )
        and not ( Dock:LineCapture.guidanceMode == 5 count )
        and not ( LineCapture:GuidanceMode == 0 count )
      ) # don't enter fast ping mode during rollout or on dock
    )

    syslog info "Entering Terminal tracking update period " + TrackingUpdatePeriodTerminal~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodTerminal
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate restartDHCP {
    run when ( called )

    syslog info "Restarting DHCP..."

    behavior Guidance:Execute {
      run in sequence

      set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh"
    }
  }

  # Start mission sequence.

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

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate InitialDive {
    run in sequence

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = MidcourseSpeed
    }

    behavior Guidance:Mass {
      run in parallel

      set position = Control:VerticalControl.massDefault
    }

    behavior Guidance:Pitch {
      run in sequence

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

        behavior Guidance:Execute {
          run in sequence

          set command = "stop"
        }
      }

      set depth = MidcourseDepth
      set depthRate = ApproachDepthRate
    }
  }

  # I'd like to avoid a recursive call of Lap, so "retry" is implemented by incrementing the
  # required repetition count (which has just been decremented by the lap attempt).
  # But that repeat check is evaluated at the beginning of the aggregate, not the end.
  # In order to be able to retry an incomplete docking attempt on the last lap
  # we need to make it back up to the top of the Lap aggregate somehow.
  # Solve this by quietly setting the repeat count to one more than actually desired.
  # The DockSuccessfulCount check will break the Lap aggregate before it runs the extra
  # lap, but starting the Lap aggregate will allow us to check the repeat on each run.
  aggregate RepeatHack {
    run in sequence

    break if ( not RetryIncompleteDock )

    assign in sequence RepeatArg = Repeat + 1 count
  }

  aggregate Lap {
    run in sequence repeat=RepeatArg

    break if (
      ( StayOnDock
        and LastDockSuccessful
      )
      or (
        RetryIncompleteDock
        # Can't trust RepeatArg with retry, it's been incremented to allow re-evaluation of the count
        and ( DockSuccessfulCount == Repeat )
      )
    )

    assign in sequence Mode = -99 count

    # Execute the LineCapture sequence.

    call priorityHere=false refId="LineCapture"
    assign in sequence Mode = LineCapture:GuidanceMode
    syslog info "Mode" + Mode~count

    call priorityHere=false refId="restartDHCP"

    aggregate Docked {
      run in sequence

      break if ( Mode < 0 count )

      syslog info "Waiting on dock for " + WaitOnDockTimeout~minute

      # Add SetNav directives.

      insert Insert/SetNavAcoustic.tl

      assign in sequence TrackingPeriod = TrackingUpdatePeriodDocked

      assign in sequence EndDockingSequence = StayOnDock

      behavior Dock:Docked id="Docked" {
        run in sequence

        timeout duration=WaitOnDockTimeout

        set slideSinkTime = SlideSinkDuration
        set slideCloseTime = SlideCloseDuration
        set slideRetries = SlideRetries
        set slideAllowed = TrySlide
        outputArg LastDockSuccessful = dockSuccessful
      }

      # If retrying incomplete attempts require total success to skip rollout, not just StayOnDock
      aggregate setCompletion {
        run in sequence

        break if ( not RetryIncompleteDock )

        assign in sequence EndDockingSequence = ( LastDockSuccessful
          and StayOnDock
        )
        assign in sequence DockSuccessfulCount = DockSuccessfulCount + LastDockSuccessful

        aggregate setRetry {
          run in sequence

          break if ( LastDockSuccessful )

          syslog important "Retrying incomplete docking attempt"

          # This lap failed and doesn't "count", so repeat one additional time
          assign in sequence RepeatArg = RepeatArg + 1 count
        }
      }

      aggregate Detach {
        run in sequence

        break if ( EndDockingSequence )

        syslog important "Breaking off. Range: " + Universal:acoustic_contact_range~meter + "."

        behavior Dock:Undock id="Undock" {
          run in sequence
        }

        call priorityHere=false refId="restartDHCP"
      }

      aggregate Wpt1 {
        run in sequence

        break if (
          isNaN ( Lat1 )
          or isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "Driving to post-undock waypoint " + Lat1~degree + "," + Lon1~degree

        behavior Guidance:Pitch {
          run in parallel

          set depth = MidcourseDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = MidcourseSpeed
        }

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat1

          set longitude = Lon1

          set captureRadius = CaptureRadius
        }
      }

      aggregate Drift {
        """
        Drift before next docking attempt
        """

        run in sequence

        break if (
          not isNaN ( Lat1 )
          and not isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "No post-undock waypoint, drifting for "
             + Dock:LineCapture.rolloutTimeout~minute + " minutes"

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set massPosition = Control:VerticalControl.massDefault

          set elevatorAngle = 0 degree
        }

        behavior Guidance:Point {
          run in parallel

          set rudderAngle = 0 degree
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 meter_per_second
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = Dock:LineCapture.rolloutTimeout
        }
      }
    }
  }
}


2025-08-22T05:10:29.978Z,1755839429.978 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming
2025-08-22T05:10:32.635Z,1755839432.635 [DataOverHttps](INFO): Received command: sched "load Engineering/OnDock.tl;set OnDock.DockedTime 12 h;run"
2025-08-22T05:10:34.640Z,1755839434.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:10:48.700Z,1755839448.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:11:00.984Z,1755839460.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:11:12.019Z,1755839472.019 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 3 hour
2025-08-22T05:11:12.020Z,1755839472.020 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 15 minute
2025-08-22T05:11:12.021Z,1755839472.021 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool
2025-08-22T05:11:12.022Z,1755839472.022 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideCloseDuration 1.5 minute
2025-08-22T05:11:12.028Z,1755839472.028 [CommandExec](IMPORTANT): got command schedule "load Engineering/OnDock.tl;set OnDock.DockedTime 12 h;run"
2025-08-22T05:11:12.028Z,1755839472.028 [CommandExec](IMPORTANT): Scheduled #38: "load Engineering/OnDock.tl;set OnDock.DockedTime 12 h;run", AFTER MISSION
2025-08-22T05:11:13.248Z,1755839473.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:11:25.828Z,1755839485.828 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:11:38.376Z,1755839498.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:11:50.820Z,1755839510.820 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:11:51.541Z,1755839511.541 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 8.3 meter
2025-08-22T05:11:51.542Z,1755839511.542 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 69 meter
2025-08-22T05:11:51.542Z,1755839511.542 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 71 meter
2025-08-22T05:11:51.543Z,1755839511.543 [CommandExec](IMPORTANT): got command set lineCaptureHoming.CorrectForSoundSpeed 1 bool
2025-08-22T05:11:51.544Z,1755839511.544 [CommandExec](IMPORTANT): got command run
2025-08-22T05:11:51.546Z,1755839511.546 [CommandExec](IMPORTANT): Running 
2025-08-22T05:11:51.850Z,1755839511.850 [DefaultWithUndock] Stopped
2025-08-22T05:11:51.850Z,1755839511.850 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-08-22T05:11:51.851Z,1755839511.851 [DefaultWithUndock:SurfaceDefault] Stopped
2025-08-22T05:11:51.851Z,1755839511.851 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-08-22T05:11:51.851Z,1755839511.851 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-08-22T05:11:51.851Z,1755839511.851 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-08-22T05:11:51.851Z,1755839511.851 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-08-22T05:11:51.851Z,1755839511.851 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T05:11:51.851Z,1755839511.851 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-08-22T05:11:51.851Z,1755839511.851 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T05:11:51.851Z,1755839511.851 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2025-08-22T05:11:51.852Z,1755839511.852 [lineCaptureHoming] Running Loop=1
2025-08-22T05:11:51.852Z,1755839511.852 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2025-08-22T05:11:51.852Z,1755839511.852 [lineCaptureHoming:Science] Running Loop=1
2025-08-22T05:11:51.852Z,1755839511.852 [lineCaptureHoming:Science](DEBUG): Aggregate::initialize lineCaptureHoming:Science
2025-08-22T05:11:51.852Z,1755839511.852 [lineCaptureHoming:Science:A] Running Loop=1
2025-08-22T05:11:51.852Z,1755839511.852 [lineCaptureHoming:Science:B] Running Loop=1
2025-08-22T05:11:51.852Z,1755839511.852 [lineCaptureHoming:Science:C] Running Loop=1
2025-08-22T05:11:51.852Z,1755839511.852 [lineCaptureHoming:Science:D] Running Loop=1
2025-08-22T05:11:51.852Z,1755839511.852 [lineCaptureHoming:Science:E] Running Loop=1
2025-08-22T05:11:51.852Z,1755839511.852 [lineCaptureHoming:Science:F] Running Loop=1
2025-08-22T05:11:51.853Z,1755839511.853 [lineCaptureHoming:Science:Read_Oil] Running Loop=1
2025-08-22T05:11:51.853Z,1755839511.853 [lineCaptureHoming:Science:PeakDetectChl] Running Loop=1
2025-08-22T05:11:51.853Z,1755839511.853 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectChl
2025-08-22T05:11:51.853Z,1755839511.853 [lineCaptureHoming:Science:PeakDetectChl:A] Running Loop=1
2025-08-22T05:11:51.853Z,1755839511.853 [lineCaptureHoming:Science:EdgeDetectChl] Running Loop=1
2025-08-22T05:11:51.853Z,1755839511.853 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectChl
2025-08-22T05:11:51.853Z,1755839511.853 [lineCaptureHoming:Science:EdgeDetectChl:A] Running Loop=1
2025-08-22T05:11:51.853Z,1755839511.853 [lineCaptureHoming:Science:HighestChlPeakReport] Running Loop=1
2025-08-22T05:11:51.853Z,1755839511.853 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport
2025-08-22T05:11:51.853Z,1755839511.853 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T05:11:51.854Z,1755839511.854 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T05:11:51.854Z,1755839511.854 [lineCaptureHoming:Science:PeakDetectNO3] Running Loop=1
2025-08-22T05:11:51.854Z,1755839511.854 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectNO3
2025-08-22T05:11:51.854Z,1755839511.854 [lineCaptureHoming:Science:PeakDetectNO3:A] Running Loop=1
2025-08-22T05:11:51.854Z,1755839511.854 [lineCaptureHoming:Science:PeakDetectOil] Running Loop=1
2025-08-22T05:11:51.854Z,1755839511.854 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectOil
2025-08-22T05:11:51.855Z,1755839511.855 [lineCaptureHoming:Science:PeakDetectOil:A] Running Loop=1
2025-08-22T05:11:51.855Z,1755839511.855 [lineCaptureHoming:Science:HighestOilPeakReport] Running Loop=1
2025-08-22T05:11:51.855Z,1755839511.855 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReport
2025-08-22T05:11:51.856Z,1755839511.856 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T05:11:51.856Z,1755839511.856 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T05:11:51.857Z,1755839511.857 [lineCaptureHoming:Science:PeakDetectFDOM] Running Loop=1
2025-08-22T05:11:51.857Z,1755839511.857 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM
2025-08-22T05:11:51.857Z,1755839511.857 [lineCaptureHoming:Science:PeakDetectFDOM:A] Running Loop=1
2025-08-22T05:11:51.857Z,1755839511.857 [lineCaptureHoming:Science:PeakDetectSalinity] Running Loop=1
2025-08-22T05:11:51.857Z,1755839511.857 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity
2025-08-22T05:11:51.857Z,1755839511.857 [lineCaptureHoming:Science:PeakDetectSalinity:A] Running Loop=1
2025-08-22T05:11:51.857Z,1755839511.857 [lineCaptureHoming:Science:HighestSaltPeakReport] Running Loop=1
2025-08-22T05:11:51.857Z,1755839511.857 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-08-22T05:11:51.858Z,1755839511.858 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T05:11:51.858Z,1755839511.858 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T05:11:51.858Z,1755839511.858 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-22T05:11:51.858Z,1755839511.858 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-08-22T05:11:51.858Z,1755839511.858 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-22T05:11:51.858Z,1755839511.858 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-22T05:11:51.858Z,1755839511.858 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-22T05:11:51.859Z,1755839511.859 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-22T05:11:51.859Z,1755839511.859 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-22T05:11:51.859Z,1755839511.859 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-08-22T05:11:51.859Z,1755839511.859 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-22T05:11:51.859Z,1755839511.859 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-22T05:11:51.859Z,1755839511.859 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-22T05:11:51.859Z,1755839511.859 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-22T05:11:51.860Z,1755839511.860 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-08-22T05:11:51.860Z,1755839511.860 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-08-22T05:11:51.860Z,1755839511.860 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-22T05:11:51.860Z,1755839511.860 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-08-22T05:11:51.860Z,1755839511.860 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-08-22T05:11:51.860Z,1755839511.860 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-22T05:11:51.860Z,1755839511.860 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-22T05:11:51.860Z,1755839511.860 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-22T05:11:51.860Z,1755839511.860 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-22T05:11:51.860Z,1755839511.860 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-22T05:11:51.861Z,1755839511.861 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-22T05:11:51.861Z,1755839511.861 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-22T05:11:51.861Z,1755839511.861 [lineCaptureHoming:Science:ChlThreshTrigger] Running Loop=1
2025-08-22T05:11:51.861Z,1755839511.861 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize lineCaptureHoming:Science:ChlThreshTrigger
2025-08-22T05:11:51.861Z,1755839511.861 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-08-22T05:11:51.861Z,1755839511.861 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-08-22T05:11:51.862Z,1755839511.862 [lineCaptureHoming:Science:OceanCurrent] Running Loop=1
2025-08-22T05:11:51.862Z,1755839511.862 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureHoming:Science:OceanCurrent
2025-08-22T05:11:51.862Z,1755839511.862 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-08-22T05:11:51.862Z,1755839511.862 [lineCaptureHoming:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-08-22T05:11:51.862Z,1755839511.862 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-08-22T05:11:51.862Z,1755839511.862 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2025-08-22T05:11:51.862Z,1755839511.862 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T05:11:51.862Z,1755839511.862 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-22T05:11:51.862Z,1755839511.862 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T05:11:51.862Z,1755839511.862 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-22T05:11:51.863Z,1755839511.863 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T05:11:51.863Z,1755839511.863 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-22T05:11:51.863Z,1755839511.863 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T05:11:51.863Z,1755839511.863 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T05:11:51.863Z,1755839511.863 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T05:11:51.863Z,1755839511.863 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T05:11:51.864Z,1755839511.864 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T05:11:51.864Z,1755839511.864 [lineCaptureHoming:J] Running Loop=1
2025-08-22T05:11:51.864Z,1755839511.864 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-08-22T05:11:51.864Z,1755839511.864 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact.
2025-08-22T05:11:51.864Z,1755839511.864 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-22T05:11:51.864Z,1755839511.864 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-22T05:11:51.864Z,1755839511.864 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-22T05:11:51.864Z,1755839511.864 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-22T05:11:51.864Z,1755839511.864 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-22T05:11:51.864Z,1755839511.864 [lineCaptureHoming:C] Running Loop=1
2025-08-22T05:11:51.866Z,1755839511.866 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-22T05:11:51.866Z,1755839511.866 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-22T05:11:51.866Z,1755839511.866 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-22T05:11:51.866Z,1755839511.866 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-22T05:11:51.867Z,1755839511.867 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-22T05:11:51.867Z,1755839511.867 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-08-22T05:11:51.868Z,1755839511.868 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-08-22T05:11:51.868Z,1755839511.868 [lineCaptureHoming:J] Stopped
2025-08-22T05:11:51.868Z,1755839511.868 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-22T05:11:51.868Z,1755839511.868 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-22T05:11:51.868Z,1755839511.868 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T05:11:51.868Z,1755839511.868 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T05:11:51.868Z,1755839511.868 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T05:11:51.868Z,1755839511.868 [lineCaptureHoming:C] Stopped
2025-08-22T05:11:51.869Z,1755839511.869 [lineCaptureHoming:D] Running Loop=1
2025-08-22T05:11:51.869Z,1755839511.869 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-08-22T05:11:51.869Z,1755839511.869 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T05:11:51.869Z,1755839511.869 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T05:11:51.869Z,1755839511.869 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T05:11:51.870Z,1755839511.870 [lineCaptureHoming:Science] Running Loop=1
2025-08-22T05:11:51.871Z,1755839511.871 [lineCaptureHoming:Science:ChlThreshTrigger] Stopped
2025-08-22T05:11:51.872Z,1755839511.872 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:ChlThreshTrigger
2025-08-22T05:11:51.872Z,1755839511.872 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-08-22T05:11:51.872Z,1755839511.872 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-08-22T05:11:51.872Z,1755839511.872 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-08-22T05:11:51.872Z,1755839511.872 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-22T05:11:51.872Z,1755839511.872 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-22T05:11:51.872Z,1755839511.872 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-08-22T05:11:51.872Z,1755839511.872 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-22T05:11:51.872Z,1755839511.872 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-22T05:11:51.872Z,1755839511.872 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-08-22T05:11:51.872Z,1755839511.872 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-08-22T05:11:51.872Z,1755839511.872 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-08-22T05:11:51.872Z,1755839511.872 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-08-22T05:11:51.873Z,1755839511.873 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-08-22T05:11:51.873Z,1755839511.873 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-08-22T05:11:51.873Z,1755839511.873 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-08-22T05:11:51.873Z,1755839511.873 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-22T05:11:51.873Z,1755839511.873 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-08-22T05:11:51.873Z,1755839511.873 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-08-22T05:11:51.873Z,1755839511.873 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-08-22T05:11:51.873Z,1755839511.873 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-08-22T05:11:51.873Z,1755839511.873 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-08-22T05:11:51.873Z,1755839511.873 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-22T05:11:51.873Z,1755839511.873 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-08-22T05:11:51.873Z,1755839511.873 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-08-22T05:11:51.874Z,1755839511.874 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-08-22T05:11:51.874Z,1755839511.874 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-08-22T05:11:51.874Z,1755839511.874 [lineCaptureHoming:Science:HighestSaltPeakReport] Stopped
2025-08-22T05:11:51.874Z,1755839511.874 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-08-22T05:11:51.874Z,1755839511.874 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T05:11:51.874Z,1755839511.874 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T05:11:51.874Z,1755839511.874 [lineCaptureHoming:Science:PeakDetectSalinity] Stopped
2025-08-22T05:11:51.874Z,1755839511.874 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectSalinity
2025-08-22T05:11:51.874Z,1755839511.874 [lineCaptureHoming:Science:PeakDetectSalinity:A] Stopped
2025-08-22T05:11:51.874Z,1755839511.874 [lineCaptureHoming:Science:PeakDetectFDOM] Stopped
2025-08-22T05:11:51.874Z,1755839511.874 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectFDOM
2025-08-22T05:11:51.874Z,1755839511.874 [lineCaptureHoming:Science:PeakDetectFDOM:A] Stopped
2025-08-22T05:11:51.874Z,1755839511.874 [lineCaptureHoming:Science:HighestOilPeakReport] Stopped
2025-08-22T05:11:51.875Z,1755839511.875 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestOilPeakReport
2025-08-22T05:11:51.875Z,1755839511.875 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T05:11:51.875Z,1755839511.875 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T05:11:51.875Z,1755839511.875 [lineCaptureHoming:Science:PeakDetectOil] Stopped
2025-08-22T05:11:51.875Z,1755839511.875 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectOil
2025-08-22T05:11:51.875Z,1755839511.875 [lineCaptureHoming:Science:PeakDetectOil:A] Stopped
2025-08-22T05:11:51.876Z,1755839511.876 [lineCaptureHoming:Science:PeakDetectNO3] Stopped
2025-08-22T05:11:51.876Z,1755839511.876 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectNO3
2025-08-22T05:11:51.876Z,1755839511.876 [lineCaptureHoming:Science:PeakDetectNO3:A] Stopped
2025-08-22T05:11:51.876Z,1755839511.876 [lineCaptureHoming:Science:HighestChlPeakReport] Stopped
2025-08-22T05:11:51.876Z,1755839511.876 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestChlPeakReport
2025-08-22T05:11:51.876Z,1755839511.876 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T05:11:51.876Z,1755839511.876 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T05:11:51.876Z,1755839511.876 [lineCaptureHoming:Science:EdgeDetectChl] Stopped
2025-08-22T05:11:51.876Z,1755839511.876 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectChl
2025-08-22T05:11:51.876Z,1755839511.876 [lineCaptureHoming:Science:EdgeDetectChl:A] Stopped
2025-08-22T05:11:51.876Z,1755839511.876 [lineCaptureHoming:Science:PeakDetectChl] Stopped
2025-08-22T05:11:51.877Z,1755839511.877 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectChl
2025-08-22T05:11:51.877Z,1755839511.877 [lineCaptureHoming:Science:PeakDetectChl:A] Stopped
2025-08-22T05:11:51.877Z,1755839511.877 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-08-22T05:11:51.878Z,1755839511.878 [lineCaptureHoming:Science:Read_Oil] Stopped
2025-08-22T05:11:51.878Z,1755839511.878 [lineCaptureHoming:Science:F] Stopped
2025-08-22T05:11:51.878Z,1755839511.878 [lineCaptureHoming:Science:E] Running Loop=1
2025-08-22T05:11:51.878Z,1755839511.878 [lineCaptureHoming:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-08-22T05:11:51.879Z,1755839511.879 [lineCaptureHoming:Science:D] Stopped
2025-08-22T05:11:51.879Z,1755839511.879 [lineCaptureHoming:Science:C] Running Loop=1
2025-08-22T05:11:51.903Z,1755839511.903 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-08-22T05:11:51.904Z,1755839511.904 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-08-22T05:11:51.904Z,1755839511.904 [lineCaptureHoming:Science:B] Running Loop=1
2025-08-22T05:11:51.904Z,1755839511.904 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-08-22T05:11:51.905Z,1755839511.905 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-08-22T05:11:51.905Z,1755839511.905 [lineCaptureHoming:Science:A] Stopped
2025-08-22T05:11:52.274Z,1755839512.274 [lineCaptureHoming:D] Stopped
2025-08-22T05:11:52.277Z,1755839512.277 [lineCaptureHoming:E] Running Loop=1
2025-08-22T05:11:52.604Z,1755839512.604 [WetLabsBB2FL](INFO): Powering up
2025-08-22T05:11:52.748Z,1755839512.748 [lineCaptureHoming:E] Stopped
2025-08-22T05:11:52.749Z,1755839512.749 [lineCaptureHoming:G] Running Loop=1
2025-08-22T05:11:53.114Z,1755839513.114 [lineCaptureHoming:G] Stopped
2025-08-22T05:11:53.114Z,1755839513.114 [lineCaptureHoming:H] Running Loop=1
2025-08-22T05:11:53.490Z,1755839513.490 [lineCaptureHoming:H] Stopped
2025-08-22T05:11:53.491Z,1755839513.491 [lineCaptureHoming:L] Running Loop=1
2025-08-22T05:11:53.902Z,1755839513.902 [lineCaptureHoming:L] Stopped
2025-08-22T05:11:53.903Z,1755839513.903 [lineCaptureHoming:M] Running Loop=1
2025-08-22T05:11:54.289Z,1755839514.289 [lineCaptureHoming:M] Stopped
2025-08-22T05:11:54.289Z,1755839514.289 [lineCaptureHoming:N] Running Loop=1
2025-08-22T05:11:54.738Z,1755839514.738 [lineCaptureHoming:N] Stopped
2025-08-22T05:11:54.738Z,1755839514.738 [lineCaptureHoming:O] Running Loop=1
2025-08-22T05:11:55.116Z,1755839515.116 [lineCaptureHoming:O] Stopped
2025-08-22T05:11:55.116Z,1755839515.116 [lineCaptureHoming:P] Running Loop=1
2025-08-22T05:11:55.490Z,1755839515.490 [lineCaptureHoming:P] Stopped
2025-08-22T05:11:55.490Z,1755839515.490 [lineCaptureHoming:Q] Running Loop=1
2025-08-22T05:11:55.597Z,1755839515.597 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-08-22T05:11:55.894Z,1755839515.894 [lineCaptureHoming:Q] Stopped
2025-08-22T05:11:55.894Z,1755839515.894 [lineCaptureHoming:U] Running Loop=1
2025-08-22T05:11:56.308Z,1755839516.308 [lineCaptureHoming:U] Stopped
2025-08-22T05:11:56.308Z,1755839516.308 [lineCaptureHoming:StartingMission] Running Loop=1
2025-08-22T05:11:56.308Z,1755839516.308 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2025-08-22T05:11:56.737Z,1755839516.737 [lineCaptureHoming:NeedComms] Running Loop=1
2025-08-22T05:11:56.737Z,1755839516.737 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2025-08-22T05:11:56.737Z,1755839516.737 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2025-08-22T05:11:56.737Z,1755839516.737 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-08-22T05:11:56.738Z,1755839516.738 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-08-22T05:11:56.738Z,1755839516.738 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-08-22T05:11:56.738Z,1755839516.738 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-08-22T05:11:56.739Z,1755839516.739 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-08-22T05:11:56.739Z,1755839516.739 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-08-22T05:11:56.740Z,1755839516.740 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-08-22T05:11:56.740Z,1755839516.740 [lineCaptureHoming:NeedComms:A] Running Loop=1
2025-08-22T05:11:56.741Z,1755839516.741 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was:  1755839316.000000 second since 1970/01/01T00:00:00Z 
2025-08-22T05:11:56.741Z,1755839516.741 [lineCaptureHoming:NeedComms:A] Stopped
2025-08-22T05:11:57.196Z,1755839517.196 [lineCaptureHoming:NeedComms:C] Running Loop=1
2025-08-22T05:11:57.514Z,1755839517.514 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-08-22T05:11:59.111Z,1755839519.111 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,051158.00,A,3646.84183,N,12151.79457,W,1.205,187.09,220825,,,D*70
2025-08-22T05:11:59.113Z,1755839519.113 [NAL9602](INFO): GPS fix at 20250822T051158: (36.780697, -121.863243)
2025-08-22T05:11:59.127Z,1755839519.127 [lineCaptureHoming:NeedComms:C] Stopped
2025-08-22T05:11:59.128Z,1755839519.128 [lineCaptureHoming:NeedComms:D] Running Loop=1
2025-08-22T05:11:59.570Z,1755839519.570 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-08-22T05:11:59.642Z,1755839519.642 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-22T05:12:09.763Z,1755839529.763 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250822T042900/Courier0012.lzma
2025-08-22T05:12:10.765Z,1755839530.765 [DataOverHttps](INFO): Moved sent file to Logs/20250822T042900/Courier0012.lzma.bak
2025-08-22T05:12:10.765Z,1755839530.765 [DataOverHttps](INFO): SBD MOMSN=25879998
2025-08-22T05:12:27.781Z,1755839547.781 [DataOverHttps](INFO): Sending 835 bytes from file Logs/20250822T042900/Express0013.lzma
2025-08-22T05:12:28.621Z,1755839548.621 [NAL9602](INFO): SBD MO Status=0, MOMSN=969, MT Status=0, MTMSN=0
2025-08-22T05:12:28.622Z,1755839548.622 [NAL9602](INFO): No messages in MT queue
2025-08-22T05:12:28.781Z,1755839548.781 [DataOverHttps](INFO): Moved sent file to Logs/20250822T042900/Express0013.lzma.bak
2025-08-22T05:12:28.781Z,1755839548.781 [DataOverHttps](INFO): SBD MOMSN=25880005
2025-08-22T05:12:30.250Z,1755839550.250 [lineCaptureHoming:NeedComms:D] Stopped
2025-08-22T05:12:30.251Z,1755839550.251 [lineCaptureHoming:NeedComms:E] Running Loop=1
2025-08-22T05:12:30.677Z,1755839550.677 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-08-22T05:12:32.266Z,1755839552.266 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,051231.00,A,3646.84271,N,12151.79789,W,0.272,264.00,220825,,,D*74
2025-08-22T05:12:32.277Z,1755839552.277 [NAL9602](INFO): GPS fix at 20250822T051231: (36.780712, -121.863298)
2025-08-22T05:12:32.295Z,1755839552.295 [lineCaptureHoming:NeedComms:E] Stopped
2025-08-22T05:12:32.300Z,1755839552.300 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2025-08-22T05:12:32.300Z,1755839552.300 [lineCaptureHoming:NeedComms] Stopped
2025-08-22T05:12:32.300Z,1755839552.300 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2025-08-22T05:12:32.300Z,1755839552.300 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2025-08-22T05:12:32.300Z,1755839552.300 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-08-22T05:12:32.872Z,1755839552.872 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2025-08-22T05:12:32.872Z,1755839552.872 [lineCaptureHoming:StartingMission] Stopped
2025-08-22T05:12:32.872Z,1755839552.872 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2025-08-22T05:12:32.873Z,1755839552.873 [lineCaptureHoming:Z] Running Loop=1
2025-08-22T05:12:33.119Z,1755839553.119 [lineCaptureHoming:Z](IMPORTANT): Restarting logs
2025-08-22T05:12:33.119Z,1755839553.119 [lineCaptureHoming:Z] Stopped
2025-08-22T05:12:33.119Z,1755839553.119 [lineCaptureHoming:BA.Execute] Running Loop=1
2025-08-22T05:12:33.512Z,1755839553.512 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-08-22T05:12:33.513Z,1755839553.513 [lineCaptureHoming:BA.Execute] Stopped